diff --git a/README.md b/README.md
index 70b4ad2..e504f11 100644
--- a/README.md
+++ b/README.md
@@ -25,23 +25,24 @@
-
+
-# SRA Board 2021-2022
+
+# SRA Board 2023
The SRA board is a development board based on ESP32 with on-board peripherals like programmable LEDs, switches, sensor ports for Line Sensor Array and MPU-6050, protection circuit for over-current and reverse voltage and motor drivers.
## Table of Contents
-- [SRA Board 2021-2022](#sra-board-2021-2022)
+- [SRA Board 2023](#sra-board-2023)
- [Table of Contents](#table-of-contents)
- [Board Images](#board-images)
- [About the Project](#about-the-project)
- [Getting Started with a Development Board](#getting-started-with-a-development-board)
- - [Major Changes for 2022](#major-changes-for-2022)
+ - [Major Changes for 2023](#major-changes-for-2023)
- [Notable problems in the previous SRA Boards (2019)](#notable-problems-in-the-previous-sra-boards-2019)
- [Notable problems in the current SRA Board 2022](#notable-problems-in-the-current-sra-board-2022)
- [3D Models](#3d-models)
@@ -61,6 +62,11 @@ The SRA board is a development board based on ESP32 with on-board peripherals li
+- **Pinout**
+
+ 
+
+
## About the Project
- This development board is used for the [Wall-E](https://github.com/SRA-VJTI/Wall-E) and [MARIO](https://github.com/SRA-VJTI/MARIO) workshops conducted by [SRA](https://github.com/SRA-VJTI).
@@ -114,20 +120,24 @@ In general, every development board has the following basic features:
> Now that we covered basics of development boards, let us talk about the changes made in the new design.
-## Major Changes for 2022
-
-| Feature | SRA Board 2019 | SRA Board 2020 | SRA Board 2022 |
-|:----:|:-------:| :-----: | :-----: |
-|[12V to 5V](#7805-5v-linear-regulator-to-lm2596-buck-convertor) | LM7805 Linear Regulator | LM2596 Buck Convertor | LM2576-S Buck Convertor |
-|[5V to 3.3V](#ld33-33v-to-ams1117)| LD33 | AMS1117-3.3 | AMS1117-3.3 |
-|[Reverse Voltage Protection](#reverse-voltage-protection-diodes-to-p-mosfet) | Diodes | P-MOSFET | Diodes |
-|[Motor Driver](#l298n-to-tb6612fng)| L298N| TB6612FNG | TB6612FNG |
-|[No. of Motor Channels](#motor-driver-modes)|2|4|4|
-|[No. of Switches](#moving-back-to-the-vintage-bar-graph-leds-and-more-switches)|2|4|4|
-|[No. of LEDs](#moving-back-to-the-vintage-bar-graph-leds-and-more-switches)|2|8|8|
-|[Over Current Protection](#protection-against-over-current) | Bulky Glass Fuses | Bulky Glass Fuses | PTC Resettable Fuses|
-|[Sensor Port Connectors](#protection-against-over-current) | FRC (Fused Ribbon Cable) Connectors | JST (Japan Solderless Terminal) Connectors | JST Connectors |
-|[Component Type and Board Size](#component-type-and-board-size) | THT (Through Hole), Big | THT (Through Hole), Big | SMD(Surface Mount Device), Smaller|
+## Major Changes for 2023
+
+| Feature | SRA Board 2019 | SRA Board 2020 | SRA Board 2022 | SRA Board 2023 |
+|:----:|:-------:| :-----: | :-----: | :-----: |
+|[12V to 5V](#7805-5v-linear-regulator-to-lm2596-buck-convertor) | LM7805 Linear Regulator | LM2596 Buck Converter | LM2576-S Buck Converter | LM2576-S Buck Converter |
+|[5V to 3.3V](#ld33-33v-to-ams1117)| LD33 | AMS1117-3.3 | AMS1117-3.3 | AMS1117-3.3 |
+|[Reverse Voltage Protection](#reverse-voltage-protection-diodes-to-p-mosfet) | Diodes | P-MOSFET | Diodes | Diodes |
+|[Line Sensing Arrays (LSA)](#lsa_2023) | Photodiodes| Photodiodes| Photodiodes| IR Sensors |
+|[Number of LSA Sensors](#num_of_sensors)| 4| 4| 4| 5 |
+|[Motor Driver](#l298n-to-tb6612fng)| L298N| TB6612FNG | TB6612FNG | TB6612FNG |
+| [Stepper Motor Driver](#stepper-motor-driver-port-a4988) | - | - | - | A4988 |
+|[No. of DC Motor Channels](#motor-driver-modes)|2|4|4|2|
+|[No. of Stepper Motor Channels](#stepper-motor-driver-port-a4988)|0|0|0|1|
+|[No. of Switches](#moving-back-to-the-vintage-bar-graph-leds-and-more-switches)|2|4|4|4|
+|[No. of LEDs](#moving-back-to-the-vintage-bar-graph-leds-and-more-switches)|2|8|8|8|
+|[Over Current Protection](#protection-against-over-current) | Bulky Glass Fuses | Bulky Glass Fuses | PTC Resettable Fuses| PTC Resettable Fuses|
+|[Sensor Port Connectors](#protection-against-over-current) | FRC (Fused Ribbon Cable) Connectors | JST (Japan Solderless Terminal) Connectors | JST Connectors | JST Connectors |
+|[Component Type and Board Size](#component-type-and-board-size) | THT (Through Hole), Big | THT (Through Hole), Big | SMD(Surface Mount Device), Smaller| SMD(Surface Mount Device), Smaller|
- ### **7805 (5V linear regulator) to [LM2576/96 Buck Convertor](https://www.youtube.com/watch?v=m8rK9gU30v4)**
- The greater efficiency, output current and reliability of LM2576/96 were the reasons for this change.
- The efficiency of LM2576 is up to 92% which is significantly better than 7805. The LM2576 can provide current up to 3A, so the MARIO workshop manipulator can now be run using onboard regulator.
@@ -152,18 +162,24 @@ In general, every development board has the following basic features:
-
+- ### **Stepper Motor Driver Port ([A4988](https://www.tme.eu/Document/25459777e672c305e474897eef284f74/POLOLU-2128.pdf))**
+ - In the Previous and older editions, there were two ports for TB6612FNG Motor Drivers but **it has been updated to one TB6612FNG and one A4988 Stepper Motor Driver in the current SRA Board (2023).**
+ - A4988 Stepper Motor Driver **a microstepping driver for controlling bipolar stepper motors** which has built-in translator for easy operation. This means that we can control the stepper motor with just 2 pins from our controller, or one for controlling the rotation direction and the other for controlling the steps.
+ - The Driver provides five different step resolutions: full-step, haft-step, quarter-step, eight-step and sixteenth-step. Also, it has a potentiometer for adjusting the current output, over-temperature thermal shutdown and crossover-current protection.
+
+ 
+
- ### **Motor Driver Modes**
- - The new edition has 2x TB6612FNG motor drivers which allow a maximum of 4 motors to be controlled. This motor driver is characterized by its operation in two modes - **Normal mode** and **Parallel mode**:
+ - The new edition has 1x TB6612FNG motor drivers which allow a maximum of 2 motors to be controlled. This motor driver is characterized by its operation in two modes - **Normal mode** and **Parallel mode**:
1. **Normal Mode**
- - As discussed earlier, the new design has two motor drivers. Each TB6612FNG can control two motors. Therefore, using two motor driver one can control 4 motors using 8 GPIO's of ESP32.
+ - As discussed earlier, the new design has two motor drivers. 1x TB6612FNG and 1x A4988 Stepper motor driver. Therefore, using 1x TB6612FNG motor driver one can control 2 motors using 4 GPIO's of ESP32.
- E.g.: If pin 32 is HIGH(IN1 = HIHG) and pin 33 is low(IN2 = LOW) then motor 1 moves in the forward direction.
- - So in normal mode, 4 motors can be connected to the board, with a per channel/motor current capacity of 1.2A.
+ - So in normal mode, 2 motors can be connected to the board, with a per channel/motor current capacity of 1.2A.
1. **Parallel Mode**
@@ -173,8 +189,8 @@ In general, every development board has the following basic features:
- The parallel mode is a special feature, used for high-rated motors, requiring more than the 1.2A current limit.
- - In this mode, the channel's directional pins and output pins are shorted; only one motor is connected to a motor driver i.e. two channels, giving a current capacity of 2.4A. Thus, two high rated motors can be controlled using ESP32.
- - Note: The directional pin shorting is done by a manual DPDT switch. If the user turns on TB_A switch then the first motor driver goes into the parallel mode and its directional pins are shorted, where GPIO connections are IN1 = IN3 = 25 and IN2 = IN4 = 26. If TB_A switch is off, then the first motor driver goes into normal mode where IN1 = 32: IN2 = 33: IN3 = 25: IN4 = 26. This is all done automatically. Also for parallel mode, the J1, J2, J3 and J4 junctions need to be shorted.
+ - In this mode, the channel's directional pins and output pins are shorted; only one motor is connected to a motor driver i.e. two channels, giving a current capacity of 2.4A. Thus, one high rated motors can be controlled using ESP32.
+ - Note: The directional pin shorting is done by a manual DPDT switch. If the user turns on TB_A switch then the first motor driver goes into the parallel mode and its directional pins are shorted, where GPIO connections are IN1 = IN3 = 25 and IN2 = IN4 = 26. This is all done automatically. Also for parallel mode, the J1 and J2 junctions need to be shorted.
- ### **Moving back from the vintage Bar-graph LEDs to LED array and more switches**
@@ -230,10 +246,8 @@ In general, every development board has the following basic features:
## 3D Models
-- 3D preview of the *[SRA Board 2022](https://a360.co/3c1Rjyv)*
-
- 1. The complete 3D model (.step) file of [SRA Board 2020](./3d_models/sra_board_model/sra_dev_board_2022.step)
- 2. The 3D models of motor driver, LEDs, ESP32 etc.: [3d models of other components](./3d_models/)
+1. The complete 3D model (.step) file of [SRA Board 2023](./3d_models/sra_board_model/sra_dev_board_2023.step)
+2. The 3D models of motor driver, LEDs, ESP32 etc.: [3d models of other components](./3d_models/)
## Milestones
@@ -247,10 +261,11 @@ In general, every development board has the following basic features:
## Contributors
-- [Dhairya Shah](https://github.com/dhairyashah1): *Designer*
-- [Omkar Bhilare](https://github.com/ombhilare999): *Mentor*
+- [Chinmay Lonkar](https://github.com/ChinmayLonkar): *Designer*
+- [Dhairya Shah](https://github.com/dhairyashah1): *Mentor*
+
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diff --git a/sensors_2023/lsa/README.md b/sensors_2023/lsa/README.md
index e0df3d9..9cafbbf 100644
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+++ b/sensors_2023/lsa/README.md
@@ -20,12 +20,20 @@
- Physical PCB
-
+
+
+
+
+
- PCB Backside
-
+
+
+
+
+
### Features
@@ -37,30 +45,26 @@
### Components of LSA
| Component | Description | Quantity |
| ----------- | ------------- | -------- |
-| LED | Emits light | 4 |
-| PhotoDiode | Absorbs light | 4 |
-| IC LM324 | Op.Amp. IC | 1 |
-| Resistors | Limit Current | 8 |
+| Infrared Emmitter | Emits infrared light | 5 |
+| PhotoTransistor | Absorbs light | 5 |
+| Resistors | Limit Current | 10 |
|JST Connector | Connect PCB with other circuits|1|
### Function of Components
-- **LED**
- - LSA consists of Four LED and PhotoDiode Pairs. The specific LED's emit white light which is incident on the surface and some of it is absorbed by the surface. The voltage source For the LEDs to glow is VCC.
+- **Infrared Emmitter**
+ - The specific Infrared Emmitter emit infrared light which is incident on the surface and some of it is absorbed by the surface. The voltage source for the Infrared Emmitter to emit is VCC.
-- **PhotoDiode**
- - Based upon the reflectivity coefficient of the surface( generally less than 1), the remaining light reflected from the surface is captured by the Photodiodes. LEDs and complimentary photodiodes are used to efficiently detect the surface (white/black line) as the environment also contains unwanted light for the LSA sensor. The amount of light received is directly proportional to the current generated by it. More the light, more the current, more the reading.
-
-- IC LM324
- - This is a Quad(4) OP.Amp. IC. Op.Amp i.e Operation Amplifiers amplify the current with constant volatge. Since the current reading from photo diodes is significantly small and difficult to compare, it needs to be amplified. The 4 amplified outputs serve as raw readings of LSA.
+- **PhotoTransistor**
+ - Based upon the reflectivity coefficient of the surface( generally less than 1), the remaining light reflected from the surface is captured by the Photodiodes. Infrared Emmitter and complimentary phototransistor are used to efficiently detect the surface (white/black line). The amount of light received is directly proportional to the current generated by it. More the light, more the current, more the reading.
-- Resistors
+- **Resistors**
- Now to limit the current and thus to protect the LEDs, PhotoDiodes current limiting resistors are used.
### Connections
To connect LSA with the SRA Board, connect the JST connector in the following way:
-
+
### Working Principle