PCB

Flexbot PCBs

Teensy board

Figure 1. Plug names and pin allocation for Teensy board.

• IMU0, on-board, SCL0, pin 18-19, AD0=NC, Knee.
• IMU1, SCL1, pin 37_38-19, AD0=HIGH, Thigh (upper leg).
• IMU2, SCL1, pin 37_38-19, AD0=NC, Shin (lower leg).
• IMU3, SCL2, pin 3_4, AD0 = HIGH, Foot.
• IMU4, SCL2, pin 3_4, AD0 = NC, Hip.

Cables in leg

Figure 2. Overview of cables in one leg with some wire details. The connection to robot base platform is 24V (10A) and USB only. Steering servo should be in RC servo interface mode

Controller block diagram

Figure 3. Functional blockdiagram og Teensy controller board. Not all blocks and MAV messages are implemented yet.

Teensy board and schematic

Figure 4. Layout of PCB (designed in Eagle).

Figure 5. PCB schematic - click on image to get better view.