This is a repo for my PCB design and engineering class where I made a PCB to talk to a TurtleBot3 and control its movement.
- Youtube: https://youtu.be/oqg4fr0NS5o
![soldered_pcb](https://private-user-images.githubusercontent.com/91858809/331843879-a63873c1-fb17-4a6f-9bbc-668a71691f44.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjU1OTg1MzUsIm5iZiI6MTcyNTU5ODIzNSwicGF0aCI6Ii85MTg1ODgwOS8zMzE4NDM4NzktYTYzODczYzEtZmIxNy00YTZmLTliYmMtNjY4YTcxNjkxZjQ0LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTA2VDA0NTAzNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTMxOTJhZTRhYmZhZWYyNzc2NzQxMGJkNDdiMzdlZGU3NTQxYmU1ZDI3MTc0MWE0NzNjOTU5NWMzZmVlZGVjYzUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.L4YUAMUOaMLRWo_FHArWIaupRfDBwovv50sn8k3Ye_w)
Note: All components were hand-soldered onto the PCB board, including the SAMD21A(i know bruh it's HARD).
![PCB](https://private-user-images.githubusercontent.com/91858809/331843813-24e4e85a-85c7-4bd5-8eda-ec49bfea93d3.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjU1OTg1MzUsIm5iZiI6MTcyNTU5ODIzNSwicGF0aCI6Ii85MTg1ODgwOS8zMzE4NDM4MTMtMjRlNGU4NWEtODVjNy00YmQ1LThlZGEtZWM0OWJmZWE5M2QzLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTA2VDA0NTAzNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWZmOGIxZDA3NmU3MWRjNDJiMTU4MmFlNjlmMzJjOWRkNjdlYzc3MjhiMDEyZTRjNzVhZTAwYmQ4OTBkYzk0ODUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.vvMK_TyozfIwr6I4ilsacDNMuQv66KT4fc6f5GizK0E)
![Schematics](https://private-user-images.githubusercontent.com/91858809/331843821-c5ac276a-94dc-4684-a885-5de31b956a6c.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjU1OTg1MzUsIm5iZiI6MTcyNTU5ODIzNSwicGF0aCI6Ii85MTg1ODgwOS8zMzE4NDM4MjEtYzVhYzI3NmEtOTRkYy00Njg0LWE4ODUtNWRlMzFiOTU2YTZjLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTA2VDA0NTAzNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWUxMzMzMmI5NTFhMDRjZTQ1YmViYzJlOTlhYzI0MzZmMTk3OTliMTZhZDBhODE2Y2UzYWIwNTI1ZWU0NjUwZmEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.bpo-MhZAGdks0uTgQD1pKF6oNKef9-OKHLjhNVd_vyk)
![communication_pipeline](https://private-user-images.githubusercontent.com/91858809/331844034-2103c3df-753d-4abc-a2e6-421121da2c87.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjU1OTg1MzUsIm5iZiI6MTcyNTU5ODIzNSwicGF0aCI6Ii85MTg1ODgwOS8zMzE4NDQwMzQtMjEwM2MzZGYtNzUzZC00YWJjLWEyZTYtNDIxMTIxZGEyYzg3LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTA2VDA0NTAzNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTdjYTM4OGUzOWQzMjQ5MzIzOWQxMGNlY2VhOTJkMjU3YTY4YWI2YTk3MDc2MDdjY2ExYzBlZDhmZWUxY2Q2OTUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.XlcfH71qLGS_g0m0LrRYWKqmK779C7XvgQkrTAZpuOU)