Awhile ago I got a basic POC of a Core controlling a Rover 5 unit via the Rover 5 Controller board. I want to pick up the project and interface all the I/Os into the Core (and do fancy things like PID control and Path Planning.)
My setup requires:
- 4 digitalWrite pins to enable the motors
- 4 analogWrite pins to use PWM signals to control speed
- 4 digital interrupts to measure the quadrature encoders
- 4 analogRead to measure current
I’m also using I2C to talk to other boards, like an IMU.
The problem is that I need 4 interrupts for the encoders and while the Core has 12 interrupts, I need to use 9 pins for other tasks, leaving only 3 available pins that can be attached as interrupts. Here is a diagram of my planned layout:
Also, another thread suggests the docs might lacking when it comes to interrupts. I could use another board like a Mega or not use Current Sensing (which is what I believe others have done.) Any other ideas?