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Updated Motor Node documentation

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Nick McComb
2018-02-10 17:14:27 -08:00
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electrical/documents/nodes/motor.md
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# IRIS Node
# Motor Node
![Iris](files/iris.jpg)
<!-- ![Iris](files/iris.jpg) -->
![Iris Render](files/iris_render.png)
![Iris Render](files/motor_render.png)
Designed by [Nick McComb](www.nickmccomb.net) for OSURC Mars Rover.
@@ -11,35 +11,30 @@ Designed by [Nick McComb](www.nickmccomb.net) for OSURC Mars Rover.
Made for MR1718 as part of the OSU Robotics Club.
Enables a single USB port to act as 10 RS485 Transceivers, receive inputs from an S.BUS style RC receiver, and interface with a few switches. Input power is 24V (self powered, no power is drawn from the USB connection). Features a Teensy 3.2 microcontroller.
This design is entirely Open Source and is available on CircuitMaker, see below for a link to the file.
This board drives one of the Mars Rover’s wheels. It’s designed to be a breakout board for one of Pololu’s 21A motor driver boards, allowing it to be controlled over RS485 from the IRIS Node.
This is a 4-layer design.
Note, if you’re using the design, the traces going to the motor driver are only rated for 10A continuous, so be careful with the actual amount of current that you run through the motors. If you need to, bodge a wire in parallel with the XT30 connector to add more current capability. This design limitation was forced because of the space constraint that this board was designed into.
The name "Iris" comes from the greek messenger god, [Iris](http://www.theoi.com/Pontios/Iris.html). This is the board that acts as a "messenger god" for our computer, telling the rest of the robot what to do.
This design is completely open-source, the design files can be found at CircuitMaker, see the link below.
### Bill of Materials
[Bill of Materials V1](
https://docs.google.com/spreadsheets/d/1TkVeK_GaS78QLqv8NcE_QGGE-NSj-3agn10lKnISSjQ/edit?usp=sharing
https://docs.google.com/spreadsheets/d/1CobSEg-5mzBy_F1_ASbbnYLLLra0shLwDUG4rKD09mE/edit?usp=sharing
)
#### Design files
[MR1718 IRIS on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Nick-McComb/OSURC-Mars-Rover-2017-2018-Iris-Board)
[MR1718 Motor Node on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Nick-McComb/MR1718-Motor-Node)
### Downloads
[Schematic V1](files/iris-v1-schematic.pdf)
[Schematic V1](files/motor-v1-schematic.pdf)
[3D Model V1 (STEP)](files/iris.step)
[3D Model V1 (STEP)](files/motor.step)
### Known Issues
#### Version 1
- Used CAN tx/rx instead of hardware UART
- Connections from FTDI to RS485 transceiver wrong, need to short DE / RE pins together, then this connection goes to FTDI enable. PWREN for the RS485 converted is wrong naming and doesn’t reflect its purpose. No connection to PWREN on 4232 needed...
- Missing 3v3 rail connection to VBAT pin on Teensy. Will program without it, but will not boot without it.
- For R46 vs R47 selection, only R47 is needed.
- No invert needed for S.BUS connection (bridge pins)
None (yet)