Getting Started with T-STorM32

This is a first attempt of a documentation for the T-STorM32. Will be relatively disorganized at first.

Concept

The encoder support builds on the NT concept, and especially on the possibility of connecting separated NT motor modules to the NT bus. For T-STorM32 you need, in addition to the main controller board, three NT motor modules which include the encoders. These shall be called NT motor-encoder modules (or should we call them TNT motor modules ?).

The motor drivers on the main STorM32 board cannot be used, and unlike with Basecam/Alexmos, it is also not possible to connect encoders to the main STorM32 board. The T-STorM32's concept consists of a main controller board and three NT motor-encoder modules, one for each axis. The NT motor-encoder modules are connected to the NT bus, and battery power. The NTX bus has thus been introduced, which carries both the NT bus signals and the battery power lines.

The concept, also sketching a typical wiring scheme, thus looks as this:

Ordering Information

Things to have at minimum:

• STorM32-BGC board
• NT IMU module and matching cable
• three NT Motor-Encoder modules and matching cables
• USB-to-serial adapter

The need for the STorM32 board, the NT IMU module, and the three NT motor-encoder modules should be obvious from the concept scheme. The USB-to-serial adapter is required for upgrading the STorM32 main board to the latest firmware. It is however also extremely useful for utilizing the Live Recording feature.