diff --git a/README.md b/README.md
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+++ b/README.md
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ESP32-based Development Board
EAGLE
+ KiCAD
·
Gerber
·
- Images
+ Images
·
3D Model
@@ -30,9 +30,9 @@
-# SRA Board 2022
+# SRA Board 2021-2022
-The SRA board is a development board based on ESP32 with on-board peripherals like programmable LEDs and switches, sensor ports for Line Sensor Array and MPU-6050, protection circuit for over-current and reverse voltage and motor drivers.
+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.
@@ -41,79 +41,107 @@ The SRA board is a development board based on ESP32 with on-board peripherals li
- [Table of Contents](#table-of-contents)
- [About the Project](#about-the-project)
- [Getting Started with a Development Board](#getting-started-with-a-development-board)
- - [Major Changes for 2020](#major-changes-for-2020)
- - [Notable problems in the SRA Board 2019](#notable-problems-in-the-sra-board-2019)
+ - [Major Changes for 2022](#major-changes-for-2022)
+ - [Notable problems in previous SRA Boards <= 2019](#notable-problems-in-the-previous-sra-boards-2019)
+ - [Notable problems in the current SRA Board - 2023](#notable-problems-in-the-current-sra-board-2022)
- [3D Models](#3d-models)
- [Milestones](#milestones)
- [Contributors](#contributors)
- [Acknowledgements and Resources](#acknowledgements-and-resources)
- [License](#license)
+## Board Images
+- **Frontside**
+
+
+- **Backside**
+
+
## About the Project
-- This development board is used for the [Wall-E](https://github.com/SRA-VJTI/Wall-E_v2.1) and [MARIO](https://github.com/SRA-VJTI/ROS-Workshop-2.1) workshops conducted by [SRA](https://github.com/SRA-VJTI).
-- Designed using EAGLE. The schematic and board files are [here](https://github.com/SRA-VJTI/sraboard-hardware-design/tree/master/eagle).
-- Resources for [previous work](https://github.com/SRA-VJTI/PCB-Schematics-and-Layouts/tree/master/WallE-2.1%202018%20Dev%20Brd). For more details of the SRA board 2019, checkout this [link](https://github.com/SRA-VJTI/sraboard-hardware-design/blob/master/documentation/assets/sra-board-2019.pdf).
-- The SRA board 2020 images can be found [here](https://github.com/SRA-VJTI/sraboard-hardware-design/blob/master/documentation/images/sra_board_images.md#sra-board-2020-images).
+- 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).
+- Designed using KiCAD. The schematic and board files are [here](https://github.com/SRA-VJTI/sra-board-hardware-design/tree/master/sra_dev_board_2022).
+- Resources for [previous work](https://github.com/SRA-VJTI/sra-board-hardware-design/tree/v2.2). For more details of the SRA board 2020, checkout this [link](https://github.com/SRA-VJTI/sra-board-hardware-design/tree/v2.2/documentation).
+- The SRA board 2020 images can be found [here](https://github.com/SRA-VJTI/sra-board-hardware-design/tree/v2.2/documentation/images).
+- Older versions of the board and miscellaneous designs can be found [here](https://github.com/SRA-VJTI/PCB-Schematics-and-Layouts).
## Getting Started with a Development Board
-
In general, every development board has the following basic features:
- ### Power Supply Unit
- - Microcontrollers (MCUs) usually run on 3.3V or 5V while input to a development board is normally 12V for motor control.
- - So, a *power* section which converts this 12V to standard levels like 5V/3.3V for MCU and sensors is present.
- - The previous edition of the SRA board (2019) used the LM7805 linear voltage regulator, for stepping down from 12V to 5V; this powered the ESP32.
- - Further, this 5V was converted to 3.3V using the LD33 linear voltage regulator, used by the sensor port.
+ - Microcontrollers (MCUs) usually run on 3.3V or 5V logic supply voltage while input to a development board is normally 12V for motor and driving/controlling peripheral devices.
+ - So, in order to have a single input source, a *power* section which inter converts this 12V to standard levels like 5V & 3.3V for MCU and sensors is present.This is achieved using a step-down [buck regulator](https://www.youtube.com/watch?v=m8rK9gU30v4).
+ - Buck Regulator IC [LM2576-S-5](./datasheets/lm2576_buck_regulator.pdf) is used for stepping down the voltage from 12V to 5V DC. This 5V is further regulated to 3.3V using LDO IC [AMS1117-3.3](./datasheets/ams1117_ldo.pdf).
+ - The previous edition of the SRA board (2020) used a similar buck regulator setup.
+ - The older editions of the SRA board used the LM7805 linear voltage regulator, for stepping down from 12V to 5V; this powered the ESP32. Further, this 5V was converted to 3.3V using the LD33 linear voltage regulator, used by the sensor port.
- ### Motor Driver
- Motors usually run on 12V and MCU output is generally 5V/3.3V. So, an external motor driver circuitry is required to control motors according to the MCU input.
- - The SRA Board 2019 used the L298N IC for motor-control, which is a BJT-based H-Bridge motor driver.
+ - The current and previous editions of SRA board use the [TB6612FNG](./datasheets/TB6612FNG_motor_driver.pdf) Motor Driver, which is a MOS-based H-Bridge motor driver.
+ - The older editions of SRA Board used the L298N IC for motor-control, which is a BJT-based H-Bridge motor driver.
- ### Sensor Port
- - According to the external sensor types, usually development boards have onboard sensor ports where the sensors can be connected easily using FRC connector.
- - The SRA Board 2019 had two sensor ports - one for a LSA (line sensor array) and the second for the MPU6050.
-
-- ### Protection against [Reverse Voltage](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&cad=rja&uact=8&ved=2ahUKEwjc8aaX1c3rAhXXXSsKHXphBgQQFjABegQICxAD&url=https%3A%2F%2Fwww.ti.com%2Flit%2Fpdf%2Fslva139&usg=AOvVaw0Qbub75JJ986MzLv6FYWKE) and Over Current
- - The SRA Board 2019 used diodes for reverse voltage protection in the power-line.
- - For the overcurrent protection of MCU and motor driver circuit, fuses of 300mA and 3A were used respectively.
-
+ - According to the external sensor types, usually development boards have onboard sensor ports where the sensors can be connected easily. [LSA - Line Sensor Array]() and [MPU- Motion Processing Unit]() have on-board connection ports.
+ - The current edition uses easily available and efficient [JST XH connectors](https://en.wikipedia.org/wiki/JST_connector).
+ - Previous versions used bulky [FRC connectors](https://www.sunrom.com/c/frc-idc-flat-cable-box-header#:~:text=FRC%20(Flat%20Ribon%20Cable)%20are,from%206%20to%2064%20pins.)
+
+- ### Protection against [Reverse Voltage](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&cad=rja&uact=8&ved=2ahUKEwjc8aaX1c3rAhXXXSsKHXphBgQQFjABegQICxAD&url=https%3A%2F%2Fwww.ti.com%2Flit%2Fpdf%2Fslva139&usg=AOvVaw0Qbub75JJ986MzLv6FYWKE)
+ - The SRA Boards use diodes for reverse voltage protection in the power-line.
+ - 12V Motor line and power regulated line have been separated with [SS34](./datasheets/ss34_3A_schottky_diode.pdf) and [SS24](./datasheets/ss24_2A_schottky_diode.pdf) schottky diodes respectively.
+
+- ### Protection against [Over Current](https://www.baypower.com/blog/what-is-overcurrent-protection/#:~:text=Overcurrent%20protection%20is%20the%20method,of%20a%20piece%20of%20equipment.)
+ - Earlier, for the overcurrent protection of MCU and motor driver circuit, bulky glass fuses of 300mA and 3A were used respectively. After breakdown, they used to be replaced.
+ - In the recent versions of the board, these were replaced with compact, PTC Resettable Fuses.
+ - On 12V line - [RXEF160](./datasheets/RUEF160_3,2A_trip_ptc_fuse.pdf) : 1.6A hold current; 3.2A trip current Fuse was used.
+ - On 5V line - [RXEF160](./datasheets/RXEF050_1A_trip_ptc_fuse.pdf) : 0.5A hold current; 1A trip current Fuse was used.
- ### Programmable Switches and LEDs
- Every development board should have some programmable switches and LEDs for testing, control and debugging purposes.
+ - The current editions has an array of 8 programmable LEDs and switches.
- The previous edition had a pair of programmable switches and programmable LEDs each.
- ### Power Switch
- - The SRA Board 2019 had a power switch for the motor driver, using which power supply to the motor driver can be toggled. Similarly, there was a switch for the ESP32 MCU.
+ - All versions have a power switch for the motor driver, using which power supply to the motor driver can be toggled. Similarly, there was a switch for the ESP32 MCU.
> Now that we covered basics of development boards, let us talk about the changes made in the new design.
-## Major Changes for 2020
-
-| Feature | SRA Board 2019 | SRA Board 2020|
-|:----:|:-------:| :-----: |
-|[12V to 5V](#7805-5v-linear-regulator-to-lm2596-buck-convertor) | LM7805 Linear Regulator | LM2596 Buck Convertor |
-|[5V to 3.3V](#ld33-33v-to-ams1117)| LD33 | AMS1117 |
-|[Reverse Voltage Protection](#reverse-voltage-protection-diodes-to-p-mosfet) | Diodes | P-MOSFET |
-|[Motor Driver](#l298n-to-tb6612fng)| L298N| TB6612FNG|
-|[No. of Motor Channels](#motor-driver-modes)|2|4|
-|[No. of Switches](#moving-back-to-the-vintage-bar-graph-leds-and-more-switches)|2|4|
-|[No. of LEDs](#moving-back-to-the-vintage-bar-graph-leds-and-more-switches)|2|8|
-
-- ### **7805 (5V linear regulator) to [LM2596 Buck Convertor](https://www.youtube.com/watch?v=m8rK9gU30v4)**
- - The greater efficiency, output current and reliability of LM2596 were the reasons for this change.
- - The efficiency of LM2596 is up to 92% which is significantly better than 7805. The LM2596 can provide current up to 3A, so the MARIO workshop manipulator can now be run using onboard regulator.
-- ### **LD33 (3.3V) to [AMS1117](http://www.advanced-monolithic.com/pdf/ds1117.pdf)**:
- - The previous edition used the LD33 IC to step down from 5V to 3.3V; several discussions resulted in the shift to more compact, reliable AMS1117(SOT-23) linear voltage regulator. (_AMS1117 is used in the ESP32-DevKitC V4 module_)
+## 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|
+- ### **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.
+- ### **LD33 (3.3V) to [AMS1117](http://www.advanced-monolithic.com/pdf/ams1117.pdf)**:
+ - The older editions used the LD33 IC to step down from 5V to 3.3V; several discussions resulted in the shift to more compact, reliable AMS1117-3.3(SOT-23) linear voltage regulator. (_AMS1117 is also used on-board on the ESP32-DevKitC V4 module_)
- ### **Reverse voltage protection: Diodes to P-MOSFET**
- - Diodes in series to the power line are inefficient as compare to a P-MOSFET. Dut to the usage of high-rated motors, it was difficult to manage the diode size and the current rating. (_As the current rating of diode increases, its size also increases._)
- - So, the new edition uses the P-MOSFET instead of a diode, which is more efficient and can handle more current.
-
+ - Diodes in series to the power line are inefficient as compare to a P-MOSFET. Dut to the usage of high-rated motors, it was difficult to manage the diode size and the current rating. (_As the current rating of diode increases, its size also increases._)So, the previous version uses the P-MOSFET instead of a diode, which is more efficient and can handle more current.
+ - In the current edition, SMD diodes are used, hence rating and size is no longer an issue.
+
+- ### **Component Type and Board Size**:
+ - In the previous and older editions, THT or PTH(Plated through hole) components were used, which take up a lot of space and their size increases with increasing rating.
+ - In the current edition, all the components were replaced by SMD components. This reduced cost, size of PCB and helped assembling complex circuitry in a **small space and form factor**.
+ - Previous edition PCB dimension - **81 x 112 mm**
+ - Current edition PCB dimension - **81 x 92.68 mm**
+ *(Nearly 81 x 20 mm area was shaved off)*
- ### **L298N to [TB6612FNG](https://dronebotworkshop.com/tb6612fng-h-bridge/)**
- L298N is a BJT-based H-bridge motor driver but it is less efficient as compared to the new MOS-based TB6612FNG.
- The detailed comparison is shown below. As you can see the efficiency of TB6612FNG can reach up to 91-95% which is significantly higher than the 40-70% efficiency of L298N.
@@ -147,16 +175,19 @@ In general, every development board has the following basic features:
- 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.
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diff --git a/renders/sra_dev_board_2022_schematics.pdf b/renders/sra_dev_board_2022_schematics.pdf
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-SVG Picture created as sra_dev_board_2022.svg date 2022/02/01 00:57:07
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-
-
-IO0
-IO0
-
-
-33
-33
-
-
-IO2
-IO2
-
-
-34
-34
-
-
-IO15
-IO15
-
-
-35
-35
-
-
-SD1
-SD1
-
-
-36
-36
-
-
-SD0
-SD0
-
-
-37
-37
-
-
-CLK
-CLK
-
-
-38
-38
-
-
-SENSOR_VN
-SENSOR_VN
-
-
-4
-4
-
-
-IO34
-IO34
-
-
-5
-5
-
-
-IO35
-IO35
-
-
-6
-6
-
-
-IO32
-IO32
-
-
-7
-7
-
-
-IO33
-IO33
-
-
-8
-8
-
-
-IO25
-IO25
-
-
-9
-9
-
-
-U1
-U1
-ESP32-DEVKITC-32D
-ESP32-DEVKITC-32D
-
-
-
-
-
-
-
-
-
-
-
-
-R5
-R5
-330
-330
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D5
-D5
-LED
-LED
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D4
-D4
-LED
-LED
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D3
-D3
-LED
-LED
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D1
-D1
-LED
-LED
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D2
-D2
-LED
-LED
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-5
-5
-6
-6
-
-
-TB_A1
-TB_A1
-SW_Push_DPDT
-SW_Push_DPDT
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-5
-5
-6
-6
-
-
-TB_B1
-TB_B1
-SW_Push_DPDT
-SW_Push_DPDT
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-SW1
-SW1
-SW_Push_Dual
-SW_Push_Dual
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-C1
-C1
-100uF
-100uF
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-SW4
-SW4
-SW_Push_Dual
-SW_Push_Dual
-
-
-
-
-
-
-
-
-
-
-
-
-R14
-R14
-1k
-1k
-
-
-
-
-
-
-
-
-
-
-
-
-R12
-R12
-1k
-1k
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-SW2
-SW2
-SW_Push_Dual
-SW_Push_Dual
-
-
-
-
-
-
-
-
-
-
-
-
-R13
-R13
-1k
-1k
-
-
-
-
-
-
-
-
-
-
-
-
-R11
-R11
-1k
-1k
-
-
-
-
-
-
-
-
-
-
-
-1
-
-1
-
-2
-
-2
-
-3
-
-3
-
-4
-
-4
-
-5
-
-5
-
-
-J12
-J12
-Conn_01x05_Male
-Conn_01x05_Male
-
-
-
-
-
-
-
-
-
-
-
-1
-
-1
-
-2
-
-2
-
-3
-
-3
-
-4
-
-4
-
-5
-
-5
-
-
-J13
-J13
-Conn_01x05_Male
-Conn_01x05_Male
-
-
-
-
-
-
-
-
-
-
-
-1
-
-1
-
-2
-
-2
-
-3
-
-3
-
-4
-
-4
-
-5
-
-5
-
-
-J11
-J11
-Conn_01x05_Male
-Conn_01x05_Male
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-D14
-D14
-SS34
-SS34
-
-
-
-
-
-
-
-
-
-
-
-
-C2
-C2
-470uF
-470uF
-
-
-
-
-
-
-
-
-TP3
-TP3
-TestPoint
-TestPoint
-
-
-
-
-
-
-
-
-TP1
-TP1
-TestPoint
-TestPoint
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D10
-D10
-LED
-LED
-
-
-
-
-
-
-
-
-TP2
-TP2
-TestPoint
-TestPoint
-
-
-
-
-
-
-
-
-TP4
-TP4
-TestPoint
-TestPoint
-
-
-
-
-
-
-
-
-
-
-
-
-F1
-F1
-3A
-3A
-
-
-
-
-
-
-
-
-
-
-
-
-D9
-D9
-SS34
-SS34
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-VM
-VM
-
-
-1
-1
-
-
-PWMB
-PWMB
-
-
-10
-10
-
-
-BI2
-BI2
-
-
-11
-11
-
-
-BI1
-BI1
-
-
-12
-12
-
-
-STBY
-STBY
-
-
-13
-13
-
-
-AI1
-AI1
-
-
-14
-14
-
-
-AI2
-AI2
-
-
-15
-15
-
-
-PWMA
-PWMA
-
-
-16
-16
-
-
-VCC
-VCC
-
-
-2
-2
-
-
-GND
-GND
-
-
-3
-3
-
-
-A01
-A01
-
-
-4
-4
-
-
-A02
-A02
-
-
-5
-5
-
-
-B02
-B02
-
-
-6
-6
-
-
-B01
-B01
-
-
-7
-7
-
-
-GND
-GND
-
-
-8
-8
-
-
-GND
-GND
-
-
-9
-9
-
-
-U3
-U3
-TB6612FNG
-TB6612FNG
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-D11
-D11
-LED
-LED
-
-
-
-
-
-
-
-
-
-
-
-
-R18
-R18
-1k
-1k
-
-
-
-
-
-
-
-
-
-
-
-
-R15
-R15
-1k
-1k
-
-
-
-
-
-
-
-
-
-
-
-
-R17
-R17
-1k
-1k
-
-
-
-
-
-
-
-
-
-
-
-
-R16
-R16
-1k
-1k
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-SW3
-SW3
-SW_Push_Dual
-SW_Push_Dual
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-VM
-VM
-
-
-1
-1
-
-
-PWMB
-PWMB
-
-
-10
-10
-
-
-BI2
-BI2
-
-
-11
-11
-
-
-BI1
-BI1
-
-
-12
-12
-
-
-STBY
-STBY
-
-
-13
-13
-
-
-AI1
-AI1
-
-
-14
-14
-
-
-AI2
-AI2
-
-
-15
-15
-
-
-PWMA
-PWMA
-
-
-16
-16
-
-
-VCC
-VCC
-
-
-2
-2
-
-
-GND
-GND
-
-
-3
-3
-
-
-A01
-A01
-
-
-4
-4
-
-
-A02
-A02
-
-
-5
-5
-
-
-B02
-B02
-
-
-6
-6
-
-
-B01
-B01
-
-
-7
-7
-
-
-GND
-GND
-
-
-8
-8
-
-
-GND
-GND
-
-
-9
-9
-
-
-U4
-U4
-TB6612FNG
-TB6612FNG
-
-
-
-
-
-
-
-
-
-
-
-
-R6
-R6
-330
-330
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-R2
-R2
-330
-330
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-T2
-T2
-Screw_Terminal_01x04
-Screw_Terminal_01x04
-
-
-
-
-
-
-
-
-
-
-
-
-D12
-D12
-SS24
-SS24
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-
-
-T3
-T3
-Screw_Terminal_01x02
-Screw_Terminal_01x02
-
-
-
-
-
-
-
-
-
-
-
-
-C4
-C4
-0.1uF
-0.1uF
-
-
-
-
-
-
-
-
-
-
-
-
-C5
-C5
-22uF
-22uF
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-GND
-
-GND
-
-
-
-1
-
-1
-
-
-VO
-VO
-
-
-2
-2
-
-
-VI
-VI
-
-
-3
-3
-
-
-U2
-U2
-AMS1117-3.3
-AMS1117-3.3
-
-
-
-
-
-
-
-
-
-
-
-
-C3
-C3
-0.1uF
-0.1uF
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-R4
-R4
-330
-330
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-C6
-C6
-10uF
-10uF
-
-
-
-
-
-
-
-
-L1
-L1
-100uH
-100uH
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-T1
-T1
-Screw_Terminal_01x04
-Screw_Terminal_01x04
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-VIN
-VIN
-
-
-1
-1
-
-
-OUT
-OUT
-
-
-2
-2
-
-
-
-GND
-
-GND
-
-
-
-3
-
-3
-
-
-FB
-FB
-
-
-4
-4
-
-
-~{ON}/OFF
-~{ON}/OFF
-
-
-5
-5
-
-
-U5
-U5
-LM2576S-5
-LM2576S-5
-
-
-
-
-
-
-
-
-
-
-
-
-H3
-H3
-MountingHole
-MountingHole
-
-
-
-
-
-
-
-
-
-
-
-
-H2
-H2
-MountingHole
-MountingHole
-
-
-
-
-
-
-
-
-
-
-
-
-H4
-H4
-MountingHole
-MountingHole
-
-
-
-
-
-
-
-
-
-
-
-
-H1
-H1
-MountingHole
-MountingHole
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-
-
-J2
-J2
-Conn_01x03_Male
-Conn_01x03_Male
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-
-
-J4
-J4
-Conn_01x03_Male
-Conn_01x03_Male
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-4
-4
-
-
-J9
-J9
-Conn_01x04_Female
-Conn_01x04_Female
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-
-
-J6
-J6
-DCJ200-10-A-XX-X_REVA
-DCJ200-10-A-XX-X_REVA
-
-
-
-
-
-
-
-
-
-
-
-
-R1
-R1
-330
-330
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-1
-1
-2
-2
-3
-3
-
-
-J3
-J3
-Conn_01x03_Male
-Conn_01x03_Male
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-GND
-GND
-
-
-
-
-
-
-
-
-
-
-
-
-R3
-R3
-330
-330
-
-
-
-
-
-
-
-13
-13
-
-
-
-
-12V_P
-12V_P
-
-
-
-
-3V3
-3V3
-
-
-
-
-39
-39
-
-
-
-
-OUT3A
-OUT3A
-
-
-
-
-OUT1A
-OUT1A
-
-
-
-
-34
-34
-
-
-
-
-GND
-GND
-
-
-
-
-OUT4A
-OUT4A
-
-
-
-
-OUT2A
-OUT2A
-
-
-
-
-OUT2A
-OUT2A
-
-
-
-
-3V3
-3V3
-
-
-
-
-3V3
-3V3
-
-
-
-
-12V_P
-12V_P
-
-
-
-
-36
-36
-
-
-
-
-CLK
-CLK
-
-
-
-
-12V_U
-12V_U
-
-
-
-
-14
-14
-
-
-
-
-14
-14
-
-
-
-
-12
-12
-
-
-
-
-27
-27
-
-
-
-
-27
-27
-
-
-
-
-14
-14
-
-
-
-
-16
-16
-
-
-
-
-26
-26
-
-
-
-
-17
-17
-
-
-
-
-35
-35
-
-
-
-
-SD2
-SD2
-
-
-
-
-GND
-GND
-
-
-
-
-3V3
-3V3
-
-
-
-
-2
-2
-
-
-
-
-25
-25
-
-
-
-
-BIN2
-BIN2
-
-
-
-
-CMD
-CMD
-
-
-
-
-GND
-GND
-
-
-
-
-3V3
-3V3
-
-
-
-
-GND
-GND
-
-
-
-
-12
-12
-
-
-
-
-13
-13
-
-
-
-
-SD3
-SD3
-
-
-
-
-25
-25
-
-
-
-
-5V_P
-5V_P
-
-
-
-
-26
-26
-
-
-
-
-33
-33
-
-
-
-
-3V3
-3V3
-
-
-
-
-32
-32
-
-
-
-
-33
-33
-
-
-
-
-32
-32
-
-
-
-
-5V
-5V
-
-
-
-
-3V3
-3V3
-
-
-
-
-3V3
-3V3
-
-
-
-
-32
-32
-
-
-
-
-GND
-GND
-
-
-
-
-34
-34
-
-
-
-
-OUT1A
-OUT1A
-
-
-
-
-OUT2A
-OUT2A
-
-
-
-
-3V3
-3V3
-
-
-
-
-GND
-GND
-
-
-
-
-12V_U
-12V_U
-
-
-
-
-AMS_IN
-AMS_IN
-
-
-
-
-AIN2
-AIN2
-
-
-
-
-OUT4A
-OUT4A
-
-
-
-
-OUT3A
-OUT3A
-
-
-
-
-18
-18
-
-
-
-
-12V_U
-12V_U
-
-
-
-
-RX
-RX
-
-
-
-
-35
-35
-
-
-
-
-27
-27
-
-
-
-
-TX
-TX
-
-
-
-
-22
-22
-
-
-
-
-OUT2B
-OUT2B
-
-
-
-
-EN
-EN
-
-
-
-
-OUT1B
-OUT1B
-
-
-
-
-15
-15
-
-
-
-
-OUT4B
-OUT4B
-
-
-
-
-ESP_3V3
-ESP_3V3
-
-
-
-
-23
-23
-
-
-
-
-SD1
-SD1
-
-
-
-
-2
-2
-
-
-
-
-SD0
-SD0
-
-
-
-
-5V_P
-5V_P
-
-
-
-
-OUT3B
-OUT3B
-
-
-
-
-OUT3B
-OUT3B
-
-
-
-
-OUT1B
-OUT1B
-
-
-
-
-OUT4B
-OUT4B
-
-
-
-
-GND
-GND
-
-
-
-
-OUT2B
-OUT2B
-
-
-
-
-17
-17
-
-
-
-
-OUT3B
-OUT3B
-
-
-
-
-OUT2B
-OUT2B
-
-
-
-
-OUT3A
-OUT3A
-
-
-
-
-5
-5
-
-
-
-
-16
-16
-
-
-
-
-5V
-5V
-
-
-
-
-AMS_IN
-AMS_IN
-
-
-
-
-4
-4
-
-
-
-
-0
-0
-
-
-
-
-23
-23
-
-
-
-
-19
-19
-
-
-
-
-21
-21
-
-
-
-
-GND
-GND
-
-
-
-
-GND
-GND
-
-
-
-
-3V3
-3V3
-
-
-
-
-BIN1
-BIN1
-
-
-
-
-32
-32
-
-
-
-
-3V3
-3V3
-
-
-
-
-36
-36
-
-
-
-
-39
-39
-
-
-
-
-3V3
-3V3
-
-
-
-
-26
-26
-
-
-
-
-25
-25
-
-
-
-
-33
-33
-
-
-
-
-BIN1
-BIN1
-
-
-
-
-14
-14
-
-
-
-
-27
-27
-
-
-
-
-12
-12
-
-
-
-
-AIN1
-AIN1
-
-
-
-
-BIN2
-BIN2
-
-
-
-
-21
-21
-
-
-
-
-22
-22
-
-
-
-
-GND
-GND
-
-
-
-
-AIN2
-AIN2
-
-
-
-
-32
-32
-
-
-
-
-33
-33
-
-
-
-
-26
-26
-
-
-
-
-25
-25
-
-
-
-
-27
-27
-
-
-
-
-3V3
-3V3
-
-
-
-
-5V
-5V
-
-
-
-
-5V
-5V
-
-
-
-
-18
-18
-
-
-
-
-19
-19
-
-
-
-
-5
-5
-
-
-
-
-5V
-5V
-
-
-
-
-5V_P
-5V_P
-
-
-
-
-12V_P
-12V_P
-
-
-
-
-21
-21
-
-
-
-
-3V3
-3V3
-
-
-
-
-12
-12
-
-
-
-
-14
-14
-
-
-
-
-AMS_IN
-AMS_IN
-
-
-
-
-13
-13
-
-
-
-
-12V_U
-12V_U
-
-
-
-
-33
-33
-
-
-
-
-4
-4
-
-
-
-
-13
-13
-
-
-
-
-5V
-5V
-
-
-
-
-22
-22
-
-
-
-
-AIN1
-AIN1
-
-
-
-
-12V_U: Raw Input 12V
-12V_U: Raw Input 12V
-12V_P: 12V with protection circuit
-12V_P: 12V with protection circuit
-
-
-12V Input->Motor Supply
-12V Input->Motor Supply
-
-
-SENSOR PORTS (JST CONN.)
-SENSOR PORTS (JST CONN.)
-
-
-Motor Normal-Parallel Mode
-Motor Normal-Parallel Mode
-AMS1117: Linear Regulator
-AMS1117: Linear Regulator
-
-
-POWER CIRCUITRY
-POWER CIRCUITRY
-
-
-LSA
-LSA
-
-
-RUEF160 PTC Resetable Fuse
-RUEF160 PTC Resetable Fuse
-I_trip = 3.2A; I_hold = 1.6A
-I_trip = 3.2A; I_hold = 1.6A
-1N581* (1N5819/1N5419) <=>
-1N581* (1N5819/1N5419) <=>
-SS15 (Vf=0.7V)
-SS15 (Vf=0.7V)
-SS12 (Vf=0.5V)
-SS12 (Vf=0.5V)
-(1A Schottky rectifier)
-(1A Schottky rectifier)
-
-
-12V-GND Terminal
-12V-GND Terminal
-
-
-SRA DEVELOPMENT BOARD - 2022
-SRA DEVELOPMENT BOARD - 2022
-
-
-MICROCONTROLLER
-MICROCONTROLLER
-
-
-Converts 5V Input
-Converts 5V Input
-to 3.3V Output
-to 3.3V Output
-
-
-DPDT SWITCHES
-DPDT SWITCHES
-
-
-5V Regulated->MCU Supply
-5V Regulated->MCU Supply
-TB6612FNG
-TB6612FNG
-
-
-MOTOR DRIVER
-MOTOR DRIVER
-
-
-1N5399 <=> SS24 (2A
-1N5399 <=> SS24 (2A
-rated Schottky diode)
-rated Schottky diode)
-
-
-Note: IO0 - Boot Pin EN - Reset Pin
-Note: IO0 - Boot Pin EN - Reset Pin
-
-
-ESP32
-ESP32
-
-
-TESTPOINTS
-TESTPOINTS
-
-
-Mounting Holes
-Mounting Holes
-
-
-MOTOR PORTS
-MOTOR PORTS
-
-
-Output Terminal Blocks
-Output Terminal Blocks
-
-
-OLED PORT
-OLED PORT
-
-
-1N5822 <=> SS34
-1N5822 <=> SS34
-(3A Schottky diode)
-(3A Schottky diode)
-
-
- STANDARD
- STANDARD
-VOLTAGE PORTS
-VOLTAGE PORTS
-
-
-5V, 3.3V & GND
-5V, 3.3V & GND
-
-
-DRILLS
-DRILLS
-SERVO PORTS
-SERVO PORTS
-
-
-3-Pin 5V Servos
-3-Pin 5V Servos
-Motor Output Pins
-Motor Output Pins
-MPU
-MPU
-
-
-PUSH BUTTONS
-PUSH BUTTONS
-
-
-12V-DC Power Jack
-12V-DC Power Jack
-
-
-GPIO 21 - SCL
-GPIO 21 - SCL
-GPIO 22 - SDA
-GPIO 22 - SDA
-GPIO 23 - INT
-GPIO 23 - INT
-Converts 12V Input
-Converts 12V Input
-to 5V Output
-to 5V Output
-
-
-Motor Forward-Backward
-Motor Forward-Backward
-
-
-LED ARRAY
-LED ARRAY
-
-
-RXEF050 PTC Resetable Fuse
-RXEF050 PTC Resetable Fuse
-I_trip = 1A; I_hold = 0.5A
-I_trip = 1A; I_hold = 0.5A
-1N5822 <=> SS34 (3A
-1N5822 <=> SS34 (3A
-rated Schottky diode)
-rated Schottky diode)
-
-
-5V: Raw Regulated 5V
-5V: Raw Regulated 5V
-5V_P: 5V with protection circuit
-5V_P: 5V with protection circuit
-
-
-LM2576: Buck Regulator
-LM2576: Buck Regulator
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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-
-
-
-
-
-
-
-
-
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-
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-
-
-
-
-
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-
-
-
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-
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-
-
-
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-
-
-
-
-
-
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-
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-
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-
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-
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-
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-
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-
diff --git a/sensors_2022/lsa/README.md b/sensors_2022/lsa/README.md
index 20e32af..e0df3d9 100644
--- a/sensors_2022/lsa/README.md
+++ b/sensors_2022/lsa/README.md
@@ -1,4 +1,4 @@
-## LSA - Light Sensor Array
+## LSA - Line Sensor Array
### Table of Contents
* [Overview](#overview)
@@ -15,17 +15,17 @@
* [Scope of Improvement](#scope-of-improvement)
-### Overview
-- The Light Sensor Array(LSA) is used to detect the white/black lined surface and it sends this data to the microcontroller ESP-32. Analyzing and processing the data received by the microcontroller ESP-32, the purpose of line following is achieved.
+### Overview
+- The Line Sensor Array(LSA) is used to detect the white/black lined surface and it sends this data to the microcontroller ESP-32. Analyzing and processing the data received by the microcontroller ESP-32, the purpose of line following is achieved.
- Physical PCB
-
- PCB Backside
-
### Features
@@ -45,10 +45,10 @@
### Function of Components
-- LED
+- **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.
-- PhotoDiode
+- **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
diff --git a/sensors_2022/lsa/lsa/lsa.kicad_pcb b/sensors_2022/lsa/lsa/lsa.kicad_pcb
index c7ebaab..5676e60 100644
--- a/sensors_2022/lsa/lsa/lsa.kicad_pcb
+++ b/sensors_2022/lsa/lsa/lsa.kicad_pcb
@@ -2658,7 +2658,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 180) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 2 "+3V3") (pinfunction "A") (pintype "passive") (tstamp 1e0743f9-25f1-4e27-8ba3-1bbc1755dc6c))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D3.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -2722,7 +2722,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 180) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 2 "+3V3") (pinfunction "A") (pintype "passive") (tstamp 52fe3400-bf18-4fe5-aa6e-2be779b65697))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D3.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -2765,7 +2765,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 270) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 8 "/LSA_A2") (pinfunction "A") (pintype "passive") (tstamp 97db24fe-c1f7-4f86-9060-dc632af2d885))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D5.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -2808,7 +2808,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 270) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 6 "/LSA_A0") (pinfunction "A") (pintype "passive") (tstamp 139dad75-0222-4e43-bc59-5c28bfe18b85))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D5.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -3905,7 +3905,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 180) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 2 "+3V3") (pinfunction "A") (pintype "passive") (tstamp 6a5fe9e5-baaf-40a3-a520-f60ee8a61237))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D3.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -3969,7 +3969,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 180) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 2 "+3V3") (pinfunction "A") (pintype "passive") (tstamp fd955970-c990-4603-96b5-f465442bdb88))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D3.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -4012,7 +4012,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 270) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 9 "/LSA_A3") (pinfunction "A") (pintype "passive") (tstamp 58e43a80-a74c-4a45-a990-a8fe7ecac27a))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D5.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
@@ -7021,7 +7021,7 @@
(pad "2" thru_hole circle locked (at 2.54 0 270) (size 1.8 1.8) (drill 0.9) (layers *.Cu *.Mask)
(net 7 "/LSA_A1") (pinfunction "A") (pintype "passive") (tstamp b8e9717b-c8d9-44dd-9eb5-d37e3b2c2fb5))
(model "${KICAD6_3DMODEL_DIR}/LED_THT.3dshapes/LED_D5.0mm.wrl"
- (offset (xyz 0 0 0))
+ (offset (xyz 0 0 -3))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
+
+
+