Gibbot Board v4.2 Revised Actuator Board

The v4.2 Board is designed to fix the issues with the v3 Board. The primary issue this board addresses is the presence of voltage spikes in the ground plane. A detailed description of these spikes and attempts to fix them are outlined on the Voltage Spikes Page. The board also addresses smaller errors that were present in the v3 board detailed in the Schematic/Library Changes Section of the v4 page.

Each aspect of the design is documented below. Descriptions of design features that are adapted from previous versions are included in their entirety. In many cases these descriptions are included in the page documenting the previous versions. Links to these descriptions are included.

##Connectors## A major issue with the v3 board was the amount of time it took to assemble the 1.0mm pitch JST SH crimp housings. To fix that problem the 1.0mm pitch SH was replaced with the larger 2.0mm pitch PH crimp connector in areas where space was not an issue. For the plug connecting the hall effect sensor from the motor to the board we still used the 1.0mm pitch SH shrouded header because the ribbon cable has a 1.0mm pitch. The 1.0mm pitch SR insulation displacement connector will be used to reduce the assembly time.

##IR LEDs## The vision system is able to track the robot using 850 nm IR LEDs purchased from Optitrack, the maker of the vision system camera. There are three clusters of LEDs mounted on the cover plate of the Gibbot: a cluster of 3 LEDs at the top magnet, 1 LED at the motor and a cluster of 2 LEDS at the bottom magnet. In order to reduce wiring the LEDs are wired in series. The resistors needed for each LED connection are calculated below.

| Typical | Maximum ---|---|--- Vf | 1.6V | 1.45V If | 100mA | 50mA

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XBee LEDs were added based on the UARTSBee from SeeedStudios