Custom Board

Custom Board

The custom board will be responsible for low-level motor control, stepping down the power source voltage, and low-level communication between the two robots. The low-level motor control will consist of applying PWM motor drive signals to individual motors according to high-level commands sent from the Raspberry Pi via serial communication. It will also receive velocity feedback from each motor to perform simple PID speed regulation. The power will be received from the LiPo battery and stepped down to various voltages according to Figure 1 by using DC-DC converters. The custom board will get its clock signal from the internal PIC32 clock.

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