In the Kalman planetary rover project, a module with the capability of reading and receiving generic signals, as well as controlling power components or motors, is needed to fulfill various missions. Competitions from the Rover Challenge series often require us to create one-off subsystems, especially when it comes to science instrumentation. To meet these requirements, a new and updated version of the Universal Controller module had been developed.
The Universal Controller has undergone a few iterations through the years. The first version had only two H-bridges, some digital I/O ports and open drain power outputs. The latest revision was a complete redesign of the PCB that has introduced additional buffering of the inputs and outputs for additional protection, integrated more fail-safe H-bridges, precision differential A/D converters and four buck constant-current channels. Everything is controlled by an STM32G474 microcontroller connected to the rest of our rover by a CAN-FD bus.
On-board features allow for connection of up to four load cells or powering high power LEDs like ultraviolet emitters for the spectrometer module. Off-the-shelf TMC2130 step stick modules can be plugged in to precisely control stepper motors. This version also incorporates 5 V and 12 V switching high power supplies, which can be used beside the main 24 V bus to power external devices and be redirected to the power outputs or H-bridges.
The Universal Module simplifies prototyping and creation of different modules. Generic tasks consisting of controlling external devices and motors can be done without the need for a dedicated PCB for each one. For larger projects, up to three modules can be connected in series over the CAN-FD bus. As an example, this module proved itself during the University Rover Challenge 2024 competition, where it was used to control a mobile laboratory module. It managed numerous heaters, sample illumination, and a stepper motor that rotated the carousel with specimens.
We were able to develop and integrate this module for the URC 2024 competition in under one month thanks to Aisler’s quick turnaround time and high quality PCBs. The Part Professional Program helped us reduce the cost of complete modules while maintaining excellent quality components and connectors from Würth Elektronik. We are grateful to have Aisler as our sponsor.