Electronics Design forNI ARC 2013

By Joel CottrellSupervisor: Nasser AsgariTeam members: Rowan Pivetta,

Joshua Renfrey

Results Seminar

Contents

Introduction Power

Requirements Data Connections Hand-sketched

Draft Designs Schematic Design PCB Design Mouse Sensor Competition

Introduction

NIARC: National Instruments Autonomous Robotics Competition

April – September 2013 Scope: set by rules Team competition

Joel Cottrell: Electronics Rowan Pivetta: Mechanical Joshua Renfrey: Software

Introduction (cont.)

Power Requirements

• 2 Sabertooth 2x5 Motor Controllers11.1V 3-cell LiPo

• Hokuyo UTM-30LX LIDAR• NI Single Board RIO 9636

12V Redarc VI48D-12

• 2 Standard Servos: HITEC 645-MG• 3 Miniature Servo: DGServo S05NF STD

6V TI PTN78020W

• Axis M1011-W IP Camera• TP-Link WR702-N Router

5V TI PTN78020W

• Sparkfun 9-DOF Razor IMU• 3.3V Regulator, UI pull-up resistors

5V sbRIO output

• Mouse Sensor• Logic level converter

3.3V TI SMD LDO

Data Connections

• LIDAR USB (Comms Dev Class)• Ethernet RJ-45 from Router

Direct from sbRIO

• 50way ribbon cable (24 DIO pins)sbRIO to Breakout

• Routed straight from sbRIO• 0.1” pitch header

Mouse Sensor, IMU, Servo,

Spare• Requires 3.3V 5V logic level

conversion• 0.1” pitch header

Motor Controllers

• Pull-up resistors to sbRIO’s 5V• 0.1” pitch header

User Interface (Switches)

Hand-sketchedDraft Designs

Early thoughts about required

parts and arrangements

Schematic Design

Ideas, sketches Altium Designer Schematic

Schematic library parts Design cycle to refine schematic:

When main structurewas refined:▪ Schematic Printed Circuit Board

Schematic manipulati

on

Review, checking

datasheets, team

feedback

Determine issues with

current design

Final Schematic1

38

3

36

5

34

7

32

9

30

11

28

13

2

15

4

17

6

19

8

21

12

23

10

25

16

27

14

29

18

31

20

33

22

35

24

37

26

39

48

41

4643 4445

42

47

40

49 50

J1

IO

GND

VCC_Servo

VCC_Servo

GND

VCC_IO

DIO4DIO5DIO6DIO7DIO8DIO9DIO10DIO11DIO12DIO13DIO14DIO15DIO16DIO17DIO18DIO19DIO20DIO21DIO22DIO23DIO24DIO25DIO26DIO27

123456

J5

Mouse

Servo1

Servo2

Servo3

Servo4

Servo1Servo2Servo3Servo4

MOSIMISOSCLKNCS

MOSIMISOSCLKNCS

VCC_3V3

GND

GND

VCC_IO

RazorTXRazorRX

10K

R3Res3

10K

R4Res3

GND

VCC_3V3

SaberTX

SaberES

SaberTX

PS1inhibit

PS2inhibit

PS1inhibit

PS2inhibit

RazorTXRazorRX

UI1UI2UI3UI4

UI5

UI1UI2UI3UI4UI5

Spare1Spare2Spare3Spare4

VCC_IO

GND

VCC_3V3

Spare1Spare2Spare3Spare4

GND1

VI2

Inhi

bit

3

Adj

ust

4

Sen

se5

VO6

GND7

PTN78020W

PS2

FusedBatt+

330uF

C4Cap Pol1

330uF

C3Cap Pol1

GND

GND

GND1

VI2

Inhi

bit

3

Adj

ust

4

Sen

se5

VO6

GND7

PTN78020W

PS1

FusedBatt+

330 uF

C2Cap Pol1

330uF

C1Cap Pol1

GND

GND

GND

GND

GND

VCC_IO VCC_3V3

10uF

C5Cap

10uF

C6Cap

F1

Fuse 2

Spare5

Servo5

Servo5

IN1

GND2 IGN3

OUT4

VIxxD-xxPS3

VIxxD-xxGND

FusedBatt+

GND

SaberES

12345678

J4

Spare

Servo6

Spare5

Servo6

Q1MOSFET-N

GND1

CTS2

3V33RXI

4TXO

5 DTR6

GND7

VSUP8

IMU1

IMU

GND

10K

R5Res3

10K

R6Res3

10K

R7Res3

10K

R8Res3

10K

R9Res3

S+-

SE

RV

O1

S+-

SE

RV

O2

S+-

SE

RV

O3

S+-

SE

RV

O4

S+-S

ER

VO

5

S+-

SE

RV

O6

100KR2

100KR1

10K

R10Res3

10K

R11Res3

10K

R12Res3

10K

R13Res3

10K

R14Res3

SaberES

VCC_IO

GND

VCC_3V3

GND

IN3

OUT2

GN

D1

TAB 4

U1

TLV1117-33CDCY

+-

P1

Battery

+-

P4

sbRIO

+-

P5

Motors

+-

P6

Cam

AB

J6

LIDARsw

GND

1234

5678

J3

UI

F2

Fuse 2

VCC_CamVCC_IO

VCC_12V

PS1a

djP

S2ad

j123

J2

Saber

Bat

t+

IGN

Batt+ M+

J7Servo

J8Cam

J9Saber

SaberTX5V

VCC_IO

0V1

12V2

Com3 Sync4

P3

LIDAR

PCB Design

Specify physical shape of board Place plated holes for mounting Component footprints and nets specified

from schematic within same project Arrange parts across top and bottom layers▪ Wiring and access requirements of robot▪ Complexity of routing tracks between components▪ General aesthetics and tidiness

Remap pins, route tracks, draw silkscreen Submit for PCB manufacture by Entech

Final PCB

2D View

Useful during design

3D View

Useful for seeing how parts fit

together vertically

Ordering Parts – Element14

Qty Order Code Description Price ea Price total

10 1354551 LITTELFUSE - 0216016.MXP - FUSE, QUICK BLOW, 16A $0.68 $6.83

2 1271676 LITTELFUSE - 83000000005 - FUSE HOLDER, PCB, 20X5MM $1.45 $2.90

2 1243037 LITTELFUSE - 83500000005 - CAP, FUSEHOLDER, 20X5MM, FLUSH MOUNT $3.66 $7.32

1 1363227 TE CONNECTIVITY / AMP - 2-111623-6 - WIRE-BOARD CONN, RECEPTACLE, 50POS, 2MM $7.10 $7.10

10 2008004 MULTICOMP - MC000034 - TERMINAL BLOCK, PCB, 2WAY, 26-12AWG $0.86 $8.57

8 4986337 VISHAY BC COMPONENTS - 2222 021 35331 - CAPACITOR ALUM ELEC 330UF, 16V, 20%, AXIAL $0.55 $4.40

1 672105 HARWIN - M22-2025005 - HEADER, VERTICAL, 2ROW, 50WAY $7.98 $7.98

2 1295945 TEXAS INSTRUMENTS - PTN78020WAH - DC-DC CONV, LINEAR REG, 1 O/P, 90W, 6A $28.29 $56.58

2 9353712 BOURNS - 3299W-1-104LF - TRIMMER, 25 TURN 100K $4.66 $9.32

10 9845330RL FAIRCHILD SEMICONDUCTOR - BSS138 - MOSFET,N CHAN, 50V, 220MA, SOT-23 $0.29 $2.88

4 1494942 TEXAS INSTRUMENTS - TLV1117-33CDCY - V REG, LDO, 3.3V, 0.8A, SOT-223-4 $0.57 $2.28

$116.16

3D Rendering of Board

Photo of Constructed Board

Mouse Sensor (Ground-Truth Velocity Sensor)

Proposal presentation demo: Quadrature LED

Later sourced product: SPI LASER From Canon calculator-mouse Avago Technologies ADNS 7530

Competition

Location: Swinburne University, Melbourne

Date: Tuesday, 24th September, 2013

Set up, calibration and testing allowed on 23rd

16 teams passed the 4 milestones to enter comp.

3 qualifying heats, 8 teams progress to finals

1-on-1 knockout finals, increasing in difficulty

Prizes for winners, runners-up and best design

Qualifying Heats

Travel from starting point to mining camp

Pick up the one gold cube Move to drop-off point (blue tape

corner)

Our best heat was fastest of any team

Finals

Entered finals in first place 1-on-1 against a team that struggled to make it to finals Got off to a good start, but…

Unofficial Final vs UTS

Conclusion

The electronics needs for this competition were met, with a solution that is:1. Professional▪ Designed with Altium Designer, as used in Industry▪ Manufactured using modern processes

2. Fit for purpose, yet expandable▪ Connectors, ratings and functionality chosen for robot▪ Adjustable voltage regulators, spare IO headers

3. Successful overall▪ Robot was capable of completing task competitively▪ Despite unfortunate result, positive feedback was

received

Bibliography

NIARC Facebook: https://www.facebook.com/niarcomp

NIARC Website: http://australia.ni.com/ni-arc

Element14: http://au.element14.com/

Oz Game Shop: http://www.ozgameshop.com/calculators/canon-x-mark-1-mouse-calculator-black-4738b002aa

Initiative mittelstand: http://www.imittelstand.de/themen/presse_hardware.html?boxid=487542