This print contains 6 LEDs to display errors and states as well as 2 push-buttons enabling manual operation of the robot during testing. The NTB WiFly 50 Modell can also be found on this print. This allows communication with our partner team.
The voltage of each battery cell can be measured here. This Print also contains the main on/off switch for the electrical power supply.
Here, the battery voltage is converted from 18.5 to 5V or 3.3V. This is the central power supply from where all electrical components of the robot are supplied. The voltage conversion is implemented via two step-down converters, and the reverse polarity protection is ensured by a MOSFET transistor.
16 infrared sensors for detecting obstacles within 0 to 50mm and 4 infrared sensors which work at a distance of 5 to 50 mm are distributed on several prints. These prints are rather small and attached to the outside of the robot in strategic places.
Motor and magnetic control
The two motors are operated with our battery voltage of 18.5V and controlled by a PWM signal from the microcontroller. The control of the motors is realized via the DRV8841 board, which is provided by the NTB. The pull magnet of our catapult is controlled via a MOSFET transistor also with a PWM from the microcontroller.
This is the brain of the robot. Every action the robot performs is controlled and monitored by the microcontroller. In addition, all signals from the sensors and encoders are processed here.