General

Using batteries

Electronics

Test robot

Components

Altium Designer

Schematic

PCB layout

Firmware

Review summary

Mechanics

Design

Fusion 360 CAM

Review summary

Software

Omni-motion

Review summary

Changelog

2022-10-16

  1. Created electronics review summary page.

  2. Created code review summary page.

  3. Created mechanics review summary page.

2022-10-09

  1. Improved omni motion page. Added wheel velocity calculation in mainboard units. Changed example pidControlFrequency to 100 Hz (same as in the test robot mainboard firmware).

  2. Improved Altium Designer page. Added/fixed changing grid section. Added repouring polygons section.

2022-10-04

  1. Fixed DRV8243 pre-production datasheet link.

2022-10-01

  1. Added pre-production datasheet for DRV8243.

  2. Added inventory table to components page.

2022-07-10

  1. Created mechanics design page.

  2. Created Fusion 360 CAM page.

  3. Created batteries page.

  4. Created omni-motion page.

2021-11-24

  1. Updated some info for newer MCU and motor driver.

2021-09-15

  1. Changed recommended components to the ones that are in stock.

  2. Changed recommended PCB layer stackup.

2021-09-09

  1. Added info to the firmware page about including usbd_cdc_if.h in main.c.

  2. Added new test robot mainboard firmware that includes failsafe.

2021-09-08

  1. Added NUCLEO jumper modification info to the test robot page.

2021-09-06

  1. Updated source repository URL.

  2. Fixed test robot mainboard firmware *.bin file link.

2021-09-05

  1. Created Test robot page with mainboard and motor driver information.

2021-09-04

  1. Created Altium Designer page with some usage information.

2020-11-25

  1. Added following to the firmware page:

    • Encoder value change calculation.

    • Periodic interrupt setup for motor control.

    • Initial PID controller section.

2020-11-23

  1. Added following to the firmware page:

    • GPIO section with LED output toggling example.

    • USB communication code example.

    • Code for enabling encoder mode and reading current value.

    • Code for enabling PWM and changing duty cycle.

2020-10-18

  1. Created the PCB layout page with the following sections:

    • Design rules

    • Layers

    • General steps

    • Component placement

    • Routing

2020-09-27

  1. Added following sections to the schematic page:

    • Reference designators

    • Programmer connector

    • Microcontroller BOOT0 and nRESET pins

    • Open drain outputs

    • Bulk capacitors

  2. Added boot configuration section to the firmware page.

  3. Added some recommended voltage regulators on the components page.

2020-09-24

  1. Added LEDs section to the components page.

2020-09-20

  1. Created the components page with the following sections:

    • Motor driver

    • Microcontroller

    • USB connector

    • USB protection

    • Voltage regulator for microcontroller

    • Voltage regulator at the motor driver’s side

    • Isolators

    • Encoder connectors

    • Thrower ESC connector

    • Programmer connector

    • Reverse voltage protection

    • High current connections

  2. Created the schematic page with the following sections:

    • Connections

    • Decoupling capacitors

  3. Created the firmware page with the following sections:

    • Software and documentation

    • Programmer interface

    • USB

    • Encoders

    • PWM