Yo! This project is still a Work In Progress. Instructions, board layouts and BOM might change!
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Make a donation to mreitterThe setup we created includes a microcontroller-based driving circuit for each motor which can be interfaced via “rosserial”, which allows for the desired modularity. The electronics platform developed furthermore includes power supply units, sensor interfaces ready to use, and much more, which facilitates further development. Another key aspect which should be considered in this context is that, since the actual hardware interfacing is not done in the ROS-ecosystem, real-time capabilities can be added to the robot. We used this to equip it with a sensor-clad bumper casing and an emergency stop, which were not supposed to be evaluated in ROS for safety reasons, but rather in real-time capable hardware.
For more Information please visit:
https://gitlab.com/Melanoneiro/viktoria https://www.dropbox.com/sh/q86td1ef31qvzcq/AAC1YHYZU3JVz8ub-tvLRPB6a?dl=0 https://www.thingiverse.com/thing:2982737
| Ref | Qnty | Value | Sch lib name | footprint | Description | Vendor |
|---|---|---|---|---|---|---|
| C1, C3, C5, C38, C35, C47, C44, C56, C53, C37, C34, C46, C43, C55, C52, C39, C36, C48, C45, C57, C54, C62, C60, C63, C61, C72, C73, C74, C75, C76, C77, C71, C70, C145, C59, C88, C95, C134, C136, C138, C140, C142, C67, C94, C96, C135, C137, C139, C141, C143, C144, C122, C128, C123, C129, | 55 | 220n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C10, C21, C98, C120, C126, C121, C127, | 7 | 10n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C100, | 1 | 22u | device/C | Capacitors_SMD:C_2220 | Unpolarized capacitor | |
| C103, | 1 | 1000u | device/CP | Capacitors_SMD:CP_Elec_10x10.5 | Polarised capacitor | |
| C105, | 1 | 2.2u | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C107, | 1 | 4.7u | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | RS |
| C11, C22, C87, C26, C106, | 5 | 1u | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C110, | 1 | 270u | device/CP | Capacitors_SMD:CP_Elec_10x10.5 | Polarised capacitor | |
| C115, C114, | 2 | 470n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C116, C117, | 2 | 33n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C118, C124, C119, C125, | 4 | 68p | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C15, C24, C16, C29, C69, C102, C130, C131, C113, | 9 | 1n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C17, C28, C18, C30, | 4 | 470u | device/CP | Capacitors_SMD:CP_Elec_10x10 | Polarised capacitor | |
| C2, C4, C6, C66, C68, C78, C79, C104, C108, C132, C133, C112, | 12 | 100n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C20, C12, C13, C25, | 4 | 10u | device/C | Capacitors_SMD:C_1210 | Unpolarized capacitor | |
| C64, C65, C97, | 3 | 22p | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C80, | 1 | 2.2u | device/CP | Capacitors_SMD:CP_Elec_4x5.3 | Polarised capacitor | RS |
| C83, | 1 | 1u | device/CP | Capacitors_SMD:CP_Elec_4x5.3 | Polarised capacitor | |
| C85, C81, C82, C84, C90, C92, C93, C91, C101, | 9 | 0.1u | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | |
| C86, | 1 | 47n | device/C | Capacitors_SMD:C_0805 | Unpolarized capacitor | RS |
| C9, C14, C7, C8, C19, C23, C31, C40, C49, C51, C27, C33, C42, C58, C41, C50, C32, C89, C111, C109, | 20 | 10u | device/CP | Capacitors_SMD:CP_Elec_5x5.8 | Polarised capacitor | |
| C99, | 1 | 100u | device/CP | Capacitors_SMD:CP_Elec_6.3x7.7 | Polarised capacitor | RS |
| D1, D2, D3, D4, D6, D7, D5, D19, D20, D21, D25, D24, D23, D26, | 14 | LED | device/LED | LEDs:LED_0805 | LED generic | |
| D9, D12, D15, D14, D8, D11, D10, D17, D18, D16, D13, D22, D27, D28, D31, D30, D29, D32, D33, | 19 | D_Schottky | device/D_Schottky | Diodes_SMD:D_SMA | Schottky diode | RS |
| F1, | 1 | 15 | device/Fuse | Resistors_SMD:R_1206 | Fuse, generic | |
| F2, | 1 | 7 | device/Fuse | Resistors_SMD:R_1206 | Fuse, generic | RS |
| F3, | 1 | 4 | device/Fuse | Resistors_SMD:R_1206 | Fuse, generic | RS |
| J1, | 1 | CONN_02X05 | conn/CONN_02X05 | Pin_Headers:Pin_Header_Straight_2x05_Pitch2.54mm | Connector, double row, 02x05, pin header | |
| J10, | 1 | Akku | conn/CONN_02X03 | Connectors_Molex:Molex_MiniFit-JR-5556-06A_2x03x4.20mm_Straight | Connector, double row, 02x03, pin header | |
| J11, | 1 | USB_A | conn/USB_A | Connectors:USB_A | USB Type A connector | |
| J12, | 1 | Conn_02x02_Counter_Clockwise | V_1.0-cache/Conn_02x02_Counter_Clockwise | Connectors_Molex:Molex_MiniFit-JR-5556-04A_2x02x4.20mm_Straight | ||
| J2, | 1 | CONN_02X01 | conn/CONN_02X01 | Connectors_Molex:Molex_MiniFit-JR-5556-02A_2x01x4.20mm_Straight | Connector, double row, 02x01, pin header | |
| J5, J4, J3, | 3 | CONN_02X04 | conn/CONN_02X04 | Connectors_Molex:Molex_MiniFit-JR-5556-08A_2x04x4.20mm_Straight | Connector, double row, 02x04, pin header | |
| J6, | 1 | Ultraschall | conn/CONN_02X10 | Pin_Headers:Pin_Header_Straight_2x10_Pitch2.54mm | Connector, double row, 02x10, pin header | |
| J7, | 1 | CONN_02X25 | V_1.0-cache/Conn_02x25_Odd_Even | Pin_Headers:Pin_Header_Straight_2x25_Pitch2.54mm | ||
| J8, | 1 | Bumper+Hall | conn/CONN_01X13 | Pin_Headers:Pin_Header_Straight_1x13_Pitch2.54mm | Connector, single row, 01x13, pin header | |
| J9, | 1 | CONN_01X02 | conn/CONN_01X02 | Connectors_Molex:Molex_MiniFit-JR-5556-02A_2x01x4.20mm_Straight | Connector, single row, 01x02, pin header | |
| L1, | 1 | 6.8u | device/L | Inductors_SMD:L_Vishay_IHLP-4040 | Inductor | |
| L2, | 1 | 4.7u | device/L | Inductors_SMD:L_Vishay_IHLP-6767 | Inductor | |
| L3, | 1 | 100u | device/L | Inductors_SMD:L_Vishay_IHLP-6767 | Inductor | |
| L4, | 1 | Ferrite_Bead | device/Ferrite_Bead | Resistors_SMD:R_0805 | Ferrite bead | |
| Q28, Q29, | 2 | Q_NPN_BEC | device/Q_NPN_BEC | TO_SOT_Packages_SMD:SOT-23 | Transistor NPN (general) | RS |
| Q3, Q7, Q8, Q11, Q12, Q4, Q17, Q21, Q22, Q23, Q24, Q18, Q5, Q9, Q10, Q13, Q14, Q6, Q19, Q25, Q26, Q20, Q1, Q15, Q2, Q16, Q27, Q33, Q43, Q44, | 30 | Q_NMOS_GDS | device/Q_NMOS_GSD | TO_SOT_Packages_SMD:SOT-23 | Transistor N-MOSFETwith substrate diode (general) | |
| Q30, Q31, | 2 | Q_PNP_BEC | device/Q_PNP_BEC | TO_SOT_Packages_SMD:SOT-23 | Transistor PNP (general) | RS |
| Q32, Q36, Q37, Q40, Q39, Q41, Q42, | 7 | CSD19537Q3 | transistors/CSD19537Q3 | Housings_SOIC:SOIC-8_3.9x4.9mm_Pitch1.27mm | NexFET N-Channel Power MOSFET, Vds 100V, Rdson 13mOhm, Id 50A, Qg Typ 16.0nC, VSON8 3.3x3.3mm | |
| Q34, Q35, Q38, | 3 | IRF7606PBF | transistors/IRF7606PBF | Housings_SOIC:SOIC-8_3.9x4.9mm_Pitch1.27mm | HexFET P-MOS Power Mosfet, Vds -30V, Rdson 0.09R, Id -3.6A, Micro8 | |
| R1, R2, R3, R4, R16, R17, R21, R20, R24, R25, R28, R30, R32, R41, R42, R47, R46, R48, R49, R52, R53, R55, R18, R19, R23, R22, R26, R27, R29, R31, R33, R44, R45, R51, R50, R56, R54, R9, R35, R11, R39, R198, R196, R197, R201, R199, R200, R204, R202, R203, R58, R67, R76, R57, R66, R75, R59, R68, R77, R84, R85, R94, R97, R98, R100, R101, R102, R92, R90, R95, R99, R108, R104, R107, R103, R194, R141, R130, R131, R132, R128, R124, R137, R189, R154, R169, R171, R181, R183, R185, R186, R166, R178, R170, R172, R182, R184, R187, R188, R168, R180, | 101 | 10k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R106, R105, R155, R156, | 4 | 4k7 | device/R | Resistors_SMD:R_0805 | Resistor | |
| R111, R112, | 2 | 56R | device/R | Resistors_SMD:R_2010 | Resistor | RS |
| R113, R127, R123, R129, R139, R116, R144, | 7 | 100k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R114, | 1 | 12k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R115, | 1 | 22k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R117, R145, | 2 | 1M | device/R | Resistors_SMD:R_0805 | Resistor | |
| R118, | 1 | 390k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R119, | 1 | 1.5M | device/R | Resistors_SMD:R_0805 | Resistor | |
| R12, R36, R40, R13, R190, R192, R193, R191, R91, R110, R109, R138, R161, R162, R173, R174, R163, R164, R175, R176, | 20 | 1k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R120, | 1 | 2R | device/R | Resistors_SMD:R_2512 | Resistor | RS |
| R121, | 1 | 270k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R122, | 1 | 39k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R125, | 1 | 2.2k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R126, | 1 | 6.8k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R134, | 1 | 18k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R135, R140, R150, R146, | 4 | 0.01 | device/R | Resistors_SMD:R_2512 | Resistor | |
| R136, R195, | 2 | 10 | device/R | Resistors_SMD:R_0805 | Resistor | |
| R14, R37, R15, R43, | 4 | 0.1 | device/R | Resistors_SMD:R_2512 | Resistor | |
| R142, | 1 | 330k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R143, | 1 | 37k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R147, | 1 | 121k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R151, | 1 | 105k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R152, | 1 | 7.5k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R153, | 1 | 33k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R157, R158, | 2 | 47 | device/R | Resistors_SMD:R_0805 | Resistor | |
| R159, R160, | 2 | 15 | device/R | Resistors_SMD:R_0805 | Resistor | |
| R165, R177, R167, R179, | 4 | 47k | device/R | Resistors_SMD:R_0805 | Resistor | |
| R5, R6, R7, R96, | 4 | 220 | device/R | Resistors_SMD:R_0805 | Resistor | |
| R62, R63, R71, R72, R80, R81, R60, R61, R69, R70, R78, R79, R64, R65, R73, R74, R82, R83, R86, R87, R88, R89, | 22 | 20R | device/R | Resistors_SMD:R_0805 | Resistor | |
| R8, R34, R10, R38, R133, R148, R149, | 7 | 100 | device/R | Resistors_SMD:R_0805 | Resistor | |
| R93, | 1 | 1k8 | device/R | Resistors_SMD:R_0805 | Resistor | |
| U1, U2, U3, | 3 | ATMEGA328P-AU | atmel/ATMEGA328P-AU | Housings_QFP:TQFP-32_7x7mm_Pitch0.8mm | TQFP32, 16k Flash, 1kB SRAM, 512B EEPROM | RS |
| U17, | 1 | ATMEGA2560-16AU | atmel/ATMEGA2560-16AU | Housings_QFP:TQFP-100_14x14mm_Pitch0.5mm | TQFP100, 128k Flash, 8k SRAM, 4k EEPROM, JTAG | RS |
| U18, | 1 | MPU-9250 | sensors/MPU-9250 | Housings_DFN_QFN:QFN-24_3x3mm_Pitch0.4mm | InvenSense 9-Axis Motion Sensor, Accelerometer, Gyroscope, Compass, I2C/SPI | RS |
| U19, | 1 | BQ24616 | device/BQ24616 | Housings_DFN_QFN:QFN-24-1EP_4x4mm_Pitch0.5mm | BQ24616 | |
| U20, | 1 | LM2576HVS-5 | dc-dc/LM2576HVS-5 | TO_SOT_Packages_SMD:TO-263-5_TabPin3 | TO-263, 12V 3A Step-Down VR High Voltage Input | |
| U21, | 1 | LTC3789 | device/LTC3789 | Housings_SSOP:SSOP-28_3.9x9.9mm_Pitch0.635mm | LTC3789 | RS |
| U22, | 1 | LM3480-3.3 | V_1.0-rescue/LM3480-3.3-RESCUE-V_1.0 | TO_SOT_Packages_SMD:SOT-23 | ||
| U27, | 1 | 74HC4051D | 74HC4051D/74HC4051D | Housings_SOIC:SOIC-16_3.9x9.9mm_Pitch1.27mm | ||
| U4, U5, U23, U25, U24, U26, | 6 | OP275 | linear/OP275 | Housings_SOIC:SOIC-8_3.9x4.9mm_Pitch1.27mm | Dual Op amp (low power) | |
| U7, U10, U13, U6, U9, U12, U8, U11, U14, U15, U16, | 11 | IR2104 | ir/IR2104 | Housings_SOIC:SOIC-8_3.9x4.9mm_Pitch1.27mm | High and Low Side Gate Driver, Output Current 130/270mA, PDIP-8 , SOIC-8 | |
| Y1, | 1 | Crystal | device/Crystal | Crystals:Crystal_HC49-4H_Vertical | Two pin crystal | RS |
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|---|---|---|
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| test_01.net | 168.76 kB | 400 |
| V_1.0.net | 193.3 kB | 415 |
| V_1.0.pro | 1.37 kB | 402 |
| V_1.0.sch | 18.06 kB | 419 |
| V_1.0.kicad_pcb | 2.68 MB | 415 |
| viktoria.pdf | 538.77 kB | 294 |