Currently, each of our Kondo KHR-1 robots is equipped with a custom-built controller board. The RCmega128 can control up to 24 servo channels in realtime, and handles all low-level sensor and actuator communication.

• Atmel ATmega128 microcontroller, programmed in C
  • On-Chip EEPROM for storing calibration values
  • Two serial ports for PocketPC and debug connection
• Switching power supply
  • 9-16V → 6V/10A continuous power
  • LiPo battery undervoltage protection
• 24 Servo channels
  • Up to 50 Hz update rate (write and read-back)
  • per-channel programmable PWM output
  • per-channel Kondo servo position readback
• 3 axis accelerometer
• 1 gyro axis
• Two analog inputs for auxillary use
• I2C extension Bus
• Piezo-Beeper, two status LEDs, two pushbuttons