sra-vjti / sra-board-hardware-design Goto Github PK

In Wall-E 2022, we faced the issue of noise in I2C line , which was caused by static noise in motors. This forced us to add capacitors and ferrite bead on the motors. Since we have never faced this issue before with BO motors, we can assume that motor driver might not be working well in filtering the noise.

We can test it by using different motor drivers like DRV8833 to see if the problem persists.

• The noise observed on the SDA and SCL lines of MPU6050 leads to an I2C Packet drop while self-balancing (motors running).
• This is related to interference between the BO Motor wires and the long MPU JST Cable.
• Shortening the length of I2C lines prevents this issue. Ref #14
• This issue aims to add a direct pin header port for direct plug-play and operation of the MPU6050 on the SRA Board

Todo -

• Update test results for direct plugin MPU near the current port
• Test the above thoroughly with self-balancing
• Make changes in the PCB Design
• Updated PCB Fabrication, Assembly
• Rigorous testing for self-balancing and making suitable changes ( like using MPU Offset) in the firmware for 3_MPU and 8_self_balancing

CC - @ChinmayLonkar @Premraj02

• To replace 2nd TB6612FNG Motor Driver and add functionality to drive a stepper motor on SRA Board - PCB design
• Mention specifications of the driver used & models of stepper tested across
• Add Terminal blocks to connect the servo motor
• Pin headers/Pads/terminals for external supply (if desired to operate on higher rating (not from SRA board 5V/3V3))

Suggestion -
Include a Switch to toggle between power supply from SRA Board <-> External supply connected to port/pin header/pad

CC: @ChinmayLonkar @Asc91
Share the Updates with Images of PCB and changes made so far here

The following issues in design need to be corrected and updated to avoid inconsistencies:=

• Correct the silkscreen for LED Array Port with the proper GPIO naming convention
• Search for a software side solution to handle/disable the MPU6050 interrupt and use that pin as a GPIO when disabled without breaking the INT line connectivity
• Any other required changes
• Update gerbers, renders, assets, documentation accordingly

CC - @ChinmayLonkar

A suggestion not an issue:

Front silk

1. Add year of manufacture
2. version of board
3. name of main contributor (architect of the board)..

Rear silk

1. add logo
2. add some more pin labels (even if they exist on upper silk mask).

Wanted to update the current SRA Board on github as well update its readme file

Something like this can be done for the boards and sensors:

Example 1:

Example 2:

Suggestion to add the schematics in PDF format so that it can be viewed without any CAD software.

The current design of LSA is very prone to ambient light and often cause inconvenience in line following.
Possible solution is to test TCRT-5000 for ambience interference.

If it proves to be better than current design, we can easily modify our LSA design to include it.

1. The images and references should be complete and within the systematic folders of this repository. eg assets.
2. Information should be updated, written properly in points with links to relevant work and in comparison to previous design highlighting improvements, what and why incorporated in this year's design.
3. Images, videos, or gifs should be scaled to uniformity.
4. Fixes and improvements with respect to the previous documentation are desired.
5. Links to relevant issues encountered and their solutions can be mentioned as well. I suggest linking this to blog posts later as mentioned in #18

@ChinmayLonkar @Jamm02 @Premraj02 assign this task to some SY

For eg we use IC LM324 , Motor Driver XYZ, LDO, etc

This issue aims to create a separate dynamic webpage that hosts the documentation and README.mds along with some other features viz. Adding board information, 3D layout + Images, testing blogs. Site hosted on GitHub Pages

Suggestion -
Use jekyll - a simple site generator using gh-pages. Tutorials can be found here.
Ref - https://sravjti.in/sra-board-component/

Todo -

• Fix any bugs in the current README.md description files
• Add/Optimise any technical content
• Create a different branch called gh-pages and then start contributing
• Host a site including the above information for Board and Sensors - LSA and MPU
• Another page or subsection to display blogs on debugging/ technical matter observed during the journey of Board development
• Another page or subsection to display renders, 3d models, images and renders. Something like - https://yellow.home-assistant.io/yellow-v1.2-standard/

CC - @Dhruv454000 @ChinmayLonkar @Sidshx assign this issue to some SY

Uses-

1. Essential and easy to export in other CAD software (Solidworks, Coppelia, FreeCAD, etc)
2. Useful for use in simulation

Kindly add these files and update them here.

• Replace the old files.
• This should be done for sra_board, LSA, and MPU in respective directories
• @Aniruddha1261 kindly make the required changes and update your PR