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Sparky electrical

boards

Repository for the primary control PCB of our hexapedal robot.

Features:

  • three TB6612 dual h-bridge driver ICs controlled through a PCA9685 PWM driver (for running 6 individual leg motors)
  • an ADXL345 3-axis accelerometer for orientation detection
  • an MP1584 5V/3A buck converter (primarily to make powering external devices easy)
  • an N-fet-based electronic power switch
  • three I2C output connectors for our absolute encoders - these were daisy chained, so we really only needed one
  • a filtered battery voltage measurement input

To cut costs and reduce complexity, the board is designed to plug into an ATmega328P-powered Arduino Nano microcontroller.


Demo video and relevant repositories:

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pcb designs for our hexapedal robot

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