Actor Board

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The ActorBoard's task is the creation of the PWM signals to drive the actuators. It takes the values to set from the CAN bus and features the following features:

  • Entering a safe mode, i.e. producing a PWM signal that makes the car stop if one of these conditions hold:
    1. A Sensor Board detects a malformed PWM input signal and throws an error message on the CAN bus
    2. No new values arrive from the CAN bus (lost connectivity)
  • A hardware switch to select different CAN ids and by this different sources for the generated PWM signals.

The Hardware

Here you can get the board and the schematic of this board, both in the latest revision 1.2.