LeoCore controller board

LeoCore – Main Control Board of the Leo Rover Platform

LeoCore is the main control board of the Leo Rover platform, responsible for power distribution, motor control, and communication with the onboard Raspberry Pi computer. Equipped with an STM32F401 microcontroller, it provides robust protection, precise motor drivers, and expandable I/O ports – making it a reliable foundation for robotics research, education, and prototyping.

General Information

• Custom LeoCore board with STM32F401 microcontroller
• Compatible with Raspberry Pi (power + UART serial communication)
• Provides power and serial communication between LeoCore and Raspberry Pi
• Manages system readiness indicator (battery LED)
• Total current draw from all 5V outputs must not exceed 5A
• Operating temperature: -20°C to +50°C

Ports and Functions

Power Input

• DC 2.1/5.5 mm barrel jack
• Reverse polarity and overvoltage protection
• 10 A fast-blow fuse
• Input voltage: 8 – 30 V DC

Motor Outputs

• 4× PWM H-bridge motor outputs (A, B, C, D)
• Peak current: ±2.8 A
• Overcurrent and short-circuit protection (to power and GND)
• 5 V encoder supply (max 1 A total)
• 2× encoder inputs per motor (active low – short to GND)

LED Output

• Controlled LED output (e.g., battery/system status)
• Output: 5 V / 10 mA

Fan Connector

• Controllable fan power output
• Output: 5 V / 1 A

GPIO Port

• General-purpose I/O connector
• Provides power to Raspberry Pi
• Exposes pins for UART communication (PIN8 - TX, PIN10 - RX)
• Enables flashing of the module directly via Raspberry Pi

UART Port

• UART communication interface (same UART as on GPIO port)
• Logic level: 3.3 V

Debug Port

• 5-pin interface for firmware flashing and debugging via ST-Link/V2 (optional)

Drivetrain

The standard configuration of the Leo Rover features a drivetrain comprising four fixed wheels. This design enhances mobility and allows precise maneuvers such as:

• Turning in place (around the center of mass)
• Turning along a curve

Additionally, the Leo Rover features a differential suspension system, allowing it to traverse uneven terrain and obstacles. The suspension ensures a smooth ride and high stability even on rough surfaces.

Technical Specifications