## Hardware Nodes Documentation

This page describes the hardware nodes that are present for the 1718 Mars Rover project.

The project contains the following nodes:

- [IRIS](#iris-node)
- [Motor](#motor-node)
- [Tower](#tower-node)
- [Tower Alt](#tower-alt)
- [Pan-Tilt](#pan-tilt)
- [Grasping](#grasp-node)
- Science
- Arm Breakout 1 / 2

### IRIS node

<img src="files/iris.jpg" width="300">

This node serves as the computer's main interface with the hardware in the rest of the Rover. It features 10 RS485 ports and a Teensy Microcontroller that allows it to perform most of the control and sensing features for the Rover.

[Find more documentation here.](iris.md)

### Motor node

<img src="files/motor.jpg" width="300">

This node controls the motors that turn Rover's wheels.

[Find more documentation here.](motor.md)

### Tower node

<img src="files/tower.jpg" width="300">

This node is placed outside of the main electronics box on the chassis and collects data from various sensors.

[Find more documentation here.](tower.md)

### Tower alt

<img src="files/tower_alt_render.png" width="300">

This board acts as an alternate for Rover's Tower Node when both of the boards we had didn't work. It really just breaks out a Teensy 3.2 to a few different connectors.

[Find more documentation here.](tower-alt.md)

### Pan-tilt

<img src="files/pan_tilt_render.png" width="300">

This board controls servos that allow Rover operators to pan and tilt cameras.

[Find more documentation here.](pan-tilt.md)

### Grasp Node

<img src="files/grasp.JPG" width="300">

Controls 4 DC motors with quadrature encoder and current feedback. Has four analog inputs intended to be used with force resistors.

[Find more documentation here.](grasp.md)

### Science Node

<img src="files/Science.PNG" width="300">

Powers, and comunicates with the Soil Probe via RS-485. Uses simple logic to power a drill motor (24V,5A, full forward, full back, stop). Outputs 5V to power a digital camera. Sends a signal to the didgital camera to control shoot and zoom.

[Find more documentation here.](science.md)