Cheetah-CB is a motor control expansion board made to control the Cheetah motor driver board. The board comes with an ARM Cortex-M3 based microcontroller running at crystal frequency of 12Mhz. Cheetah-CB is capable of controlling 4 DC motors thus making it suitable for any robotics or automation application.Cheetah-CB has Phi Robotics Expansion Bus. It has SPI and CAN communication peripherals on the expansion bus. Phi Robotics Expansion Bus is a cross-platform stackable connector which allows user to build modular systems. Multiple expansion boards can be stacked on top of a base board to expand the system functionality. All the signals on the expansion bus are standardised to 3.3V. Base board expansion bus have 3.3.V and 5V supply lines to power expansion boards. All Phi Robotics base boards and expansion boards comply with this expansion bus design.Phi Robotics Expansion Bus is a 10x2 pin connector having the following peripherals: UART, SPI, I2C, CAN, GPIO and external interrupts. All expansion bus peripherals are enabled on base boards, however on expansion boards only peripherals that are required are enabled