Control Feasibility ATMega 328 has 18 IOs 16

Control Feasibility • • • ATMega 328 has 18 I/Os (16 brought out) 5 V Operation @ 16 MHz External OSC 4 out of 6 Successive A-to-D ports available Features SPI, 6 PWM ports, I 2 C and UART Large community support and freely available libraries

Servo Feasibility • Pulse Width Modulation Control – Pulse width determines angle of servo. • Current Measurements: • • 700 m. A transients 500 m. A under stable load 40 m. A holding idle 5 m. A idle

Servo Feasibility Cont. • Assuming 7. 2 V 5 AH Battery – 5 V servo voltage rail (switching buck) – Discharging at 0. 1068 C (worst case) would take 46. 8164 hours to fully discharge Calculations 5 V*(. 700 A*1. 1) = 3. 85 W (Including 10% loss by Buck) 3. 85 W = 7. 2 V * IBatt = 0. 5347 A 0. 5347 A/5 AH = 0. 1068 C MAX 5 AH/0. 1068 C = 46. 8164 hours to full discharge

Protection • Mainboard uses two separate PTCs – Buck protection 3 A Trip Current – Control protection 0. 1 A Trip Current • Buck circuit also includes over current, under voltage, and thermal protection (built into the IC)

Mainboard Layout - Bottom

Mainboard Layout – Top

PCB Schematic

PCB Schematic Continued

Chassis IO Board • Brings out 10 usable IOs to the outside of the LVE • 4 Have Analog In Capabilities • 4 Have PWM Capabilities • 6 Are General I/O • IO Pins Protected By Custom Shroud

Chassis IO Layout

Chassis IO Layout

Chassis IO Custom Shroud