Bot Wiring
Batteries should never be left plugged in!!!!!
#Power System#
The following is a block level diagram for the power system of the bot.
Starting with the batteries. There are two of them, one for logic functions and one for motor functions.
Both of these batteries have 2 connections into Dark Power, the power regulating system for the bot. Running from the terminals of the battery through the black conduit pipe, the batteries feed into 10 amp fuses, and then switches which shut off the power from the individual batteries. The output of the fuse and switch board runs to dark power. These batteries produce 4 stable voltage rails, each with its own board inside the plexiglass enclosure of Dark Power. The following diagram illustrates where the outward facing connections are going, and where power is coming in. To correctly orient the diagram, the front of the bot is the side with the mechanical actuators.
##Power of Logic Devices##
The most important power connection as far as logic is concerned is the connection to the Beagle Bone Black, this connection is through a special cable which plugs into the DC Jack of the beagle bone, and runs up to the 5 volt logic rail on D.P. This wire is all black.
Another important power connection is the connection to the ADC board. The ADC is a green PCB. It's power connection is a green and black pair of wires. (not mounted or connected to D.P as of 2/10/2015)
The wireless communication with the bot occurs through the USB antena hub, the power connection for this is a blue and black wire pair. (not mounted or connected to D.P as of 2/10/2015)
##Drive Motor Power##
Drive motors are powered via the capes mounted on top of the Beagle bone black. A total of four green and black pair wires run from two connectors on dark power to their terminals on the side of the capes. The following is an image of how they are correctly oriented.
From the capes, four red and black wire pairs run to the power terminals of the drive motors, or the motors that propel the bot.
##Simon Says Power##
The current design of the simon says actuator, includes a sensor board, one stepper motor, and one servo. Each have independent power connections. The servo is powered by a direct connection into dark power. The wires that connect the servo to power are a yellow and black pair, which run from the header pin for the servo, to the task manipulator rail on dark power. It should be noted that the wires that are directly connected to the body of the servo, do not follow the color scheme, but if you follow these wires up the chassis of the bot, you will come to the junction where the color scheme is henceforth accurate.
The simon sensor board is a voltage divider circuit which is powered by a green and black wire pair. A picture of the simon says sensor board with connection leads noted.
The stepper motor must be powered through an H-Bridge and control board. In the following image the connections of the H-Bridge PCB are explained:
The stepper control board has leads, running to both power and logic. The following picture indicates where the leads run from the control board.
