Controller Cards
BaseBoard4: The FPGA-based BaseBoard4 gives you the ability to run nine different Pin Peripherals or daughter cards simultaneously. Linux drivers make all of the peripherals visible as Linux device nodes. Click here for more information.

Prototyping Card: The Prototyping Card is great for building custom hardware to connect to the BaseBoard4. The card has 1092 plated through holes and can hold up to four daughter cards. Click here for more information.

 

All of the peripherals listed below are included with the purchase of a BaseBoard4.

---

Motor/Actuator Peripherals
Dual DC Motor Controller: Control two DC motors with just four pins. This controller is perfect for simple motor control when a low pin count is important. Slow-start, slow-stop, and a watchdog timer are included. More information: data sheet (PDF), or the source code README file.

H-Bridge Controller: The H-bridge controller gives you programmable slow start, variable PWM frequency, 10 bits of speed control, and a watchdog timer for safety. More information: data sheet (PDF), or the source code README file.

Dual H-Bridge Controller: The dual H-bridge controller gives you programmable slow start, variable PWM frequency, 10 bits of speed control, and as watchdog timer for safety. The controller carefully phases the on times for the source code motors to help extend your robot's battery life. More information: data sheet (PDF), or the source code README file.

Bipolar Stepper Controller: The Bipolar Stepper Motor Controller has full and half steps, programmable step rate, and slow start. The hardware and Linux API allow adding steps to the target count, that is, the equivalent of "target += incremental_steps". More information: data sheet (PDF), or the source code README file.

Unipolar Stepper Controller: The Unipolar Stepper Motor Controller has full and half steps, programmable step rate, and slow start. The hardware and Linux API allow adding steps to the target count, that is, the equivalent of "target += incremental_steps". More information: data sheet (PDF), or the source code README file.

Quad Servo Controller: Independently control four servo motors with a resolution of 50 nanoseconds. The Linux interface includes the ability to do a coordinated group move of all four servos. More information: data sheet (PDF), or the source code README file.

Octal Servo Controller: Independently control four servo motors with a resolution of 50 nanoseconds. The Linux interface includes the ability to do a coordinated group move of all four servos. More information: data sheet (PDF), or the source code README file.

Dual Quadrature Decoder: The Dual Quadrature Decoder decodes quadrature signals from motor or wheel sensors, or from rotary switches which are part of a user interface. The maximum input frequency is over one Megahertz, and the reporting period is crystal controlled making the readings directly usable for speed measurements. More information: data sheet (PDF), or the source code README file.

 

Sensor Peripherals
Maxbotix Range Sensor: The Dual Maxbotix Range Sensor interface can convert the pulse width output from two chains of sensors into inch readings. The ultrasonic pings are coordinated within a chain and between the two chains so no two sensors are ever sending ultrasonic signals at the same time. More information: data sheet (PDF), or the source code README file.

Ping))) Range Sensor: The Quad Maxbotix Range Sensor interface can convert the pulse width output from four Parallax Ping))) range sensors into inch readings. The ultrasonic pings are coordinated between the sensors so no two sensors are ever sending ultrasonic signals at the same time. More information: data sheet (PDF), or the source code README file.

Quad PWM Input: The Quad PWM In peripheral can measure the high and low periods for four inputs. The periods are measured with 16 bits of accuracy and the period clock can be set as fast as 20 Megahertz. More information: data sheet (PDF), or the source code README file.

Quad Event/Period Counter: The Quad Event/Period Counter counts the pulses at each of four inputs. The maximum input frequency is over one Megahertz, and the reporting period is crystal controlled making the readings directly usable for speed measurements. More information: data sheet (PDF), or the source code README file.

Quad Bidirectional I/O: The Quad Bidirectional I/O port lets you add switches, buttons, and LEDs to your control system. Each pin of this four pin peripheral can independently be configured as an input or as an output. When a input, each pin can also be configured to automatically report a change at the input. This means you don't need to poll for changes. This peripheral is perfect for use with bumper switches. More information: data sheet (PDF), or the source code README file.

Octal Bidirectional I/O: The Octal Bidirectional I/O port lets you add switches, buttons, and LEDs to your user interface. Each pin of this eight pin peripheral can independently be configured as an input or as an output. When a input, each pin can also be configured to automatically report a change at the input. This means you don't need to poll for changes. This peripheral is perfect for use with bumper switches. More information: data sheet (PDF), or the source code README file.

Dual Quadrature Decoder: The Dual Quadrature Decoder decodes quadrature signals from motor or wheel sensors, or from rotary switches which are part of a user interface. The maximum input frequency is over one Megahertz, and the reporting period is crystal controlled making the readings directly usable for speed measurements. More information: data sheet (PDF), or the source code README file.

 

User Interface Peripherals
BaseBoard I/O: The BaseBoard I/O peripheral gives you access to the LEDs and buttons on the BaseBoard4 itself. Button presses and releases are send asynchronously and do not need to be polled More information: data sheet (PDF), or the source code README file.

IR Receiver: The IR Receiver decodes the 32 bit packets from most consumer IR transmitters. One pin of the four pin peripheral goes to the IR demodulator, one pin goes to an LED to indicate a received packet, and two pins are available for general purpose I/O. More information: data sheet (PDF), or the source code README file.

IR Transmitter: The IR Transmitter encodes and modulates the 32 bit packets used in most consumer IR receivers. One pin of the four pin peripheral goes to an IR LED, one pin goes to an LED to indicate a sent packet, and two pins are available for general purpose I/O. More information: data sheet (PDF), or the source code README file.

RC Receiver: The RC Receiver decodes the signals from a 6 or 8 channel radio control demodulator. One pin of the four pin peripheral goes to the RC demodulator, one pin goes to an LED to indicate a received data stream, and two pins are available for general purpose I/O. More information: data sheet (PDF), or the source code README file.

Quad Bidirectional I/O: The Quad Bidirectional I/O port lets you add switches, buttons, and LEDs to your user interface. Each pin of this four pin peripheral can independently be configured as an input or as an output. When a input, each pin can also be configured to automatically report a change at the input. This means you don't need to poll for changes. More information: data sheet (PDF), or the source code README file.

Octal Bidirectional I/O: The Octal Bidirectional I/O port lets you add switches, buttons, and LEDs to your user interface. Each pin of this eight pin peripheral can independently be configured as an input or as an output. When a input, each pin can also be configured to automatically report a change at the input. This means you don't need to poll for changes. More information: data sheet (PDF), or the source code README file.

Dual Quadrature Decoder: The Dual Quadrature Decoder decodes quadrature signals from motor or wheel sensors, or from rotary switches which are part of a user interface. The maximum input frequency is over one Megahertz, and the reporting period is crystal controlled making the readings directly usable for speed measurements. More information: data sheet (PDF), or the source code README file.

 

General Purpose Peripherals
Quad Pattern Generator: The Quad Pattern Generator outputs a repeating sequence of up to 2048 four bit patterns with a pattern clock of up to 20 Megahertz. More information:

Octal Pattern Generator: The Octal Pattern Generator outputs a repeating sequence of up to 1024 eight patterns with a pattern clock of up to 20 Megahertz. More information:

Quad PWM Output: The Quad PWM Output peripheral generates four PWM signals with 16 bits of resolution for both the high and low times and a clock source that is selectable from 5 Hertz to 20 Megahertz. More information: data sheet (PDF), or the source code README file.

Octal PWM Output: The Octal PWM Output peripheral generates eight PWM signals with 16 bits of resolution for both the high and low times and a clock source that is selectable from 5 Hertz to 20 Megahertz. More information: data sheet (PDF), or the source code README file.

Quad PWM Input: The Quad PWM In peripheral can measure the high and low periods for four inputs. The periods are measured with 16 bits of accuracy and the period clock can be set as fast as 20 Megahertz. More information: data sheet (PDF), or the source code README file.

Quad Event/Period Counter: The Quad Event/Period Counter counts the pulses at each of four inputs. The maximum input frequency is over one Megahertz, and the reporting period is crystal controlled making the readings directly usable for speed measurements. More information: data sheet (PDF), or the source code README file.

Quad Bidirectional I/O: The Quad Bidirectional I/O port lets you add switches, buttons, and LEDs to your user interface. Each pin of this four pin peripheral can independently be configured as an input or as an output. When a input, each pin can also be configured to automatically report a change at the input. This means you don't need to poll for changes. More information: data sheet (PDF), or the source code README file.

Octal Bidirectional I/O: The Octal Bidirectional I/O port lets you add switches, buttons, and LEDs to your user interface. Each pin of this eight pin peripheral can independently be configured as an input or as an output. When a input, each pin can also be configured to automatically report a change at the input. This means you don't need to poll for changes. More information: data sheet (PDF), or the source code README file.

Watchdog Timer: The Dual Watchdog Timer has two independent watchdog timers with active low outputs. You can "pet" the watchdog under software control or using an external pin. The timeout period is measured in seconds and has 8 bits of resolution. More information: data sheet (PDF), or the source code README file.

 

Peripherals In Development

Tone Generator: The Tone Generator lets you control the frequency, amplitude, and duration of audio tones. Three pins of this four pin peripheral are available for general purpose I/O.

Quad Pattern Generator: The Quad Pattern Generator outputs a repeating sequence of up to 2048 four bit patterns with a pattern clock of up to 10 Megahertz.

Octal Pattern Generator: The Octal Pattern Generator outputs a repeating sequence of up to 1024 eight patterns with a pattern clock of up to 10 Megahertz.