This is my first robot design. It uses the TAMIYA Twin-Motor Gearbox and TAMIYA Track and Wheel Set. The controller is the MSP430 Launch Pad and uses the L298 motor controller. It has 3 switching power supplies providing 3V at 4A, 3.3V at 500mA, and 5V at 1A. The main power source is a single cell 3.7V lithium battery. The robot has a on board lithium battery charger and the protection circuit it needs.
There is a small protoboard area that will allow easy expansion on the PCB. Since most robot sensors run off of 5V there is a 3.3V to 5V bi-directional level shifter using the NVT2010PW. The robot also comes with motor encoders by using photo interrupters.
The chassis has many options in how to build it. Files will be provided on laser cutting, 3D printing, or templates to cut them out manually.
The populated PCB with the Ti LaunchPad socketed on top. There was a slight issue with the 3.3V power rail but it turned out to be a faulty capacitor on the feedback loop. Other then that the board worked great the first time I powered it up!
Fully assembled and ready to program.
PCB Files (Eagle V6)
PCB Ver 1.0
Schematic Ver 1.0
PCB Ver 1.1A
Schematic Ver 1.1A
Bill of Materials Schematic Ver 1.1A
Bill of Materials
Name: MFG P/N: Mouser P/N: QTY:
U1 LMR62421XMFE/NOPB 926-LMR62421XMFENOPB 1
U2 LM3674MF-ADJ/NOPB 926-LM3674MFADJNOPB 1
U3 LM2854MH-500/NOPB 926-LM2854MH-500NOPB 1
U4 L298N 511-L298 1
U5 MCP73837-FCI/UN 579-MCP73837-FCI/UN 1
U6 S-8241ABPMC-GBPT2G 628-8241ABPM-G 1
U7 IRF7752TRPBF 942-IRF7752TRPBF 1
U8 NVT2010PW,118 771-NVT2010PW118 1
R1 CRCW04023K01FKED 71-CRCW0402-3.01K-E3 1
R2, R11, R14 CRCW04021K00FKED 71-CRCW0402-1.0K-E3 3
R3 CRCW040210K0FKED 71-CRCW0402-10K-E3 1
R4 CRCW0402100KFKED 71-CRCW0402-100K-E3 1
R5 CRCW0402562KFKED 71-CRCW0402-562K-E3 1
R6 CRCW0402154KFKED 71-CRCW0402-154K-E3 1
R7 CR0805-FX-5602GLF 652-CR0805-FX5602GLF 1
R8 CRCW04021K54FKED 71-CRCW0402-1.54K-E3 1
R9, R16, R17, R18 CRCW06031K00FKEA 71-CRCW0603-1.0K-E3 4
R10 CRCW0402470RFKED 71-CRCW0402-470-E3 1
R12, R13, R15 CRCW0402220RFKED 71-CRCW0402-220-E3 3
R19 CRCW060310K0FKEA 71-CRCW0603-10K-E3 1
R20 CRCW04021R00FKED 71-CRCW0402-1-E3 1
L1 744773018 710-744773018 1
L2 NLCV32T-2R2M-PFR 810-NLCV32T-2R2M-PFR 1
L3 7447798250 710-7447798250 1
OPTO1, OPTO2 GP1A52HRJ00F 852-GP1A52HRJ00F 2
C1, C2, C10 C0805C106K8PACTU 80-C0805C106K8P 3
C3 GRM2195C1H512JA01D 81-GRM2195C1H512JA1D 1
C4 C1608X5R0J106MT 810-C1608X5R0J106M 1
C5, C16, C21 GRM188R60J475KE19D 81-GRM18R60J475KE19D 3
C6 140-CC501N330J-RC 140-CC501N330J-RC 1
C7 140-CC501N7.0D-RC 140-CC501N7.0D-RC 1
C8 140-CC501B272K-RC 140-CC501B272K-RC 1
C9, C12, C13 C3225X5R0J107MT 810-C3225X5R0J107M 3
C11 GRM1885C2A910JA01D 81-GRM1885C2A910JA1D 1
C14, C15 GRM32RF51H105ZA01K 81-GRM32F51H105ZA01K 2
C17 GCJ219R71C105KA01D 81-GCJ219R71C105KA1D 1
C18, C19, C20 C3225X7R2E104KT 810-C3225X7R2E104K 3
C22 VZS471M0JTR-0810 140-VZS471M0JTR0810 1
D1 B340A-13-F 621-B340A-F 1
D2 - D9 1N5400RLG 863-1N5400RLG 8
LED,1, LED2, LED5 VLMS1300-GS08 78-VLMS1300-GS08 3
LED3 VLMTG1300-GS08 78-VLMTG1300-GS08 1
LED4 VLMG1300-GS08 78-VLMG1300-GS08 1
S1,S2 STS121PC04 506-STS121PC04 2
J1 - J3, J9 - J11 93287-202HLF 649-93287-202HLF 6
J4 KLDX-0202-AP-LT 806-KLDX-0202-AP-LT 1
J5 68024-103H 649-68024-103H 1
J6 69190-410HLF 649-69190-410HLF 1
J7 68002-216HLF 649-68002-216HLF 1
J8 68002-404HLF 649-68002-404HLF 1
J12 68002-208HLF 649-68002-208HLF 1
MCU MSP-EXP430G2 595-MSP-EXP430G2 1
STACK_HEADERS_P10 929834-03-10 517-929834-03-10 2
Chassis Files (AutoDesk 123D)
Laser Cutting Ver 1.0
Laser Cutting Ver 1.1
Laser Cutting Ver 1.2
