Electrical Design

The electrical subsystem will focus on creating the control signals and power routing to the subsystems described below.

Control systems:

Laptop - Run ROS software, interfaces with Arduino and Kinect
Arduino Uno and Nano - Interfaces with laptop, motor controllers, and sensors
Motor controllers - Power and control motors

Sensors

VCNL4010 Proximity Sensor - determine if ball has been caught
Kinect (Xbox 360 version) - QR code / player tracking
IR sensors - Motor speed encoders

Motors

2 Brushed DC motors for launch mechanism. 12V, 3000 RPM
Servo - used to hold ball in catch net and load it into the launcher

12 V Batteries

Supply power to DC motors
Supplied from batteries on Pioneer

Arduino Nano

Servo

SparkFun QRE1113

IR transmitter and receiver
Analog version
Often used as line sensor

PWM DC Motor Controller

Output Voltage: 5-36 V DC
Output: 15 A, 400 W
PWM input: 3.3-20 V

VCNL4010 Proximity Sensor

I2C communication
Best at 10-150mm

Pioneer Robot Base

Electrical Schematic from Fritzing

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