io programming using pirt-unit
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This Book explains how to use Raspberry Pi together with PiRT-Unit from OpenRTM-aist.
Using PiRT-Unit
PiRT-Unit is an IO expansion board for Raspberry Pi developed by AIST. It is currently available from Win-Ei Electronics.
- Win-Ei Electronics: http://win-ei.com/
- Raspberry Pi expansion board: http://cgi3.win-ei.com/wordpress/?page_id=135
- Product name: Pi RT-Unit
- Model number: RE-01
- Price: \6,615 (tax included)
- Raspberry Pi expansion board: http://cgi3.win-ei.com/wordpress/?page_id=135
#clear
PiRT-Unit Overview
PiRT-Unit provides AD (4ch), DA (2ch), PWM (1ch), I2C (1ch), and RS232C/XBee (1ch).
PiRT-Unit Input/Output Connector Layout Diagram
Features
- Analog input (10-bit ADC x 4ch) available
- Analog output (12-bit DAC x 2ch) available
- PWM x1ch: RC servo motor available
- I2C serial communication available
- RS232C Dsub connector available
- XBee connection connector available (selectable with the above RS232C)
- 5V DC input: Power can be supplied to Raspberry Pi
- An inexpensive AC adapter available from Akizuki Denshi, etc. can be used
Specifications
| Raspberry Pi Expansion IO Board | |
|---|---|
| AD converter | 10bit, 4ch Chip: ADC104S021 Sampling 200kHz |
| DA converter | 12bit, 2ch Chip MCP4822 |
| PWM output | 1ch, for RC servo motor drive Photocoupler isolation |
| RS232C | D-SUB 9pin connector Switchable with XBee using a jumper |
| XBee | XBee connection connector XBee: Zigbee module manufactured by Digi International Switchable with XBee using a jumper |
| Power input | 5V DC input Power can be supplied to Raspberry Pi Operates even when powered from Raspberry Pi |
PiRT-Unit Circuit Block Diagram