Added 2017-2018 mars rover repository.

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/arm_breakout_1.md

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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

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/files/.gitignore

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

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/files/arm_2.err

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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.

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/grasp.md

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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

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/iris.md

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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.

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/motor.md

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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))

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/pan-tilt.md

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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.

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/readme.md

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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)

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/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

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/tower-alt.md

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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

OSU Robotics Club/Mars Rover 2017-2018/electrical/documents/nodes/tower.md

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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.