### DESCRIPTION

I have created a universal platform for robotics. This PCB will be the brains of a Robot that might vary from a few Kgs to upto a hundred Kgs. It might be a drone, a quadruped, a wheeled robot or even a line follower. The Controller of choice is the Teensy 3.6 with 180MHz ARM Cortex-M4 processor.

The PCB can be  powerd by any battery pack upwards of 12V. (16V, 4 cell LiPo ideally)

The PCB also provides power conditioning at various voltage levels using several LM2596 buck converter modules doing all tasks such as the master buck converter that will turn the rest of the components on/off. The teensy buck converter for powering the teensy. The iLED buck converter to power Panel mount indicator LEDs. A separate 5V buck converter for dedicated 5V rails and OpenMV camera module(Vision Processing). A separate buck converter for Servo motors. A separate buck converter for powering solenoid valves to control Pneumatics.

The central and bottom right portions of the PCB have intentionally been left blank as one might place, LCD modules, Cameras for vision processing, Raspberry Pi, Battery monitoring and protection and various other things as per the requirement.

### TECHNICAL DETAILS / COMPONENTS

The Extended GPIO on the PCB Features:

-Serial Port

-USB Port

-PWM channel(8 way)

-i2c blocks(master and slaves)

-DIP switches to control individual components, extension through IDC socket

-Dedicated 12 pin GPIO with ADC, DAC, etc.

-Individual ports for motor control(upto 12 motors in total)

-LCD connector to use 20x4 character LCD

-Dedicated ports for Rotary Optical Encoders  to provide feedback

-ULN2803 Darlington pair arrays to control upto 8 pneumatic devices at once

-Besides this are 3.3V, 5V, 7.5V and 16V rails

Some additional hardware on the PCB:

-IDC sockets. 

-JST Connectors for LED voltmeters to monitor voltages at various points.

-Extension for mounting switches, LEDs and LCDs on external panel if required.

-5 3mm standard PCB mounts at convenient locations.

-Very descreptive legend for easy reference.

-Four separate copper plains on the power and signal sides to maximze current, thermals and provide better isolation.

-Onboard LEDs for each part to indicate working status.

-Highly optimised routing.

-Built-in pull-up resistors for i2c.

-Max power draw of about 350W supported by PCB.

### LEARN / TOPIC / BUILD INSTRUCTIONS