Nuisance V1 - Electronics

Electronics

• Axon micro-controller
• Sabertooth 2x10 R/C
• Breadboard for prototyping and debugging (From RadioShack)

I/O

• Ping))) ultrasonic sensor mounted on servo for forward view
• Sharp IR Rangefinder mounted on servos for sides and rear view
• Each servo can be trimmed with a #define to get it perfectly centered
• Airtronics 6 channel radio and receiver for manual control. R/C receiver connected to Axon input ports.
• Push buttons
  
  • Large red one for reset
  • Smaller black one for general purpose debugging
  • Pulled low by external resisters
  • Pulled high by button contact
• LEDs (red) for visual debugging of object detection for front and sides (see Map on Software page)
• LEDs (yellow) for visual debugging of Finite State Machine (see FSM on Software page)

Power

• Common ground bus
• Electronics: 6v 2800mAH NiCad
  
  • Unregulated 6v bus powers Axon
  • 5v regulated power to servos and sensors via Axon
  • 5v regulated provided to breadboard via 7805
  • 470uF capacitor between unregulated bus and ground bus to help eliminate voltage fluctuation from servo and sensor use
• Drive motors: 12v (2x6v 2800mAH NiCad in series)
• Separate power switches and indicator LEDs for electronics and motors.
• Power switches are DPST to switch batteries between robot and charger connections

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