REGBOT version 3

Aim

• maintain frame,
• Avoid too many satellite PCB's,
• more powerfull 5V,
• fix PCB errors on version 2,
• new servo interface plug

Status and observations

REGBOT 36 LIV has new board (and new battery/charger mount (3D print)

• Line sensor low power pin (Teensy pin 25) now working. Pin 25 set to output in main.cpp (line 125), and pulsed in main.cpp (line 425 and 466). Line estimate seems OK (after calibration) - line sensor calibration missing in regbot.ini.

• Space for charger is too small - hits line sensor 6-pin plug on main-board and hits line sensor 90 deg 10-pin plug in other end. Should lower buttom plates by e.g. 4mm.

• Battery power (XT60) should have small plug on main PCB, so that XT60 plug can be fixed to battery/charger mount.

• IR sensor power control is OK. IR sensor calibration missing in regbot.ini.
• Power off by "halt" and by too low battery voltage is OK, back on by "power" button in both cases OK. Power off (by halt), no USB, then power on by power button is OK.
• wifi (on board part) is working (client is not) - tested with putty (not on SSID=device)
• Servo plog (teensy pin 25 (PWM) is also line sensor pin, teensy pin 5 (PWM) is also SPI interface, teensy pin A14 (analog out), teensy pin 18 (also linesensor power pin).

Teensy pin assingnment

• 0 serial RX (wifi)
• 1 serial TX (wifi)
• 2 motor left direction
• 3 motor left PWM
• 4 motor left D2 enable -> flyttes til servo PWM
• 5 SPI CS og servo pin 3
• 6 Start button
• 7 motor slew ctrl -> flyttes til motor enable D2
• 8 motor right direction
• 9 motor right PWM
• 10 motor right D2 enable - > flyttes til servo PWM
• 11 SPI MOSI
• 12 SPI MOSI

• 13 heart beat LED og SPI clock
• 14 (A0) IR dist 2
• 15 (A1) IR dist 1
• 16 I2C SCL
• 17 I2C SDA
• 18 Line sensor LED power (skal ikke også til servo pin)
• 19 encoder left B
• 20 encoder left A
• 21 encoder right B
• 22 encoder right A
• 23 (A9)battery voltage

• A14 (analog out) servo pin (i/o, ikke PWM)
• A10 motor current left
• A11 motor current right
• A12 line sensor pin 3
• A13 line sensor pin 4
• A15 line sensor pin 5
• A16 line sensor pin 6
• A17 line sensor pin 7
• A18 line sensor pin 8
• A19 line sensor pin 9
• A20 line sensor pin 10

• 24 SPI CE
• 25 Line sensor LED HIGH
• 32 IR power on
• 33 Robot power on