Table of Contents

Behavior

Harp Behavior

Key Features

  • 3 poke ports, each combining an infrared beam input, an LED driver, a 12 V valve driver, and a general-purpose digital line.
  • Timed pulses and PWM (up to 10 kHz with configurable duty cycle) on every digital output.
  • Camera triggering, servo motor control, and quadrature encoder counting on the general-purpose outputs and ports.
  • Configurable LED drive current (up to 100 mA) with a settable maximum limit.

Specs

  • Poke ports: 3 (IR input, LED, 12 V valve, digital IO per port)
  • General-purpose digital outputs: 4 (5 V, with pulse and PWM support)
  • PWM frequency: 1 Hz – 10 kHz, duty cycle 1 – 99%
  • Analog inputs: 2 (12-bit, sampled at 1 kHz)
  • Digital inputs: 1 (DI3, 5 V)
  • LED outputs: 2 current-controlled (2 – 100 mA) + 2 RGB
  • Camera triggers: 2 (on DO0/DO1, 2 – 600 Hz)
  • Servo outputs: 2 (on DO2/DO3, period and pulse width in µs)
  • Quadrature encoder inputs: 1 (on Port 2, read at 1 kHz)
  • Output pulse duration: 1 – 65535 ms
  • Timestamp resolution: 32 µs
  • Synchronization frequency: 1 Hz
  • Synchronization accuracy: 22 ± 16 µs (between clock generator and this device)

Hardware

Version Notes
2.0
  • Current version, documented in this guide
1.2
  • Earlier revision, uses case_v1.1_v1.2 enclosure
1.1
  • Earlier revision, uses case_v1.1_v1.2 enclosure
Warning

TODO: Fill in what changed between hardware revisions 1.1, 1.2, and 2.0 (e.g. second analog input, connector changes). The repository records only the current 2.0 design files.

Firmware

Version Notes
3.4
  • Aligned firmware register naming with the interface and device.yml
3.3
  • Fixed the read function of the digital inputs register
3.2
  • Added the EncoderMode register
3.1
  • Added an event when the last trigger is sent to the camera after stopping
  • Cameras stop when the device goes to standby mode
  • Added serial timestamp registers
Warning

TODO: The firmware notes above were derived from commit messages between release tags — verify them against the release notes on the releases page, and extend the table with older releases if needed.


Last updated with:
Hardware v2.1
Firmware v3.3
Bonsai Package v0.2

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