ModalAI Forum

@Ritwik-Majumdar The delay of VOXL2 control has not been tested, but it should be relatively small (1ms or less) You can control the GPIO directly from command line, see https://docs.modalai.com/voxl2-linux-user-guide/#gpios https://docs.modalai.com/voxl-gpio-io/#manipulating-gpio-using-linux-commands Please take note of the GPIO pin numbering : the GPIO have an offest of 1100 (e.g. GPIO 84 = 1184) Setting CPU to perf mode (voxl-set-cpu-mode perf) will speed things up. You can time the execution time (i just did in perf mode). Sometimes 0.000s, sometimes 0.001s, so somewhere around 1ms. You can do more precise timing if needed. voxl2:/$ time echo 1 > /sys/class/gpio/gpio<GPIO_NUM>/value real 0m0.001s user 0m0.000s sys 0m0.000s

The diagrams may be helpful to explain the two options we proposed which do not require you to design any custom boards to plug into VOXL2. You will need to take care of interfacing to a GPIO board either using UART or USB. Option1: [image: 1717514293871-2399bf19-1422-471e-86e1-392817d383d3-image.png] Option2: [image: 1717514343432-b5ac8e69-0808-40fb-a288-11b4d34af5c6-image.png]