Schematic

RegBot schematic revision 1B

Teensy

The teensy USB-5V connection to Vin is cut on the teensy-board, to allow 5V-PSU to supply in all cases.

Schematic

This figure should be updated with version 2B.

Figure is PCB version 1B (never used). Current sensor output is level shifted (and inverted), to be in the 0 to 1.2V range for the Teensy A/D converter.

Optional interfaces

There is further allowed for additional interfaces (PCB version 2B):

• Line sensor - blinking LEDs at 1kHz and 8 sensors - connected to 8 A/D converters on the Teensy.
• IR distance sensors (Sharp 2Y0A21F) two, that is connected to 5V and A0 (IR1) and A1 (IR2) on the processor.
• Interface to Nordic Radio board with SPI interface (not in software yet)
• Serial interface (Teensy pin 0 (RX1) and 1 (TX1) (not supported by software yet).
• Addition of power control IC, but this is pt. bypassed by a jumper.

Future improvements

Future improvements should replace the Pololu 5V switch mode supply by a 7805 linear controller, as the idle power consumption by the converter is higher than the Teensy 5V current. Yhis would allow the processor to go to sleep mode if battery volatge is getting low (this is implemented in software).

Some plugs (IR-sensor and Nordic radio) should be relocated, as they conflict with Teensy USB cable.

A battery ON/OFF switch should be mounted directly on the PCB.