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Solidworks & Photos Circuit Designs    Power Board    Main Board    Arm Board    Tape Sensor Board    IR Sensor    Datasheets Bill of Materials
		1.) Power Board Two 7.2V batteries are placed in series to form a 14.4V power supply. To obtain 5V, we run the 14.4V through a voltage regulator. We tap from here to power the other circuit boards. A power MOSFET protects the components in case the batteries are plugged in backwards. The kill switch opens and closes the connection. Click on the image to view calculations. 2.) Main Board The main board contains the E128 microprocessor connections. All port connections tap into this board.
		E128 20Pin	E128 24Pin
		E128 SPI Pins	Motor 0
		Motor 1	Red Debug LED
		Red Indicator LED	Green Indicator LED
		Bumper switch
		3.) Arm Board The arm uses a 42BYG228-R stepper motor to raise the upper arm and a HXT900 servo motor to swing the lower arm
		Stepper Motor for upper arm
		Servo Motor for lower arm	Yellow Debug LED
		4.) Tape Sensor Board 7 tape sensors are tied to 2 quad op-amps and use similar circuit diagrams. They output an analog signal. We implemented Schmitt triggers and hysteresis in software. Click on the image for calculations
		Tape Sensor circuit
		5.) IR Phototransistor A signal conditioning circuit produces a digital signal when IR is sensed. The board was not implemented in our final design but was needed for check-off. Click on the image to view calculations.
		DATASHEETS LM324N Operational Amplifier LM7805C Voltage Regulator QRB1134 Tape Sensor L293B HBridge 2N7000 N-Channel MOSFET IRLZ34N N-Channel Power MOSFET IRFR 5305 P-Channel Power MOSFET 42BYG228-R Stepper Motor HXT900 Servo Motor