https://github.com/robotis-pandora/ROBOTIS_CM9_Series
On the CM-900 controller can be programmed using C language and using Arduino Style.
CM-900 is an embedded board based on STMicroelectronics’ STM32F103C8 Cortex-M3 MCU.
H/W Specification
- CPU : STM32F103C8 (ARM Cortex-M3)
- Op Voltage : 5V~24V( USB 5V, DXL 12V, XL-Series 7.4V)
- I/O : GPIO 32
- Timer : 8 ( 16bit )
- Analog In(ADC) : 10 ( 12bit )
- Flash : 64 Kbytes
- SRAM : 20 Kbytes
- Clock : 72Mhz
- USB : 1 ( 2.0 FullSpeed )
- CAN : 1
- USART : 3
- SPI : 2
- I2C(TWI) : 2
- Debug : JTAG & SWD
- DMA : 7ch
- 3 Pin TTL : 2
- 4 Pin RS485 : 2
- 3 Pin XL-Serise : 1
- SIZE : 60mm X 54 mm X 1.6 mm