Wheel speed input
The wheel speed 1A input (J5-3) accepts TTL pulses from an encoder on a single wheel.
An encoder from a gearbox should not be used, and simulated TTL pulses (e.g. converted
from the CAN bus) should not be used either. The timing of the wheel speed input pulses
is critical and nothing should cause any delay to them.
The RT also accepts signals from quadrature wheel speed sensors. When using quadrature
sensors, connect one channel from the quadrature sensor to wheel speed 1A, and the other
to wheel speed 1B input (J5-5). The odometer input should be configured as per a normal
wheel speed sensor – the RT will automatically detect the use of the quadrature sensor.
The wheel speed input requires less than 0.8 V for a low pulse and more than 2.4 V for a
high pulse. Limited protection is provided on this port, however the input voltage should
not exceed 12 V.
Wheel speed input signal characteristics:
• 0 V to 12 V
• low < 0.8 V
• high > 2.4 V
The wheel that is used should not steer the vehicle. The RT will assume the wheel travels
straight.
IMU sync output pulse
The synchronising edge of the PPS is configurable in NAVconfig.
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