Channel type Read channel numbers Description Units
Analog 0 - 3 User analog inputs V
4 Supply voltage (battery) V
5 Right cliff sensor V
6 Central cliff sensor V
7 Left cliff sensor V
8 Right motor current A
9 Left motor current A
Encoder 0 - 1 User encoder inputs counts
2 Right wheel (2578 counts per revolution) counts
3 Left wheel (2578 counts per revolution) counts
Digital 0 - 7 User reconfigurable digital I/O
8 Right bumper
9 Central bumper
10 Left bumper
11 Right wheel drop
12 Left wheel drop
13 Right cliff detected
14 Central cliff detected
15 Left cliff detected
16 Button B0
17 Button B1
18 Button B2
19 Right overcurrent
20 Left overcurrent
Other 13000-13001 User encoder 0-1 index position counts
12000 Timestamp s
16000 Charge state (0=discharging, 2=docking
charged, 6=docking charging, 18=adapter
charged, 22=adapter charging)
-
11000 Right wheel PWM %
11001 Left wheel PWM %
1002 Z-axis angle rad
3000 X-axis angular velocity rad/s
3001 Y-axis angular velocity rad/s
3002 Z-axis angular velocity rad/s
Table 2.4: QBot 2 input channels
QBOT 2 - User Manual 16
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