Electrical

Complete System Schematic

All hardware for this project is controlled by three PIC32MX170F256B microcontrollers and powered with a power distribution board. The power distribution board made both a 3.3V and a 5V source available for the PIC boards, LED, Servo Motors, and IR circuits. Additionally, the motors supplied a 5V source for two DC motors.

* A higher resolution image of the full schematic can be found here.

Leader PIC32

The leader PIC32 is the leader in the SPI communication protocol, handles input signals from peripheral sensors and switches.

Follower 1 PIC32: Drive Train

The follower 1 PIC32 is responsible for the drive train pwm.

Follower 2 PIC32: Puck Firing

The follower 2 PIC32 is responsible for controlling the firing and teeam indicating servo motors.

Tree IR Sensing

The IR Detector provides a digital signal to the PIC to determine which Tree Beacon thee robot is facing. The logic is powered by input capture dependent calculations.

Beacon IR

The IR Detector provides a digital signal to the PIC to determine if a Tree Beacon has been identified. The Detector is powered with 3.3V and has a range of 30cm.

Go Switch

The Go Button provides a digital input signal to the PIC to begin the game mode of the robot. The sub-circuit features a pull up resistor, a current limiting resistor, and an RC circuit to contribute to debouncing.

LED Indicator

The robot illuminates a LED upon starting the primary game mode. The LED is switch on via an N-MOSFET transistor in low side drive.

Drive Train DC Motors

The robot is driven by two, 40 rpm / 5.5 oz-in nominal, motors. Each motor is controlled by a TLE 5206 H-Bridge with internal snubber diodes. The H-Bridge is powered by 5V and is controlled by a pwm signal from the follower 1 pic.

Firing and Team Servo Motors

Four servo motors are implemented to control the puck firing mechanism as well as team indication. The servos are powered by 5V and controlled positionally with a pwm signal from the follower 2 pic.

Serial Port

The Serial Port was implemented during programming to interface with the PIC 32 for debugging.

Snap Programmer

The Snap Programmer was implemented during programming to compile C code onto PIC 32.

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