There are two types of hardware in the project:
- The physical platform itself
- The PCBs and other electrical components.
The ideal platform for Unit00 would have been a circle. Since that was impossible for us to build,
an octogon was chosen instead. Because the robot does not move in reverse (it can, but
that was not our intended mode of operation) having as few sharp 90° corners in the
design was important.
The following image is a 3D representation made from design plans drawn in Inventor. Having the plans
drawn up before construction was important in order to know how much material to buy as well as how
and where to cut holes, place mounting brackets, and so on.
Although some changes were made along the way, the final implementation is very close to what was originally
PCB and Electrical
With various devices running at 12V and 5V, several electrical circuits were needed for this project.
Some that required circuit boards include:
With both team members having lots of PCB design experience, no prototype designs on breadboards
were used. Instead we designed the circuits with OrCad and then produced them ourselves at home.
The results are inexpensive, permanant circuits that build a solid electrical foundation.
- power supply
- H-bridge motor amplifier
- satellite processor board
The following image is the schematic for the satellite processor board. It contains a small power supply
so it can connect directly to the 12V source. It has two Microchip 16F876 PICs - one for the PWM signals
and one for the A/D and quadrature signals.