Download Team 1 - Simultaneous Localization and Mapping Robot (SLAM)

53
2
3
4
VBAT
VBAT_Motors
Power Input Port
COR30
R30
COJ9
J9
Kinect 12V
COJ10PIJ1001
J10
3.3V_Reg
Power_3V3.SchDoc
VBAT
5V
3.3V
COJ11 PIJ1101
J11
VIN
PIS103
VREG_5V
EN_Board
VIN
P23 3PIU1103 PIU1105
PIU1102
VBAT_Aux
PIJ1102
EN_Motors
COU12A
U12A
P22 1PIU1201 PIU1205 PIU12066
PIU1202
Main PWR (5A)
VREG_3V3
EN
5
2
VIN_Battery
EN
OUTA
INA
PWM
INB
OUTB
PIR3902
COR39
R39
470
COD7
D7 PID701
Green PID702
COD8
D8 PID801
Green PID802
TXD
RXD
RESET
Motors
Enabled
SCLK
SDA
CS
2
1
PIJ1502 PIJ1501
2
1
PIJ1402 PIJ1401
2
1
PIJ1302 PIJ1301
COJ12
J12
COJ13
J13
COJ14
J14
COJ15
J15
C
COS2
S2
PIS201
3.3V
2
1
PIJ120 PIJ1201
5V
I2C_CLK
I2C_DATA
L-Motor
EN_Motors
COU13B
U13B
4
PIU1304
P19 3PIU1303 PIU1305
PIU1302
RESET
PIS202
Reset Switch
ADC
ADC.SchDoc
12V
COJ17
J17
Current_Sense
2
Board Pwr
Enabled
5
RX
TX
NLP0NLP1NLP2NLP3NLP4NLP5NLP6NLP7NLP8NLP9NLP10NLP11NLP12NLP13NLP14NLP15
P27
P26
P25
NLP19NLP20NLP21NLP22NLP23NLP24NLP25NLP26NLP27
VBAT_Aux
Aux_A
Aux_SW.SchDoc
VIN
NLP16
P16
VBAT_Aux
5V
VBAT
PIR3102
PIR3402
VIN
PIR3101
PIR3401
COR31
R31
0 ohm
PIMTG101
PIC4902 PIC4901
COC49 1uF
C49
COR34
R34
1
PIJ501
2
PIJ502
COMTG2
MTG2
3
PIMTG301
PIQ503
COMTG3
MTG3
PIR3501
PIR3508
PIJ7022
PIR3502
PIR3507
PIJ7023
PIR3503
PIR3506
PIJ704 PIJ7014
PIJ7024
PIR3504
PIR3505
COJ7
J7
PIJ705 PIJ7015
PIJ7025
PIR3601
PIR3608
PIJ706 PIJ7016
PIJ7026
PIR3602
PIR3607
PIJ707 PIJ7017
PIJ7027
PIR3603
PIR3606
PIJ708 PIJ7018
PIJ7028
PIR3604
PIR3605
PIJ709 PIJ7019
PIJ7029
COR36
R36
4.7k
PIJ7010
PIJ7030
PIR3701
PIR3708
PIR3702
PIR3707
PIJ801 PIJ803 PIJ805
PIR3703
PIR3706
PIJ802 PIJ804 PIJ806
PIR3704
PIR3705
COR37
R37
4.7k
Note: For possible cooling fan see:
Digikey: 259-1463-ND
10
PIQ502
COMTG4
MTG4
4.7k
PIJ7021
PIJ703 PIJ7013
COQ5
Q5
NLEN0Board
EN_Board 1 PIQ501
COR35
R35
PIJ701 PIJ7011
PIJ702 PIJ7012
2
D
COJ5
J5
Fan (Optional)
Spare GPIO
Digital I/O
DNI
PIMTG201
PIMTG401
1
Encoders
COJ8
J8
1
2
PIJ7020
P0
P1
P2
P3
P4
P5
P6
P7
P12
P13
P14
P15
COR40
R40
PIR4002
COR41
R41
PIR4102
COR42
R42
PIR4202
COR43
R43
PIR4302
0 ohmPIJ1601
1
PIR4001
0 ohmPIJ1602
2
PIR4101
0
ohm
3
DNI
PIR4201
PIJ1603
0 ohmPIJ1604
4
PIR4301
P8
P9
P10
P11
Sheet:
VIN
NLP18
P18
Project:
3
Size:
Letter
Top level system integration schematic
Part #:
Eddie Control Board
599 Menlo Drive
Rocklin, CA 95765
www.parallax.com
2
AUX C
EN
System Integration.SchDoc
Description:
Raw PCB
AUX B
EN
Aux_C
VBAT_Aux
Aux_SW.SchDoc
COJ16
J16
COPCB
300-28990
1
C
Aux_B
Aux_SW.SchDoc
NLP17
P17
PIC4802 PIC4801
5V
AUX A
EN
COC48 22uF
C48
COMTG1
MTG1
B
PIJ1702
5
PIR3901
+
1
2
PIJ1701
P0
P1
P2
P3
P4
P5
P6
P7
P8
P9
P10
P11
P12
P13
P14
P15
P16
P17
P18
P19
P20
P21
P22
P23
P24
P25
P26
P27
PIR3801
EN_Motors
COU13A
U13A
P20 1PIU1301 PIU1305 PIU13066
PIU1302
P0
P1
P2
P3
P4
P5
P6
P7
P8
P9
P10
P11
P12
P13
P14
P15
P16
P17
P18
P19
P20
P21
P22
P23
P24
P25
P26
P27
PIR3802
Prop
Propeller.SchDoc
USB
USB-to-Serial.SchDoc
2
EN_Motors
270
COJ18
J18
R-Motor
Left_Motor
H-Bridge Driver.SchDoc
B
COR38
R38
PIJ1802
Current_Sense
EN_Motors
COU12B
U12B
P21 3PIU1203 PIU1205 PIU12044
PIU1202
3.3V
+
1
2
PIJ1801
2
COS1
S1
PIR3302
COR33
R33
Power-mode Select SW
1M
3. Board + Motors
PIR3301
2. Board
1. OFF
5A
A
_
4
3
1
PIS101
PIS104
2PIS102
VIN_Battery
EN
OUTA
INA
PWM
INB
OUTB
EN_Motors
COU11B
U11B
4
PIU1104
COF2
F2
5V_Reg
Power_5V.SchDoc
Right_Motor
H-Bridge Driver.SchDoc
P24 1PIU1101 PIU1105
PIU1102
Motor PWR (20A)
COJ6
J6
47k
PIR3002
PIR2902
EN_Motors
COU11A
U11A
6
PIU1106
VBAT_Motors
PIJ1002
2
Q4 PIQ401
COR29
R29 COQ4
1
2
PIJ602
PIJ601
5
PIR3001
47k
PIR3201
2
PIQ402
1
PIR2901
3PIQ403
20A
2
EN_Motors
12V
VIN
VREG_12V
EN
5
A
COF1
F1
PIJ901 PIJ902 PIJ903
1
2
3
PIR3202
COR32
R32
100k
5V
NLEN0Motors
EN_Motors
5
12V_Reg
Power_12V.SchDoc
_
1
550-28990 Rev: A
Date: 10/10/2011
Sheet
of
Drawn By: K. McCullough
4
D