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Added 2017-2018 mars rover repository.

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Corwin Perren
2018-08-22 14:54:52 -07:00
parent a56690ca18
commit 7fd2641766
750 changed files with 2019222 additions and 0 deletions
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31
OSU Robotics Club/Mars Rover 2017-2018/electrical/Iris.RUL Normal file
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SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=DOLCGXHB|RULEKIND=Clearance|NETSCOPE=DifferentNets|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=Clearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|GAP=6.2mil|GENERICCLEARANCE=6.2mil|OBJECTCLEARANCES= <20>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=IPIBIJVB|RULEKIND=Width|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=Width|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|MAXLIMIT=39.3701mil|MINLIMIT=10mil|PREFEREDWIDTH=10mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=BXTNUQTT|RULEKIND=PlaneConnect|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=PlaneConnect|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|PLANECONNECTSTYLE=Relief|RELIEFEXPANSION=20mil|RELIEFENTRIES=4|RELIEFCONDUCTORWIDTH=10mil|RELIEFAIRGAP=10mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=JSLSKQDI|RULEKIND=RoutingTopology|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=RoutingTopology|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|TOPOLOGY=Shortest<73>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=TWJIBWVU|RULEKIND=RoutingPriority|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=RoutingPriority|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|ROUTINGPRIORITY=0<>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=AQVRUPYP|RULEKIND=RoutingLayers|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=RoutingLayers|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|TOP LAYER_V5=TRUE|MID LAYER 1_V5=TRUE|MID LAYER 2_V5=TRUE|MID LAYER 3_V5=TRUE|MID LAYER 4_V5=TRUE|MID LAYER 5_V5=TRUE|MID LAYER 6_V5=TRUE|MID LAYER 7_V5=TRUE|MID LAYER 8_V5=TRUE|MID LAYER 9_V5=TRUE|MID LAYER 10_V5=TRUE|MID LAYER 11_V5=TRUE|MID LAYER 12_V5=TRUE|MID LAYER 13_V5=TRUE|MID LAYER 14_V5=TRUE|MID LAYER 15_V5=TRUE|MID LAYER 16_V5=TRUE|MID LAYER 17_V5=TRUE|MID LAYER 18_V5=TRUE|MID LAYER 19_V5=TRUE|MID LAYER 20_V5=TRUE|MID LAYER 21_V5=TRUE|MID LAYER 22_V5=TRUE|MID LAYER 23_V5=TRUE|MID LAYER 24_V5=TRUE|MID LAYER 25_V5=TRUE|MID LAYER 26_V5=TRUE|MID LAYER 27_V5=TRUE|MID LAYER 28_V5=TRUE|MID LAYER 29_V5=TRUE|MID LAYER 30_V5=TRUE|BOTTOM LAYER_V5=TRUE<55>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=HITEEAGU|RULEKIND=RoutingCorners|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=RoutingCorners|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|CORNERSTYLE=45-Degree|MINSETBACK=100mil|MAXSETBACK=100mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=IEUVADPH|RULEKIND=RoutingVias|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=Signal Via|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|HOLEWIDTH=15.748mil|WIDTH=25.5906mil|VIASTYLE=Through Hole|MINHOLEWIDTH=11.811mil|MINWIDTH=25.5906mil|MAXHOLEWIDTH=11.811mil|MAXWIDTH=35.4331mil<EFBFBD>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=AFJHWXFT|RULEKIND=PlaneClearance|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=PlaneClearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|CLEARANCE=20mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=OQPJNTQU|RULEKIND=SolderMaskExpansion|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=Tenting|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|EXPANSION=3.9764mil<EFBFBD>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=IJRDWDFT|RULEKIND=SolderMaskExpansion|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=SolderMaskExpansion|ENABLED=TRUE|PRIORITY=2|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|EXPANSION=4mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=KYEVEBMQ|RULEKIND=PasteMaskExpansion|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=PasteMaskExpansion|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|EXPANSION=0mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=CKFHYTFE|RULEKIND=ShortCircuit|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=ShortCircuit|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|ALLOWED=FALSE<53>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=HAMIBHKU|RULEKIND=UnRoutedNet|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=UnRoutedNet|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE<53>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=JHJKQUNU|RULEKIND=PolygonConnect|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=PolygonConnect|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|CONNECTSTYLE=Relief|RELIEFCONDUCTORWIDTH=10mil|RELIEFENTRIES=4|POLYGONRELIEFANGLE=90 Angle|AIRGAPWIDTH=10mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=KDAETAPH|RULEKIND=ComponentClearance|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=ComponentClearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|GAP=10mil|COLLISIONCHECKMODE=3|VERTICALGAP=10mil|SHOWDISTANCES=FALSE<53>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=JMNSYLRI|RULEKIND=HoleSize|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=HoleSize|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|ABSOLUTEVALUES=TRUE|MAXLIMIT=157.4803mil|MINLIMIT=1mil|MAXPERCENT=80.000|MINPERCENT=20.000<EFBFBD>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=BFEXCELB|RULEKIND=LayerPairs|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=LayerPairs|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|ENFORCE=TRUE<55>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=PVTRHTJW|RULEKIND=FanoutControl|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=IsBGA|SCOPE2EXPRESSION=All|NAME=Fanout_BGA|ENABLED=TRUE|PRIORITY=1|COMMENT=Fanout_BGA (Default Rule)|DEFINEDBYLOGICALDOCUMENT=FALSE|BGADIR=Out|BGAVIAMODE=Centered|FANOUTSTYLE=Auto|FANOUTDIRECTION=Alternating|VIAGRID=1mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=IOJYHMGC|RULEKIND=FanoutControl|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=IsLCC|SCOPE2EXPRESSION=All|NAME=Fanout_LCC|ENABLED=TRUE|PRIORITY=2|COMMENT=Fanout_LCC (Default Rule)|DEFINEDBYLOGICALDOCUMENT=FALSE|BGADIR=Out|BGAVIAMODE=Centered|FANOUTSTYLE=Auto|FANOUTDIRECTION=Alternating|VIAGRID=1mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=XSHMKFAA|RULEKIND=FanoutControl|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=IsSOIC|SCOPE2EXPRESSION=All|NAME=Fanout_SOIC|ENABLED=TRUE|PRIORITY=3|COMMENT=Fanout_SOIC (Default Rule)|DEFINEDBYLOGICALDOCUMENT=FALSE|BGADIR=Out|BGAVIAMODE=Centered|FANOUTSTYLE=Auto|FANOUTDIRECTION=Alternating|VIAGRID=1mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=TJOLRKCI|RULEKIND=FanoutControl|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=(CompPinCount < 5)|SCOPE2EXPRESSION=All|NAME=Fanout_Small|ENABLED=TRUE|PRIORITY=4|COMMENT=Fanout_Small (Default Rule)|DEFINEDBYLOGICALDOCUMENT=FALSE|BGADIR=Out|BGAVIAMODE=Centered|FANOUTSTYLE=Auto|FANOUTDIRECTION=OutThenIn|VIAGRID=1mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=HKUXDVKA|RULEKIND=FanoutControl|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=Fanout_Default|ENABLED=TRUE|PRIORITY=5|COMMENT=Fanout_Default (Default Rule)|DEFINEDBYLOGICALDOCUMENT=FALSE|BGADIR=Out|BGAVIAMODE=Centered|FANOUTSTYLE=Auto|FANOUTDIRECTION=Alternating|VIAGRID=1mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=NJCRYTBV|RULEKIND=Height|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=Height|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|MINHEIGHT=0mil|MAXHEIGHT=1574.8031mil|PREFHEIGHT=500mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=OYYWKBVY|RULEKIND=DiffPairsRouting|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=DiffPairsRouting|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|MAXLIMIT=10mil|MINLIMIT=10mil|MOSTFREQGAP=10mil|TOPLAYER_MINWIDTH=15mil|TOPLAYER_MAXWIDTH=15mil|TOPLAYER_PREFWIDTH=15mil|MIDLAYER1_MINWIDTH=15mil|MIDLAYER1_MAXWIDTH=15mil|MIDLAYER1_PREFWIDTH=15mil|MIDLAYER2_MINWIDTH=15mil|MIDLAYER2_MAXWIDTH=15mil|MIDLAYER2_PREFWIDTH=15mil|MIDLAYER3_MINWIDTH=15mil|MIDLAYER3_MAXWIDTH=15mil|MIDLAYER3_PREFWIDTH=15mil|MIDLAYER4_MINWIDTH=15mil|MIDLAYER4_MAXWIDTH=15mil|MIDLAYER4_PREFWIDTH=15mil|MIDLAYER5_MINWIDTH=15mil|MIDLAYER5_MAXWIDTH=15mil|MIDLAYER5_PREFWIDTH=15mil|MIDLAYER6_MINWIDTH=15mil|MIDLAYER6_MAXWIDTH=15mil|MIDLAYER6_PREFWIDTH=15mil|MIDLAYER7_MINWIDTH=15mil|MIDLAYER7_MAXWIDTH=15mil|MIDLAYER7_PREFWIDTH=15mil|MIDLAYER8_MINWIDTH=15mil|MIDLAYER8_MAXWIDTH=15mil|MIDLAYER8_PREFWIDTH=15mil|MIDLAYER9_MINWIDTH=15mil|MIDLAYER9_MAXWIDTH=15mil|MIDLAYER9_PREFWIDTH=15mil|MIDLAYER10_MINWIDTH=15mil|MIDLAYER10_MAXWIDTH=15mil|MIDLAYER10_PREFWIDTH=15mil|MIDLAYER11_MINWIDTH=15mil|MIDLAYER11_MAXWIDTH=15mil|MIDLAYER11_PREFWIDTH=15mil|MIDLAYER12_MINWIDTH=15mil|MIDLAYER12_MAXWIDTH=15mil|MIDLAYER12_PREFWIDTH=15mil|MIDLAYER13_MINWIDTH=15mil|MIDLAYER13_MAXWIDTH=15mil|MIDLAYER13_PREFWIDTH=15mil|MIDLAYER14_MINWIDTH=15mil|MIDLAYER14_MAXWIDTH=15mil|MIDLAYER14_PREFWIDTH=15mil|MIDLAYER15_MINWIDTH=15mil|MIDLAYER15_MAXWIDTH=15mil|MIDLAYER15_PREFWIDTH=15mil|MIDLAYER16_MINWIDTH=15mil|MIDLAYER16_MAXWIDTH=15mil|MIDLAYER16_PREFWIDTH=15mil|MIDLAYER17_MINWIDTH=15mil|MIDLAYER17_MAXWIDTH=15mil|MIDLAYER17_PREFWIDTH=15mil|MIDLAYER18_MINWIDTH=15mil|MIDLAYER18_MAXWIDTH=15mil|MIDLAYER18_PREFWIDTH=15mil|MIDLAYER19_MINWIDTH=15mil|MIDLAYER19_MAXWIDTH=15mil|MIDLAYER19_PREFWIDTH=15mil|MIDLAYER20_MINWIDTH=15mil|MIDLAYER20_MAXWIDTH=15mil|MIDLAYER20_PREFWIDTH=15mil|MIDLAYER21_MINWIDTH=15mil|MIDLAYER21_MAXWIDTH=15mil|MIDLAYER21_PREFWIDTH=15mil|MIDLAYER22_MINWIDTH=15mil|MIDLAYER22_MAXWIDTH=15mil|MIDLAYER22_PREFWIDTH=15mil|MIDLAYER23_MINWIDTH=15mil|MIDLAYER23_MAXWIDTH=15mil|MIDLAYER23_PREFWIDTH=15mil|MIDLAYER24_MINWIDTH=15mil|MIDLAYER24_MAXWIDTH=15mil|MIDLAYER24_PREFWIDTH=15mil|MIDLAYER25_MINWIDTH=15mil|MIDLAYER25_MAXWIDTH=15mil|MIDLAYER25_PREFWIDTH=15mil|MIDLAYER26_MINWIDTH=15mil|MIDLAYER26_MAXWIDTH=15mil|MIDLAYER26_PREFWIDTH=15mil|MIDLAYER27_MINWIDTH=15mil|MIDLAYER27_MAXWIDTH=15mil|MIDLAYER27_PREFWIDTH=15mil|MIDLAYER28_MINWIDTH=15mil|MIDLAYER28_MAXWIDTH=15mil|MIDLAYER28_PREFWIDTH=15mil|MIDLAYER29_MINWIDTH=15mil|MIDLAYER29_MAXWIDTH=15mil|MIDLAYER29_PREFWIDTH=15mil|MIDLAYER30_MINWIDTH=15mil|MIDLAYER30_MAXWIDTH=15mil|MIDLAYER30_PREFWIDTH=15mil|BOTTOMLAYER_MINWIDTH=15mil|BOTTOMLAYER_MAXWIDTH=15mil|BOTTOMLAYER_PREFWIDTH=15mil|MAXUNCOUPLEDLENGTH=500mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=EEUSFHIY|RULEKIND=HoleToHoleClearance|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=HoleToHoleClearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|GAP=10mil|ALLOWSTACKEDMICROVIAS=TRUE<55>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=JMHSJPUA|RULEKIND=MinimumSolderMaskSliver|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=MinimumSolderMaskSliver|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|MINSOLDERMASKWIDTH=10mil<69>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=CKFUBYQJ|RULEKIND=SilkToSolderMaskClearance|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=IsPad|SCOPE2EXPRESSION=All|NAME=SilkToSolderMaskClearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|MINSILKSCREENTOMASKGAP=0mil|CLEARANCETOEXPOSEDCOPPER=TRUE<55>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=AGULIXFJ|RULEKIND=SilkToSilkClearance|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=SilkToSilkClearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|SILKTOSILKCLEARANCE=-196.8504mil<EFBFBD>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=BTSYUHQE|RULEKIND=SilkToBoardRegionClearance|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=SilkToBoardRegionClearance|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE<53>
SELECTION=FALSE|LAYER=TOP|LOCKED=FALSE|POLYGONOUTLINE=FALSE|USERROUTED=TRUE|UNIONINDEX=0|UNIQUEID=KVBESXKF|RULEKIND=UnpouredPolygon|NETSCOPE=AnyNet|LAYERKIND=SameLayer|SCOPE1EXPRESSION=All|SCOPE2EXPRESSION=All|NAME=UnpouredPolygon|ENABLED=TRUE|PRIORITY=1|COMMENT= |DEFINEDBYLOGICALDOCUMENT=FALSE|ALLOWUNPOURED=FALSE<53>

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OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/Camera Firmware/ixus130_sd1400-100c-1.4.1-4988-full.zip Normal file
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OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/ScienceNodeLibrary/ReadMe.txt Normal file
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This library is for use with the chdk cannon firmware.
it allows an arduino-like board to control zoom and shoot.
to enable this funcionality on the camera load firmware, enter <alt> mode, press menu, CHDK settings, Remote Parameters, enable remote, and set control mode to "zoom".

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OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/ScienceNodeLibrary/ScienceNodeLibrary.zip Normal file
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OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/ScienceNodeLibrary/camera.cpp Normal file
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#include<camera.h>
camera::camera(int pinn){
pinMode(pinn, OUTPUT);
pin = pinn;
}
void camera::pulse(){
digitalWrite(pin,HIGH);
delay(105);
digitalWrite(pin,LOW);
delay(55);
}
void camera::kill(){
digitalWrite(pin,LOW);
delay(455);
}
void camera::shoot(){
for(int i=0;i<3;i++)
pulse();
kill();
}
void camera::slowZoomIn(){
pulse();
kill();
}
void camera::slowZoomOut(){
pulse();
pulse();
kill();
}
void camera::fullZoomIn(){
for(int i=0;i<4;i++)
pulse();
kill();
}
void camera::fullZoomOut(){
for(int i=0;i<5;i++)
pulse();
kill();
}

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OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/ScienceNodeLibrary/camera.h Normal file
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//camera firmware can be found at chdk.wikia.com
#include <Arduino.h>
class camera{
private:
int pin;
float zm;
void kill();
public:
camera(int);
void pulse();
void shoot();
void slowZoomIn();
void slowZoomOut();
void fullZoomIn();
void fullZoomOut();
void focus();
};

14
OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/ScienceNodeLibrary/examples/CameraExample/CameraExample.ino Normal file
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#include <camera.h>
int cameraPin = 7;
camera science(cameraPin);
void setup() {
}
void loop() {
science.fullZoomIn();
delay (2000);
science.fullZoomOut();
delay(2000);
}

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OSU Robotics Club/Mars Rover 2017-2018/electrical/Science Node/Sensor_Test_Code.ino Normal file
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int epin = 6;
void setup() {
Serial.begin(9600);
Serial1.begin(9600);
Serial.println("listening");
pinMode(epin,OUTPUT);
}
void loop() {
if(Serial1.available() > 0 ){
while(Serial1.available() >0 ){
Serial.write(Serial1.read());
//Serial.println();
}
}
digitalWrite(epin,HIGH);
delay(100);
Serial1.write("///SN=?\r\n");
delay(10);
digitalWrite(epin,LOW);
delay(500);
}

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OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/IONI Tuning.md Normal file
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# Tuning and Configuration of IONI Motor Controllers
## (What the wiki is missing)
The [IONI wiki pages](https://granitedevices.com/wiki/IONI_user_guidebook) are a great resource, however they can be lacking in some areas and hard to understand at times. This document hopes to help with troubleshooting and setting up an IONI motor controller for the first time.
## Start Here
1. [Signal Path](https://granitedevices.com/wiki/Signal_path_of_motor_drive)
2. [Trajectory Planning](https://granitedevices.com/wiki/Trajectory_planner)
3. [Servo Tuning Basics](https://granitedevices.com/wiki/Servo_tuning_basics)
4. [Setting Parameters](https://granitedevices.com/wiki/Argon_user_guide/Drive_parameterization)
5. [Tuning Torque Controller](https://granitedevices.com/wiki/Tuning_torque_controller)
6. [Tuning Position Controller](https://granitedevices.com/wiki/Tuning_position_controller)

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OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/circuitmaker_stuff.md Normal file
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# How to CircuitMaker for OSURC Mars Rover
----
### Install
Download and install CircuitMaker from [here](https://workspace.circuitmaker.com/Account/SignUp).
### Starting a New Project
Start a new project and make sure to use the naming convention when making the title, you can't change it later -_-. We use `MR1718 Name`. For example, the motor node would be `MR1718 Motor`. To make things uniform there are generated project images you can download from [here](https://drive.google.com/drive/folders/1vX37lvlG4ao4wY86Rg7hQaVi0l3jGEsV?usp=sharing), so add that on the main project page as well.
Next download the sheets you will need for your project, at the bare minimum you need:
* mcu
* reverse protection
* rs485_tranceiver
* 5v_power
* 3v3_power
Now in CircuitMaker go to `Home -> Project -> Add Existing Document` and browse to where you downloaded those sheets, select them and you are done!
If you ever need to find the actual sheet file that CircuitMaker uses it keeps them in this directory:
`C:\ProgramData\Altium\CircuitMaker {A bunch of garbage here}\Projects\Another string of garbage\More garbage`
There may be multiple directories of `Garbage strings`, so just click around until you find it.
#### Using an OSURC template
Download the sheet template files from this repo and add them to `C:\Users\Public\Documents\Altium\CM\Templates`, then restart CircuitMaker.
Apply the template to any open schematic by going to `Project-> Templates -> General Templates -> "A*_OSURC"`
If you haven't used the template in a project before, you will need to set the project parameters. You can access these by going to `Project -> Project Options -> Parameters`.
Edit the parameters so they look something like this:
![Parameters](http://nickmccomb.net/wp-content/uploads/2017/12/parameters.png "Parameters for Iris Project")
You'll also want to edit the `Title` parameter in the `Document Parameters` (found in `Project -> Document Options -> Parameters`) to reflect the title of your schematic document.
### Conventions
#### Project Names
`MR1718 Name`
#### Sheet Names
`lowercase_with_underscores`
#### Sheet Symbols
`UPPERCASE-DASHES`
#### Sheet Formatting
See [this](https://github.com/OSURoboticsClub/Rover_2017_2018/blob/master/electrical/schematics/schematic-example.pdf).
#### Power Net Naming
`voltage_descriptor`
Where `descriptor` is either `RAW` or `SYS`. `voltage` is represented as shown in the example below.
`RAW` specifies any voltage that is not ready for system use, such as non-reverse-protected or non-current sensed portions of the circuit.
`SYS` is any voltage that is ready to be used by the system.
For example:
![power_net_naming](http://nickmccomb.net/wp-content/uploads/2017/12/power_net_naming_iris.png "Power Net Naming for the Iris Project")
### Exporting your Project
#### Board Outline
Ensure you have your board outline connector setup. You need an outline defined in the "Outline" layer (mechanical 1) as well as an exact copy on Mechanical 4 (per [CircuitMaker Fourm Post](https://circuitmaker.com/forum/posts/220409)).
We need both gerber files, and NC Drill files. Gerbers tell the manufacture where to put copper, silkscreen, etc, while the NC Drill files tell them where to drill. Your guess as to why they are different processes.
#### Outputting Gerbers
Make sure your file is 100% ready to go (do a final Design Rule Check), and then go to the output tab and select "Gerber". You will have to commit your project to export any manufacturing files.
Choose the following settings:
![Gerber Settings 1](http://nickmccomb.net/wp-content/uploads/2018/01/2018-01-22-17_14_34-Gerber-Setup.png "Gerber Settings 1")
![Gerber Settings 2](http://nickmccomb.net/wp-content/uploads/2018/01/2018-01-22-17_14_55-Gerber-Setup.png "Gerber Settings 2")
Then hit OK, and save your project into the "Node Output Files" folder in the Google Drive (if outputting a node) under your folder's name.
#### Outputting NC Drill Files
Select "NC Drill Files" under the output menu. You will have to commit your project again.
Choose the following settings:
![NC Drill Settings](http://nickmccomb.net/wp-content/uploads/2018/01/2018-01-22-17_18_01-NC-Drill-Setup.png "NC Drill Settings")
Save this .zip in the same folder as the gerber ones.
#### Assembling your files for being sent to the manufacturer
Extract both of the .zip files into their own folders. We're looking to establish the following group of files:
![Gerber Files](https://sites.google.com/a/oregonstate.edu/osurcknowledgebase/_/rsrc/1506362541118/engineering-resources/electrical-engineering/pcb-design/altium-designer-to-df-robot/2015-10-18%2000_43_59-OSH%20Park%20~%20Design%20Submission%20Guidelines.png "Gerber Files")
Make a folder with a basic board name (e.g. "IrisBoard") that will hold your finalized board generation files. This will be your staging folder.
Grab the **.TXT** from the "\*\_NC\_Drill" folder, rename it "_boardname_.XLN" and move it into your staging folder.
Rename the **.GM4** file from the "\_Gerber" folder to "_boardname_.GKO" and move it to your staging folder.
From the same folder, move the following files into your staging folder:
* .GBL
* .GBO
* .GBS
* .GTL
* .GTO
* .GTS
You should now have all the files from the picture above in your staging folder. Make a .zip of this folder. This folder is all you have to send to the manufacturer to make your board.
#### Verifying you've done this correctly
Upload your design to [OSHPark.com](https://oshpark.com/) and make sure that they render it correctly. This is a great first pass indicator to make sure you've done this process correctly. PCBWAY will also check your boards, but this prevents some dumb mistakes in assemling your .zip file.
#### Ordering your boards
Email the Team Lead with your .zip files, and he will place the order for you. Include the following information:
* Board dimensions in mm
* Desired color for the board (if not Red for Rover)
* Desired copper weight (1oz is the default, unless you have a reason for it to be different)

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687
OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/ioni/roll.drc Normal file
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# Arm Breakout 1
Pictures here.
Designed by [Dylan Thrush](www.dylanthrush.com).
## Summary
Made for MR1718 as part of the OSU Robotics Club.
Breaks out the required pins for three IONI motor controllers. Has a USB to UART chip for setting of parameters.
### Bill of Materials
[BOM](https://docs.google.com/spreadsheets/d/1gDx0AlCHqHsaTh7cWj4YosPhcUce1aw0WUB4wSzndNo/edit?usp=sharing)
#### Design files
[Circuitmaker](https://workspace.circuitmaker.com/Projects/Details/Dylan-Thrush-2/MR1718-Arm-1)
### Downloads
Schematic placeholder.
Step placeholder.
### Known Issues
#### Version 1
- Footprint for USB connector is mirrored about the vertical axis, creates 5V -> GND short.
- LEDs don't seem to work
- Probably need to add a beefy capacitor to the power rail

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# We want board documentation photos in here,
# so we'll allow specific files in this subdirectory
!*.jpg
!*.png

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SolidWorks Corporation - STEP Processor Error Log
______________________________________________________
STEP Post Processor
___________________
STEP File Name: C:\Users\Dylan\Documents\GitHub\Rover_2017_2018\electrical\documents\nodes\files\arm_2.step
Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.
Error: Unable to create solid from trimmed surfaces.
STEP-in did not complete successfully.
Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.

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# Grasp Node
![Grasp Node](https://github.com/OSURoboticsClub/Rover_2017_2018/blob/master/electrical/documents/nodes/files/grasp.JPG)
Designed by [Dylan Thrush](www.dylanthrush.com).
## Summary
Made for MR1718 as part of the OSU Robotics Club.
Controls 4 DC motors with quadrature encoder and current feedback. Has four analog inputs intended to be used with force resistors.
### Bill of Materials
[Bill of Materials](https://docs.google.com/spreadsheets/d/1zSJRJATg0B-pW4RrPtu3-lWw_H9taLzccoVNc3EoKm8/edit?usp=sharing)
#### Design files
[MR1718 GRASP on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Dylan-Thrush-2/MR1718-GRASP)
### Downloads
[Schematic V1](files/grasp-v1-schematic.pdf)
[3D Model V1 (STEP)](files/grasp.step)
### Firmware Info
#### Pinouts
| Pin Name | Arduino Pin Number |
| -------- | :----------------: |
| PWM 1.1 | 25 |
| PWM 1.2 | 22 |
| PWM 2.1 | 23 |
| PWM 2.2 | 9 |
| PWM 3.1 | 10 |
| PWM 3.2 | 20 |
| PWM 4.1 | 5 |
| PWM 4.2 | 21 |
| Motor Current 1 | 16/A2 |
| Motor Current 2 | 17/A3 |
| Motor Current 3 | 19/A5 |
| Motor Current 4 | 18/A4 |
| Encoder 1A | 2 |
| Encoder 1B | 30 |
| Encoder 2A | 29 |
| Encoder 2B | 27 |
| Encoder 3A | 28 |
| Encoder 3B | 12 |
| Encoder 4A | 11 |
| Encoder 4B | 13 |
| Force 1 | A14 |
| Force 2 | A13 |
| Force 3 | A12 |
| Force 4 | A1|
| Red LED | 6 |
| Green LED | 32 |
| Blue LED | 1 |
### Known Issues
#### Version 1
- Missing 3v3 rail connection to VBAT pin on Teensy. Will program without it, but will not boot without it.
- 12V switching supply GND is not connected to board GND.
- Motor controller needs a thermal pad in the footprint, will not work otherwise because thermal pad is connected to GND. Scrape away silkscreen below package before soldering.
- Motors 2-4 are still not working...
- LED needs to be rotated 90 deg CCW for power pin to line up.
#### Version 2
- LSS for motor needs to be a star ground return to motor pad, short LSS to GND for normal operation

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# IRIS Node
![Iris](files/iris.jpg)
![Iris Render](files/iris_render.png)
Designed by [Nick McComb](www.nickmccomb.net) for OSURC Mars Rover.
## Summary
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 is a 4-layer design.
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.
### Bill of Materials
[Bill of Materials V2](https://docs.google.com/spreadsheets/d/1Z_BUTqAl6qHLze04HCUyY8IqsqWJTmvCWzt6RRplw2Y/edit?usp=sharing)
[Bill of Materials V1](
https://docs.google.com/spreadsheets/d/1TkVeK_GaS78QLqv8NcE_QGGE-NSj-3agn10lKnISSjQ/edit?usp=sharing
)
#### Design files
[MR1718 IRIS on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Nick-McComb/OSURC-Mars-Rover-2017-2018-Iris-Board)
### Downloads
[Schematic V2](files/iris-v2-schematic.pdf)
[Schematic V1](files/iris-v1-schematic.pdf)
[3D Model V1 (STEP)](files/iris.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)
- No serial number spot on silkscreen
- No MODBUS ID number spot on silkscreen
- Likely that this should use a high-speed USB hub instead of the current full-speed implementation. It is easy, without deliberate planning, to hit the bottleneck of the USB hub.
- Remove GND connection for RS485 going out of the board (to ensure reverse protection downstream)
#### Version 2
- U8_7 pin 1 silkscreen dot not visible
- R1 silkscreen not visible
- There is an as-yet undiagnosed issue where IRIS would entirely cut out after a varying amount of time (anything from 15 minutes to hours). We do not know what causes this issue, but the software has been written to recover from the issue. We suspect it might be heat dependent, because it happened more often when the lab was hotter.

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# Motor Node
<!-- ![Iris](files/iris.jpg) -->
![Iris Render](files/motor.jpg)
Designed by [Nick McComb](www.nickmccomb.net) for OSURC Mars Rover.
## Summary
Made for MR1718 as part of the OSU Robotics Club.
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.
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.
This design is completely open-source, the design files can be found at CircuitMaker, see the link below.
### Bill of Materials
[Bill of Materials V2](https://docs.google.com/spreadsheets/d/1zQtJtcauIfV7cGKvJbZdHLx3p09I3BvlQvNzqRRZR7c/edit?usp=sharing)
[Bill of Materials V1](
https://docs.google.com/spreadsheets/d/1CobSEg-5mzBy_F1_ASbbnYLLLra0shLwDUG4rKD09mE/edit?usp=sharing
)
#### Design files
[MR1718 Motor Node on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Nick-McComb/MR1718-Motor-Node)
### Downloads
[Schematic V2](files/motor-v2-schematic.pdf)
[Schematic V1](files/motor-v1-schematic.pdf)
[3D Model V1 (STEP)](files/motor.step)
### Known Issues
#### Version 1
- Switching regulator that was purchased is not compatible with the design. A pin-compatible new one was specc'd and ordered, it is included in the BOM as "alternative" parts. Only U1, L1, C2, and R1 are changed. An 1N4148 diode also needs to be added per LT1933's datasheet. See below schematic:
<img src="files/motor_v1_bodge_1.jpg" width="600px">
- Missing 3v3 rail connection to VBAT on Teensy. Will program without it, but will not boot without it. Connect VBat (pin 21) to the 3v3 side of C12 (closest to the XTAL)
- MCU mistakenly connected to the 5v_SYS, needs to be connected to the 3v3 net (as there is no 5v net on this board)
- RGB led missing 3v3 anode connection. Currently connected to non-present 5V_SYS net.
#### Version 2
- R1 and R2 are labeled backwards in the schematic, R1 should be 14k and R2 should be 8.45k (the math is 1.245(1+14000/8450))

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# Pan-Tilt Node
<!-- ![Iris](files/iris.jpg) -->
![Iris Render](files/pan_tilt_render.png)
Designed by Eddie Breding and Nick McComb for OSURC Mars Rover.
## Summary
Made for MR1718 as part of the OSU Robotics Club.
This board controls servos that allow Rover operators to pan and tilt multiple cameras.
### Bill of Materials
[Bill of Materials V1](
https://docs.google.com/spreadsheets/d/1sePOm_ULSmw4YCTWNVr9zKYQwp8flvRjdFlzOkxwHOo/edit?usp=sharing
)
#### Design files
[MR1718 Pan-Tilt on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Edward-Breding/MR1718-Pan-Tilt)
### Downloads
[Schematic V1](files/pan-tilt-v1-schematic.pdf)
<!-- [3D Model V1 (STEP)](files/tower.step) -->
### Known Issues
#### Version 1
- Missing 3v3 rail connection to VBAT on Teensy. Will program without it, but will not boot without it.

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## 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)

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Science Node
============
![Science](files/Science.PNG)
Designed by Anthony Grana.
Summary
-------
Made for the science end affector for the 2018 rover. Powers, and
comunicates with the [Soil
Probe](https://www.fondriest.com/pdf/stevens_hydra_manual.pdf) 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.](https://www.amazon.com/Canon-PowerShot-Stabilized-2-7-Inch-Black/dp/B0035FZJJ4)
Sends a signal to the didgital camera to control shoot and zoom.
### Bill of Materials
[Bill of
Materials V1.1](https://docs.google.com/spreadsheets/d/1dY48bTzPCWO-qP4mQwElCYWBNv3Bg6SGOoxIt3NPqik/edit?usp=sharing)
#### Design Files
[Science node on circuit
maker](https://workspace.circuitmaker.com/Projects/Details/Anthony-Grana/Sience-Node)
[V1.1](files/SienceNode.Zip)
### Known Issues
V1.1
1. The Drill motor controller will pull 5A but the curent power connector for the board can only handle 3A.
2. For both RS 485 chips, the RX and TX pins need to be reversed.
3. The RS 485 for the soil sensor is connected to the CAN RX TX instead of the Serial RX TX.
V1.2
No Known Issues

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# Tower Alt
![Tower Alt Render](files/tower_alt_render.png)
Designed by [Nick McComb](www.nickmccomb.net) for OSURC Mars Rover.
## Summary
Made for MR1718 as part of the OSU Robotics Club.
This board acts as an alternate for Rover's [Tower Node](tower.md) when both of the boards we had didn't work. It really just breaks out a Teensy 3.2 to a few different connectors.
### Bill of Materials
[Bill of Materials V1](https://docs.google.com/spreadsheets/d/19i468ReDNzdnqVHqhV62DnraayI0Lsa_KynYnzvA6o8/edit?usp=sharing)
#### Design files
[Tower Alt on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Nick-McComb/MR1718-Tower-Alt)
### Downloads
[Schematic V1](files/tower-alt-v1-schematic.pdf)
[3D Model V1 (STEP)](files/tower-alt.step)
### Known Issues
#### Version 1

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# Tower Node
<!-- ![Iris](files/iris.jpg) -->
![Iris Render](files/tower.jpg)
Designed by Aaron Cohen and Nick McComb for OSURC Mars Rover.
## Summary
Made for MR1718 as part of the OSU Robotics Club.
This acts as one of the primary external sensor interfaces for the Rover.
### Bill of Materials
[Bill of Materials V1](
https://docs.google.com/spreadsheets/d/1oX7HrmjTKpYs4jfeYDzYt9uXc7Juk1raBXVIk1hgw0U/edit?usp=sharing
)
#### Design files
[MR1718 Tower Node on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Nick-McComb/MR-1718-Tower-Node)
### Downloads
[Schematic V1](files/tower-v1-schematic.pdf)
[3D Model V1 (STEP)](files/tower.step)
### Known Issues
#### Version 1
- Missing 3v3 rail connection to VBAT on Teensy. Will program without it, but will not boot without it.

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