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The overall electrical design is fairly minimal. There are three different voltages being supplied by standard switching power supplies. The first is 5V and supplies power to all motors, the Arduino, the servos, the arbiter, and the motor controller board. 5V is a standard voltage which makes it ideal for all these applications. The power supply could output up to 3 amps at 5V, which is more than enough to power everything. At most, with everything running, the total draw on the 5V rail would only be about 2 amps.
The second voltage is 12V which is only supplied to the fans that blow the flag. This is purely for aesthetics. The third voltage is 15V which is supplied to the sensors, which need a higher voltage to operate. The total sensor current draw is very low, only a few mA.
This is the initial rough draft of the schematic for the robot. To save on I/O pins, all motors share the same control pins, but the enables for each driver are turned on or off.
This schematic is basically what was in our final robot. The power distribution board schematic is not included because it does not logically contribute to the robots functionality.
Above: Arduino, the motor controller board, and the power distribution board. The power distribution board accepted and distributed 5V, 12V, and 15V to the Arduino and Motor controller, fans, and sensors respectively. The majority of the connections including the sensor, arbiter, servos, and fans connected to the distribution board.
Below: The servo controlling the net, the claw servo and sensor, and the fans to blow the flag.
Left: The wheels and DC motors used to move the robot as well as the main wire harness.
Right: The robot before competition.
To see more functionality videos like the ones below, see Testing Media.
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