Dieser Artikel ist in der englischen Sprache verfasst um SSL-Teams auf der ganzen Welt einen Einblick in unser System zu geben.
What’s the challenge?
We develop every schematic, layout and PCB on our own. As tool chain we use the software called EAGLE from Cadsoft. Furthermore we also assemble every PCB in our lab.
Viele SMD-Bauteile und Microcontroller mit kleinen Beinchen zu löten erfordert eine ruhige Hand, stellt aber mit dem vorhandenen passenden Werkzeug kein größeren Problem dar.
In this generation the keyword modularity guided us through the PCB-Development. For every robot-function an own PCB was specified and developed.
On our redesigned mainboard are 5 ARM Cortex M3 microcontrollers placed. Their job is to control our 4 brushless ac motors and to decode the wireless transmitted data into usable direction and speed signals. On this mainboard are also 5 power-boards placed. The purpose of this PCB is to control and measure the current of each coil in the motors; one for each driving-motor and one for the dribbler-motor. These boards aren’t soldered onto the mainboard, they are just plugged in via pin-headers.
- controlling the wheel-motors
- controlling the dribbler-motor
- writing debug-informations to a SD-Card
To control our 30W brushless motors, we have designed a motor power board. On these PCB is everything to make a micro controller drive up to 6A of current. We also included several protection measures.
Our kicker-PCB is a DC-DC-Converter from 16V to 230V. This board charges a capacitor and controls the discharging through two coils. It is also connected to our ball-detecting system, so that a shot is only executed with a ball in front of the robot.
The purpose of this circuit board is to receive and transmit wireless data from and to our PC-interface. As you can see on the image, we integrated the antennas in our copper design and don’t use external components.
Of course there are further PCBs, but they are not that interesting. Most of them are just for connecting an IC to a cable, generate voltages or switch currents.
Right now we started the development of our new generation robot-electronics. Hopefully we can do this with as much success as in 2012 :]