抄録
In this paper, A small-sized real-time controller circuit board with MCU (Micro Control Unit) and FPGA (Field Programmable Gate Array) is described. This controller is suitable for small size mobile robot or experimentation of actuator control. A MCU of this controller supports real time OS, network interface and floating point unit. And a FPGA is able to realize PWM generator, pulse counter, communication interface, etc. Two examples of application are also described.
