While some of us are milling the pieces of the chassis, others were putting all the electronics together to have every thing ready to assemble as soon as we have the mechanical pieces !
Let's take a look at our electronics. All of these pictures are available in the Gallery for a closer look.
The umbilical cable is made of two 6mm² cables (phase in red and mass in blue) and an ethernet cable shielded with cross-braiding. It's 10 meters long and it brings a 24V alimentation from the power supply into our mobile base and more precisely, into an electronic card that distributes the current.
Our five motors are the same and need a 24V input with an engine torque of 9Nm.
We have two boards on our mobile base :
The first one is made of three engine drivers, a 24V/5V converter and two electronic cards. The electronic card with all the wires is used to supply all five engine drivers, the sensors electronic card, the Arduino Card and the Raspberry. The second one is the sensors electronic card. It is going to be used to supply all the sensors (infrared sensors, gyroscope, stroke sensors).
The second one contains the last two engine drivers, the Arduino Mega 2560, the Raspberry Pi 3 B+ and a current grabber card. The current grabber card allows us to read the current consummed by the motor. With the motor current, we can determine the toque applied on the arms joint. Therefore we can tell whether or not the rear wheel is in contact with the ground. The informations are linked between the Raspberry and the computer with the Ethernet cable, and with the USB cable between Arduino and Raspberry.
We'll keep you up as soon as every thing is assembled !
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