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Sgt. Samuel H. Buckstein added Servo Driver.tex
about 10 years ago
Commit id: 68611964f684deb9de1c7852dc3bed0727d99a74
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\subsubsection{Power Supply Network}
The device is powered by a MIOS 480W ATX computer power supply, which provides the PIC with 12V at 1A, the servo motors with 5V at 22A (!), and 5V at 2A which powers everything else, including the IR sensor board, the yellow sensor board, the stepper motor driver board, and the steppers themselves \cite{LazarRozenblat:2013}. A separate power and ground wire is run to each subsystem, and the wires converge immediately before the power supply. The wires from the power supply carrying 5V at 2 and 22A respectively first pass through the emergency cut-off switch, allowing for the immediate halt of current flow to all components of the device except for the PIC and illumination LEDs. These components do not move, and are powered by extremely low current, therefore these remaining live wire does not pose a risk. A full outline of the circuitry of the device can be seen in figure #. (!!!!!)
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\subsubsection{Servo Motors Driver Circuit}
Driving servo motors is a simple operation. The 3 servos are operated at the same time, and in the same direction, so the voltage supplies, the grounds and the signals from the PIC are lumped together. The servos are powered with 5V at high current, #A, which is their maximum draw for maximum mechanical power. The signal wire for the 3 servos is connected to the signal hub to receive PWM from the PIC. A ground reference from the PIC is connected to the ground for the servos \cite{Electronics-Blog.comblog:2008}. The servo driver circuit can be seen in figure #. (!!!!!!!)
