Motor drive PCB

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Motor drive PCB version 1,.2

Figure 1. Pcb version 2.1 with plug usage.

Figure 2. Teensy circuit version 2.1 for four motor controls.

Power on

Power on is designed to use an external power-on switch. The external switch turns on one board; this board then turns on slave boards.

The physical on-off switch on the Teensy board is shorted in on-position.

Power off

Raspberry Pi initiates turn off, which orders Teensy (boards) to turn off after the Raspberry shutdown. A request power off button will tell the Raspberry that it is time to shut down.

Do not use the battery's power-off feature except in emergencies (e.g., if the battery is totally flat or something is burning).

Bonnet view

Figure 3. Power on and off. The on/off on the battery (top of image) is for emergency use only.

The teensy PCB (green light) is for steering and crane-yaw.

The Raspberry (at the bottom of image) is for the Lidar and the D455 3D camera.