Difference between revisions of "RoboCup: Control Board 2011"

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<span style="line-height: 1.2;">Overview</span>
+
<!-- INFO BOX -->{{RCEEInfoBox
 +
|year=2011 - 2014
 +
|control_ver=2011 Rev c
 +
|mcu=Atmel [http://www.atmel.com/images/doc6175.pdf AT91SAM7S256]
 +
|fpga=Xilinx [http://www.xilinx.com/support/index.html/content/xilinx/en/supportNav/silicon_devices/fpga/spartan-3e.html Spartan-3E]
 +
|imu=InvenSense [http://www.invensense.com/mems/gyro/imu3000.html IMU-3000]
 +
|motors=Maxon EC45flat 30W
 +
|battery=Thunder Power [http://www.westlondonmodels.com/Electric/Battery-Packs/TP-Pro-Lite-25C/ThunderPower-TP1350-18056.asp TP1350-4SPL25]
 +
}}
 +
 
 +
== Overview ==
  
 
This page contains reference information for the 2011c control boards.
 
This page contains reference information for the 2011c control boards.
Line 8: Line 18:
 
*[[RoboCup Electrical 2014|RC Electrical 2014]]
 
*[[RoboCup Electrical 2014|RC Electrical 2014]]
 
*[[RCFirmware|Firmware]]
 
*[[RCFirmware|Firmware]]
−
*[[Team Decription Paper|Team Description Papers]] (all years)
+
*[[TDP|Team Description Papers]]
−
 
 
−
<!-- MOTOR OPERATIONS -->
 
  
 
== Motor Operations ==
 
== Motor Operations ==
Line 16: Line 24:
 
[[File:RC EE three phase bridge 2011 c.png|thumb|left|250px|RC EE three phase bridge 2011 c.png]]
 
[[File:RC EE three phase bridge 2011 c.png|thumb|left|250px|RC EE three phase bridge 2011 c.png]]
  
−
A three-phase bridge ([[:File:RC EE three phase bridge 2011 c.png|figure 1]]) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA (XC3S100E). The robot uses 4 30W three phase brushless motors to maneuver itself on the field. A 5th motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain hall-effect sensors. These sensors send data back to the FPGA that is used to determine a rotational position. Each phase of a brushless motor is controlled using 2 transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET (IRF9310TRPBF) is used to connect to +12V and a n-channel MOSFET (IRF8734TRPBF) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver (TC4428) is used in order to the signal for the gate on each FET.
+
A three-phase bridge ([[:File:RC EE three phase bridge 2011 c.png|figure 1]]) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA ([http://www.xilinx.com/support/index.html/content/xilinx/en/supportNav/silicon_devices/fpga/spartan-3e.html Spartan-3E Series]). The robot uses four (4) 30W three phase brushless motors to maneuver itself on the field. A fifth motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain [http://en.wikipedia.org/wiki/Hall_effect_sensor hall effect sensors]. These sensors send data back to the FPGA that is used to determine a motor�s rotational position. Each phase of a brushless motor is controlled using two (2) transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf IRF9310TRPBF]) is used to connect to +12V and a n-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf IRF8734TRPBF]) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver ([http://ww1.microchip.com/downloads/en/DeviceDoc/21422D.pdf TC4428]) is used in order to ''boost'' the signal for the gate on each FET.
  
 
=== MOSFET Operation ===
 
=== MOSFET Operation ===
Line 23: Line 31:
  
 
A MOSFET or Metal-Oxide-Semiconductor Field-Effect Transistor, is basically a switch. There are 3 terminals: source, drain, and gate, and [[:File:RC EE Mosfet Diagram.png|figure 2]] outlines the physical layout of their relations. If you apply a voltage at the gate, this will allow a flow of charges from the source to the drain. These devices use metal oxides and the charges flow due to the effect of an electric field between the source and drain. Hence why they are called MOSFET. There are 2 types of MOSFETs, nMOSFET - where the majority of charge carriers are electrons - and pMOSFET - where the majority of charge carriers are holes. The gate-source voltage must be high (positive) to turn on a nMOS and low (negative) to turn on a pMOS. This voltage is refereed to as the threshold voltage and is defined in table 1 below. The pMOS is better at pulling the output high while nMOS is better at pulling the output low; Therefore, both MOSFETs are used in the motor driver circuit - they complement one another.
 
A MOSFET or Metal-Oxide-Semiconductor Field-Effect Transistor, is basically a switch. There are 3 terminals: source, drain, and gate, and [[:File:RC EE Mosfet Diagram.png|figure 2]] outlines the physical layout of their relations. If you apply a voltage at the gate, this will allow a flow of charges from the source to the drain. These devices use metal oxides and the charges flow due to the effect of an electric field between the source and drain. Hence why they are called MOSFET. There are 2 types of MOSFETs, nMOSFET - where the majority of charge carriers are electrons - and pMOSFET - where the majority of charge carriers are holes. The gate-source voltage must be high (positive) to turn on a nMOS and low (negative) to turn on a pMOS. This voltage is refereed to as the threshold voltage and is defined in table 1 below. The pMOS is better at pulling the output high while nMOS is better at pulling the output low; Therefore, both MOSFETs are used in the motor driver circuit - they complement one another.
 +
 +
{| class="wikitable" style="width: 350px;" align="center"
 +
|-
 +
! nMOS
 +
! pMOS
 +
|-
 +
| style="text-align: center;" | <span style="font-size:larger;">V<sub>g</sub> '''-''' V<sub>s</sub> <span style="color:#FF0000;">'''>'''</span> V<sub>t</sub></span>
 +
| style="text-align: center;" | <span style="font-size:larger;">V<sub>g</sub> '''-''' V<sub>s</sub> '''<span style="color:#FF0000;"><</span>''' V<sub>t</sub></span>
 +
|}
 +
 +
=== Single Motor Winding Circuit Explanation ===
 +
 +
From [[:File:RC EE Motor Winding.png|figure 3]], ''OUTA'' is the inverting output and ''OUTB'' is non-inverting output (from the MOSFET Driver). ''Q7'' is the pMOS and ''Q8'' is the nMOS. The source of the pMOS is connected to ''VDD'' (+12V) and the drain is connected to one of the motor coils. In the nMOS, the source is connected to the motor coil while the drain is connected to ''GND''. When the signal from the FPGA is to activate one of the motor windings, ''M4C_H'' is high and ''M4C_L'' is low. So, ''OUTA'' becomes low while ''OUTB'' is still the same as ''INB''. This turns the pMOS on and the nMOS off. Doing so connects ''M4C'' to ''VDD'', thus ''M4C'' is set to high potential. At this same instant, a different motor winding circuit will connect its output to ''GND''. For example, let�s say ''M4B'' (not shown) connects to ''GND'' when ''M4C'' connects to ''VDD''. This means current will flow from ''M4C'' to ''M4B'', thus powering the motor for a short instance of time. However, we must ensure that the 3rd motor winding circuit (M4A, also not shown) is disconnected from both ''VDD'' and ''GND''. This means both FETs from ''M4A'' must be off at this instance in time. ''R128'' is a resistor which limits the current from the FPGA�s I/O pin. ''R56'' and ''R57'' are pull-down resistors that ensure ''INA'' and ''INB'' maintain a proper value if there is no signal from the FPGA. ''R54'' and ''R55'' provide signal stability for the base of each FET (the voltage could oscillate back and forth without them). ''C26'' is used to filter out unwanted high frequencies from ''VDD''.
 +
 +
[[File:RC EE Motor Winding.png|thumb|500px|RC EE Motor Winding.png]]
 +
 +
=== Debugging ===
 +
 +
If a fuse is blown, then a likely cause is that one of the FETs experienced a high back flow of current and broke. Ideally you should test for faulty FETs with the FET tester. If you are stranded on a deserted island without the FET tester, you can still determine if a FET is faulty or not. The steps for checking both nFETs and pFETs using a digital multimeter are outlined on the [[Testing a MOSFET|testing a MOSFET]] page. It is recommended to change the entire three-phase bridge (3 pFETs, 3 nFETs and 3 MOSFET drivers) if any 1 part is damaged.
 +
 +
=== Other Websites/Resources ===
 +
 +
*Youtube video explaining the operations of brushless DC motors (BLDC) - [http://www.youtube.com/watch?v=ZAY5JInyHXY|youtube.com [1]]
 +
*PDF about more BLDC motors - [http://electrathonoftampabay.org/www/Documents/Motors/Brushless DC (BLDC) Motor Fundamentals.pdf|electrathonoftampabay.org [2]]
 +
 +
<!-- POWER OPERATIONS -->
 +
 +
== Power Operations ==
 +
 +
This is the main stage where the input, ''VDD'', from the battery is converted to the different DC voltage levels required by the various components on the board. To protect the components on the board, two (2) things are done:
 +
 +
#The kicker's power supply is separated from the rest of the control board.
 +
#A fuse is used for the kicker power supply and the power supply for the motors.
 +
 +
The big '''<span style="color:#FF0000;">red</span>''',10A, fuse is used for connecting the battery to all of the motors and the kicker board. The 10A fuse is independent from all digital logic power.
 +
 +
=== Voltage Monitor for kicker ===
 +
 +
The voltage monitor is a circuit used to measure the voltage at the output of the transformers, since they are in the range of 150V and is a cause of concern for safety if it is exceeded. The main component of the voltage monitor is the analog-to-digital converter, ''ADC081C027''. The type of architecture used in the ADC is an 8-bit Successive Approximation Register (SAR). In successive approximation, the ADC internally has a DAC, a comparator and 8-bit register. In one input of the comparator, the ADC�s input signal is applied. For the other input, the SAR produces an 8 bit sequence with only the MSB as 1 and the rest of the digits as 0. The DAC then converts it into an analog signal. This analog signal is compared with the input signal. If the analog signal is greater than the input signal, then the SAR MSB is reset to zero else, it remains one. Then the next bit is set to one and this process continues for 8 steps till the input signal and analog signals are equal. So, now, the value in the SAR is the digital equivalent of the input signal. The L1 inductor and C8 capacitance act as a filter which removes the oscillations in the power supply. The serial clock (''SCK'') and serial data (''SDA'') communicate with the FPGA, so that the value is processed.
 +
 +
=== LM2734 Switching Voltage Regulator ===
 +
 +
The [http://www.ti.com/product/lm2734 LM2734] is a voltage converter that can convert a maximum of 24V to different output voltages depending upon its configuration in a circuit using external resistors, capacitors, inductors, and diodes. The circuit used to convert ''VDD'' to 5V is based on a similar circuit provided in the datasheet. The output voltage depends on the values of the resistors R<sub>83</sub> and R<sub>84</sub> at the feedback (''FB'') pin. From the reference diagram, the way to calculate output voltage is given by, R<sub>1&nbsp;</sub>= R<sub>2&nbsp;</sub>( V<sub><span style="font-size: 11px; line-height: 17.3333320617676px;">O&nbsp;</span></sub>/ V<sub>ref&nbsp;</sub>- 1 ). Usually, R<sub>2</sub> is fixed as 10kohm. We need ''VO'' to be 5V. V<sub>ref</sub> is set internally in the [http://en.wikipedia.org/wiki/Integrated_circuit IC] as 0.8V, so R<sub>1</sub> is calculated to be 52.5kohm and the control board reflects these values.
 +
 +
=== <span style="line-height: 1.6;">MCP1824 Linear Voltage Regulator</span> ===
 +
 +
<span style="line-height: 1.6;">The </span>[http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf MCP1824]<span style="line-height: 1.6;">is the name for a series of </span>[http://en.wikipedia.org/wiki/Low-dropout_regulator LDO voltage regulators]<span style="line-height: 1.6;">that are capable of providing up to 300mA of current. The regulators come in various fixed and adjustable voltages when purchasing. The control board contains three (3) of these </span>[http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf MCP1824]<span style="line-height: 1.6;">regulators. All regulators on the control board from this series are the kind that produce a fixed voltage. These voltages are listed below and test points are located to the left of the power switch for easily probing the outputs of these regulators.</span>
 +
 +
*<span style="line-height: 1.6;">3.3V</span>
 +
*<span style="line-height: 1.6;">2.5V</span>
 +
*<span style="line-height: 1.6;">1.2V</span>
 +
 +
<!-- RADIO OPERATIONS -->
 +
 +
== Radio Operations ==
 +
 +
{| class="wikitable"
 +
|- style="vertical-align:top;"
 +
| {{#ev:youtube|gMIDPzHxAfQ}}
 +
| '''Halo Antenna'''
 +
|}
 +
 +
<!-- IMAGES -->
 +
 +
== Images of Control Board ==
 +
 +
<gallery>
 +
File:B_all.jpg| Back
 +
File:BB_fets.jpg| Motor FETs
 +
File:BB_left_fets.jpg| Motor FETs
 +
File:BB_right_fets.jpg| Single Motor Circuit
 +
File:BF_fets.jpg| Motor FETs
 +
File:BF_right_fets.jpg| Motor FETs
 +
File:BM_clock.jpg| System Clock
 +
File:T_all.jpg| Top
 +
File:T_all_left_shift.jpg| Top
 +
File:T_angle_back.jpg| Connectors
 +
File:T_angle_back_close.jpg| Connectors
 +
File:T_angle_front.jpg| Power Switch
 +
File:T_angle_left.jpg| Connectors
 +
File:T_angle_left_close.jpg| Left View
 +
File:T_angle_right.jpg| Right View
 +
File:TB_connectors.jpg| Connectors
 +
File:TB_discharge.jpg| Kicker Discharge Button
 +
File:TB_general.jpg| Robot ID Select
 +
File:TB_select.jpg| Robot ID Select
 +
File:TF_general.jpg| Left Angled View
 +
File:TF_general_2.jpg| Side View
 +
File:TF_status_leds.jpg| Status LEDs
 +
File:TF_switch.jpg| Power Switch
 +
File:TL_connectors.jpg| Encoder & Kicker Connectors
 +
File:TL_general.jpg| Motor & Encoder Connectors
 +
File:TL_inductor.jpg| Power Inductor
 +
File:TL_kicker_connect.jpg| Kicker Power Connector
 +
File:TL_power_and_piezo.jpg| Power Circuits
 +
File:TM_dip_switch.jpg| Selectable Switches
 +
File:TM_fpga.jpg| Xilinx FPGA
 +
File:TM_nameplate.jpg| Board ID Location
 +
File:TR_connectors.jpg| USB Connection
 +
File:TR_mcu_and_radio.jpg| Atmel Microcontroller
 +
File:TR_mpu.jpg| Accelerator/Gyroscope Sensors
 +
File:TR_reset.jpg| Reset Button
 +
File:TR_usb_and_ant.jpg| USB & Antenna Connections
 +
</gallery> <!-- VIDEOS -->
 +
 +
== Board Overview Videos&nbsp; ==
 +
 +
{| class="wikitable"
 +
|- style="vertical-align:top;"
 +
| {{#ev:youtube|QW-0nHqe_cs}}
 +
| '''Board Overview'''
 +
|- style="vertical-align:top;"
 +
| {{#ev:youtube|06bCbVkQTWc}}{{#ev:youtube|o4OC23Qmz_w}}
 +
| '''FPGA'''
 +
|}
 +
 +
<!-- COMPONENT LIST -->
 +
 +
== Component List ==
 +
 +
'''[[Media:Control board 2011c componenets.pdf|Download as PDF]]'''
 +
 +
{| class="wikitable sortable"
 +
|-
 +
| align="center" style="background:#f0f0f0;" | '''Qty'''
 +
| align="center" style="background:#f0f0f0;" | '''CAT'''
 +
| align="center" style="background:#f0f0f0;" | '''PART#'''
 +
| align="center" style="background:#f0f0f0;" | '''DESC'''
 +
| align="center" style="background:#f0f0f0;" | '''PKG/MNT'''
 +
| align="center" style="background:#f0f0f0;" | '''LABEL'''
 +
| align="center" style="background:#f0f0f0;" | '''NOTES'''
 +
| align="center" style="background:#f0f0f0;" | '''PRODUCT LINK'''
 +
| align="center" style="background:#f0f0f0;" | '''DATASHEET LINK'''
 +
|-
 +
| 1
 +
| Capacitor
 +
| 500R07S1R8BV4T
 +
| RF Capicator
 +
| 0402
 +
| C40
 +
|
 +
| [http://www.digikey.com/product-detail/en/500R07S1R8BV4T/712-1271-6-ND/1786943 http://www.digikey.com/product-detail/en/500R07S1R8BV4T/712-1271-6-ND/1786943]
 +
| [http://www.johansontechnology.com/images/stories/catalog/JTI_CAT_2012_MLCC_HighQ.pdf http://www.johansontechnology.com/images/stories/catalog/JTI_CAT_2012_MLCC_HighQ.pdf]
 +
|-
 +
| 39
 +
| Capacitor
 +
|
 +
| 100nF
 +
| 0603
 +
| C2, C6, C17, C21, C22, C23, C24, C25, C26, C27, C28, C29, C30, C32, C33, C35, C36, C37, C38, C39, C46, C47, C48, C49, C50, C51, C52, C53, C54, C55, C56, C57, C58, C60, C67, C68, C71, C77, C79
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 100pF
 +
| 0603
 +
| C13
 +
|
 +
|
 +
|
 +
|-
 +
| 4
 +
| Capacitor
 +
|
 +
| 10nF
 +
| 0603
 +
| C8, C11, C19, C43
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 1nF
 +
| 0603
 +
| C20
 +
|
 +
|
 +
|
 +
|-
 +
| 3
 +
| Capacitor
 +
|
 +
| 1�F
 +
| 0603
 +
| C3, C31, C34
 +
|
 +
|
 +
|
 +
|-
 +
| 2
 +
| Capacitor
 +
|
 +
| 2.2nF
 +
| 0603
 +
| C9, C59
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 220nF
 +
| 0603
 +
| C12
 +
|
 +
|
 +
|
 +
|-
 +
| 2
 +
| Capacitor
 +
|
 +
| 27pF
 +
| 0603
 +
| C15, C16
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 33pF
 +
| 0603
 +
| C18
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 10�F
 +
| 0805
 +
| C1
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 1�F (Polarized)
 +
| 0805
 +
| C41
 +
| 35V, aluminum, for power supply
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 22�F
 +
| 1206
 +
| C44
 +
| 6.3V
 +
|
 +
|
 +
|-
 +
| 1
 +
| Capacitor
 +
|
 +
| 100�F (Polarized)
 +
| Panasonic E
 +
| C42
 +
| 25V, aluminum, for power supply
 +
|
 +
|
 +
|-
 +
| 5
 +
| Capacitor
 +
|
 +
| 470�F (Polarized)
 +
| Panasonic G
 +
| C4, C5, C7, C10, C14
 +
| 25V, aluminum, for motors
 +
|
 +
|
 +
|-
 +
| 4
 +
| Connector
 +
| 0522711179
 +
| Motor Header
 +
| SMD
 +
| J4, J5, J6, J7
 +
| 11 pins, 1mm pitch, 0.5A current rating, 50V voltage rating
 +
| [http://www.digikey.com/product-detail/en/0522711179/WM3379CT-ND/2405748 http://www.digikey.com/product-detail/en/0522711179/WM3379CT-ND/2405748]
 +
| [http://www.molex.com/pdm_docs/sd/522711179_sd.pdf http://www.molex.com/pdm_docs/sd/522711179_sd.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| 5285-20870
 +
| Kicker Header
 +
| SMD
 +
| J1
 +
| 8 pins, 2mm pitch, right angle
 +
| [http://www.mouser.com/ProductDetail/Molex/52852-0870/?qs=kD7lmHUVEJanNvV6FphzIg== http://www.mouser.com/ProductDetail/Molex/52852-0870/?qs=kD7lmHUVEJanNvV6FphzIg==]
 +
| [http://www.molex.com/webdocs/datasheets/pdf/en-us/0528520870_FFC_FPC_CONNECTORS.pdf http://www.molex.com/webdocs/datasheets/pdf/en-us/0528520870_FFC_FPC_CONNECTORS.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| UX60A-MB-5ST
 +
| Mini USB 2.0 Receptacle
 +
| SMD
 +
| J2
 +
| right angle
 +
| [http://www.digikey.com/product-detail/en/UX60A-MB-5ST/H2961CT-ND/597540 http://www.digikey.com/product-detail/en/UX60A-MB-5ST/H2961CT-ND/597540]
 +
| [http://www.hirose.co.jp/cataloge_hp/e24000019.pdf http://www.hirose.co.jp/cataloge_hp/e24000019.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| 35363-0660
 +
| JTAG Header
 +
| Through Hole
 +
| J10
 +
| 6 pins, 2mm pitch, right angle
 +
| [http://www.mouser.com/ProductDetail/Molex/35363-0660/?qs=/ha2pyFadujBOZ1JGwzODo9s6IhbRgLmbKFlMuRfet72D1vzVyKatg== http://www.mouser.com/ProductDetail/Molex/35363-0660/?qs=%2fha2pyFadujBOZ1JGwzODo9s6IhbRgLmbKFlMuRfet72D1vzVyKatg%3d%3d]
 +
| [http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630660_PCB_HEADERS.pdf http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630660_PCB_HEADERS.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| 35363-0360
 +
| Detector Header
 +
| Through Hole
 +
| J9
 +
| 3 pins, 2mm pitch, right angle
 +
| [http://www.mouser.com/ProductDetail/Molex/35363-0360/?qs=/ha2pyFaduhK4v2tb3HgRUpbM1MbxgTCgr8TLSxaq9o= http://www.mouser.com/ProductDetail/Molex/35363-0360/?qs=%2fha2pyFaduhK4v2tb3HgRUpbM1MbxgTCgr8TLSxaq9o%3d]
 +
| [http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630360_PCB_HEADERS.pdf http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630360_PCB_HEADERS.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| 35363-0260
 +
| LED Header
 +
| Through Hole
 +
| J3
 +
| 2 pins, 2mm pitch, right angle
 +
| [http://www.mouser.com/ProductDetail/Molex/35363-0260/?qs=/ha2pyFaduhyNMfBO1jMVa8dd2vEMulOKy2iGSNutHw= http://www.mouser.com/ProductDetail/Molex/35363-0260/?qs=%2fha2pyFaduhyNMfBO1jMVa8dd2vEMulOKy2iGSNutHw%3d]
 +
| [http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630260_PCB_HEADERS.pdf http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630260_PCB_HEADERS.pdf]
 +
|-
 +
| 2
 +
| Connector
 +
| "B2PS-VH(LF)(SN)
 +
| Battery Header
 +
| Through Hole
 +
| J11, J19
 +
| 2 pins, 3.95mm pitch, right angle
 +
| [http://www.digikey.com/product-detail/en/B2PS-VH(LF)(SN)/455-1648-ND/926555 http://www.digikey.com/product-detail/en/B2PS-VH%28LF%29%28SN%29/455-1648-ND/926555]
 +
| [http://www.jst-mfg.com/product/pdf/eng/eVH.pdf http://www.jst-mfg.com/product/pdf/eng/eVH.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| 1408151-1
 +
| Antenna Jack
 +
| Through Hole
 +
| J8
 +
| 50ohms, right angle
 +
| [http://www.digikey.com/product-detail/en/1408151-1/A30741-ND/685515 http://www.digikey.com/product-detail/en/1408151-1/A30741-ND/685515]
 +
| [https://www.samtec.com/ftppub/pdf/mmcx.pdf https://www.samtec.com/ftppub/pdf/mmcx.pdf]
 +
|-
 +
| 1
 +
| Connector
 +
| 35363-0860
 +
| Dribbler Header
 +
| Through Hole
 +
| J17
 +
| 8 pins, 2mm pitch, right angle
 +
| [http://www.mouser.com/ProductDetail/Molex/35363-0860/?qs=/ha2pyFaduiMyCNhbXdsL8gpN6EJXiXRGlv4zydAGUg= http://www.mouser.com/ProductDetail/Molex/35363-0860/?qs=%2fha2pyFaduiMyCNhbXdsL8gpN6EJXiXRGlv4zydAGUg%3d]
 +
| [http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630860_PCB_HEADERS.pdf http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630860_PCB_HEADERS.pdf]
 +
|-
 +
| 4
 +
| Connector
 +
| 35363-0460
 +
| Encoder Header
 +
| Through Hole
 +
| J13, J14, J15, J16
 +
| 4 pins, 2mm pitch, right angle
 +
| [http://www.mouser.com/ProductDetail/Molex/35363-0460/?qs=/ha2pyFaduj5LMGsqqiWUQR3WhZoP6hp6wDKcJuHuLs= http://www.mouser.com/ProductDetail/Molex/35363-0460/?qs=%2fha2pyFaduj5LMGsqqiWUQR3WhZoP6hp6wDKcJuHuLs%3d]
 +
| [http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630460_PCB_HEADERS.pdf http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630460_PCB_HEADERS.pdf]
 +
|-
 +
| 1
 +
| Diode
 +
|
 +
| LED
 +
| 0603
 +
| LED1
 +
| beside FPGA
 +
|
 +
|
 +
|-
 +
| 1
 +
| Diode
 +
| SMBJP6KE18A-TP
 +
| Suppressor Diode
 +
| DO-214AA (SMB)
 +
| D6
 +
| 17.1V min breakdown, zener type diode
 +
| [http://www.digikey.com/product-detail/en/SMBJP6KE18A-TP/SMBJP6KE18A-TPMSCT-ND/2345724 http://www.digikey.com/product-detail/en/SMBJP6KE18A-TP/SMBJP6KE18A-TPMSCT-ND/2345724]
 +
| [http://www.mccsemi.com/up_pdf/SMBJP6KE6.8(C)A-SMBJP6KE550(C)A(DO-214AA).pdf http://www.mccsemi.com/up_pdf/SMBJP6KE6.8%28C%29A-SMBJP6KE550%28C%29A%28DO-214AA%29.pdf]
 +
|-
 +
| 2
 +
| Diode
 +
| MBRX160-TP
 +
| Schottky Barrier Rectifier Diode
 +
| SOD-123
 +
| D1, D2
 +
| 60V max reverse
 +
| [http://www.digikey.com/product-detail/en/MBRX160-TP/MBRX160TPMSTR-ND/717266 http://www.digikey.com/product-detail/en/MBRX160-TP/MBRX160TPMSTR-ND/717266]
 +
| [http://www.mccsemi.com/up_pdf/MBRX120-MBRX160(SOD123).pdf http://www.mccsemi.com/up_pdf/MBRX120-MBRX160%28SOD123%29.pdf]
 +
|-
 +
| 1
 +
| Diode
 +
| BAS16H
 +
| High-Speed Switching Diode
 +
| SOD-123F
 +
| D3
 +
| 100V max reverse, 1.25V @ 150mA forward voltage
 +
| [http://www.digikey.com/product-detail/en/BAS16H,115/568-5995-1-ND/2531282 http://www.digikey.com/product-detail/en/BAS16H,115/568-5995-1-ND/2531282]
 +
| [http://www.nxp.com/documents/data_sheet/BAS16_SER.pdf http://www.nxp.com/documents/data_sheet/BAS16_SER.pdf]
 +
|-
 +
| 2
 +
| Diode
 +
| 564-0100-132F
 +
| RGB LED Array
 +
| Through Hole
 +
| D4, D5
 +
| 3mm LEDs, 2.2V, 20mA
 +
| [http://www.mouser.com/ProductDetail/Dialight/564-0100-132F/?qs=0KZIkTEbAAvHMFIBWgRq8A== http://www.mouser.com/ProductDetail/Dialight/564-0100-132F/?qs=0KZIkTEbAAvHMFIBWgRq8A==]
 +
| [http://www.dialight.com/Assets/Brochures_And_Catalogs/Indication/564-0x00-xxx.pdf http://www.dialight.com/Assets/Brochures_And_Catalogs/Indication/564-0x00-xxx.pdf]
 +
|-
 +
| 1
 +
| IC
 +
| KXTF9-2050
 +
| Accelerometer
 +
| 10-VFLGA
 +
| U20
 +
| 25Hz bandwidth, I2C interface, Tri-axis
 +
| [http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346 http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346]
 +
| [http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf]
 +
|-
 +
| 1
 +
| IC
 +
| XC3S100E-4TQG144
 +
| Spartan-3E FPGA
 +
| 144-LQFP
 +
| U1
 +
| 144 I/O pins
 +
| [http://www.digikey.com/product-detail/en/XC3S100E-4TQG144C/122-1478-ND/1091706 http://www.digikey.com/product-detail/en/XC3S100E-4TQG144C/122-1478-ND/1091706]
 +
| [http://www.xilinx.com/support/documentation/data_sheets/ds312.pdf http://www.xilinx.com/support/documentation/data_sheets/ds312.pdf]
 +
|-
 +
| 1
 +
| IC
 +
| IMU-3000
 +
| Inertial Measurement Unit
 +
| 36-QFN
 +
| U19
 +
| 6-axis
 +
| [http://www.invensense.com/mems/gyro/imu3000.html http://www.invensense.com/mems/gyro/imu3000.html]
 +
| [http://www.invensense.com/mems/gyro/documents/PS-IMU-3000A.pdf http://www.invensense.com/mems/gyro/documents/PS-IMU-3000A.pdf]
 +
|-
 +
| 1
 +
| IC
 +
| AT91SAM7S256
 +
| Microcontroller
 +
| 64-LQFP
 +
| U7
 +
| 55MHz, 32 I/O pins, 256KB memory
 +
| [http://www.digikey.com/product-detail/en/AT91SAM7S256D-AU-999/AT91SAM7S256D-AU-999CT-ND/3720075 http://www.digikey.com/product-detail/en/AT91SAM7S256D-AU-999/AT91SAM7S256D-AU-999CT-ND/3720075]
 +
| [http://www.atmel.com/images/doc6175.pdf http://www.atmel.com/images/doc6175.pdf]
 +
|-
 +
| 1
 +
| IC
 +
| M25P10-AVMN6TP
 +
| 1Mbit Serial Flash Memory
 +
| SOIC-8
 +
| U2
 +
| SPI serial interface
 +
| [http://www.digikey.com/product-detail/en/M25P10-AVMN6TP/M25P10-AVMN6TPCT-ND/1880692 http://www.digikey.com/product-detail/en/M25P10-AVMN6TP/M25P10-AVMN6TPCT-ND/1880692]
 +
| [http://media.digikey.com/pdf/Data Sheets/Micron Technology Inc PDFs/M25P10-A.pdf http://media.digikey.com/pdf/Data%20Sheets/Micron%20Technology%20Inc%20PDFs/M25P10-A.pdf]
 +
|-
 +
| 1
 +
| Inductor
 +
| L-07C5N6SV6T
 +
| RF Ceramic Inductor
 +
| 0402
 +
| L4
 +
| 5.6nH inductance
 +
| [http://www.digikey.com/product-detail/en/L-07C5N6SV6T/712-1462-1-ND/1915241 http://www.digikey.com/product-detail/en/L-07C5N6SV6T/712-1462-1-ND/1915241]
 +
| [http://www.johansontechnology.com/images/stories/rf-inductors/cci/JTI_CAT_2012_Inductors_Chip.pdf http://www.johansontechnology.com/images/stories/rf-inductors/cci/JTI_CAT_2012_Inductors_Chip.pdf]
 +
|-
 +
| 3
 +
| Inductor
 +
| HZ0603B102R-10
 +
| Ferrite EMI Chip Bead
 +
| 0603
 +
| L2, L3, L5
 +
| rated for 200mA
 +
| [http://www.digikey.com/product-detail/en/HZ0603B102R-10/240-2378-6-ND/1730389 http://www.digikey.com/product-detail/en/HZ0603B102R-10/240-2378-6-ND/1730389]
 +
| [http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4876 http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4876]
 +
|-
 +
| 1
 +
| Inductor
 +
| SDR0403-270KL
 +
| Power Inductor
 +
| SMD
 +
| L1
 +
| 27uH inductance, 710mA current rating, +/-10% tolerance
 +
| [http://www.digikey.com/product-detail/en/SDR0403-270KL/SDR0403-270KLCT-ND/2127088 http://www.digikey.com/product-detail/en/SDR0403-270KL/SDR0403-270KLCT-ND/2127088]
 +
| [http://www.bourns.com/data/global/pdfs/sdr0403.pdf http://www.bourns.com/data/global/pdfs/sdr0403.pdf]
 +
|-
 +
| 1
 +
| Oscillator
 +
|
 +
| 18.432MHz Crystal Oscillator
 +
| SMD
 +
| X1
 +
| 3.3V
 +
|
 +
|
 +
|-
 +
| 1
 +
| Oscillator
 +
| 644-1055-1-ND
 +
| 27.000MHz Crystal Oscillator
 +
| SMD
 +
| X2
 +
| 8pF load capacitance
 +
| [http://www.digikey.com/product-detail/en/NX3225SA-27.000MHZ-STD-CSR-1/644-1055-1-ND/1128927 http://www.digikey.com/product-detail/en/NX3225SA-27.000MHZ-STD-CSR-1/644-1055-1-ND/1128927]
 +
| [http://media.digikey.com/pdf/Data Sheets/NDK PDFs/NX3225SA.pdf http://media.digikey.com/pdf/Data%20Sheets/NDK%20PDFs/NX3225SA.pdf]
 +
|-
 +
| 1
 +
| Other
 +
|
 +
| Spare FPGA Pins (Not Populated)
 +
|
 +
| J20
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Other
 +
|
 +
| Voltage Test Points (Not Populated)
 +
|
 +
| J12
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Other
 +
| 947705-012
 +
| Selector Knob
 +
|
 +
|
 +
|
 +
| [http://www.digikey.com/product-detail/en/947705-012/GH5006-ND/10734 http://www.digikey.com/product-detail/en/947705-012/GH5006-ND/10734]
 +
| [http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf]
 +
|-
 +
| 4
 +
| Other
 +
|
 +
| Not populated
 +
| 0603
 +
| R11, R80, R105, R115
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Other
 +
| FUSESF-1206F100-2
 +
| Small Fuse
 +
| 1206
 +
| F2
 +
| rated for 1A, 63V
 +
| [http://www.digikey.com/product-detail/en/SF-1206F100-2/SF-1206F100-2CT-ND/1948202 http://www.digikey.com/product-detail/en/SF-1206F100-2/SF-1206F100-2CT-ND/1948202]
 +
| [http://www.bourns.com/data/global/pdfs/sf1206f.pdf http://www.bourns.com/data/global/pdfs/sf1206f.pdf]
 +
|-
 +
| 1
 +
| Other
 +
| PS1240P02BT
 +
| Piezo Buzzer
 +
| Through Hole
 +
| BZ1
 +
|
 +
| [http://www.digikey.com/product-detail/en/PS1240P02BT/445-2525-1-ND/935930 http://www.digikey.com/product-detail/en/PS1240P02BT/445-2525-1-ND/935930]
 +
| [http://www.tdk.co.jp/tefe02/ef532_ps.pdf http://www.tdk.co.jp/tefe02/ef532_ps.pdf]
 +
|-
 +
| 2
 +
| Other
 +
| BK6011
 +
| Fuseholder
 +
| Through Hole
 +
| F1
 +
|
 +
| [http://www.digikey.com/product-search/en?vendor=0&keywords=BK6011 http://www.digikey.com/product-search/en?vendor=0&keywords=BK6011]
 +
| [http://www.memoryprotectiondevices.com/datasheets/BK-6011-datasheet.pdf http://www.memoryprotectiondevices.com/datasheets/BK-6011-datasheet.pdf]
 +
|-
 +
| 15
 +
| Power
 +
| IRF8734TRPbF
 +
| N-channel Power MOSFET
 +
| SOIC-8
 +
| Q2, Q4, Q6, Q8, Q10, Q12, Q14, Q16, Q18, Q20, Q22, Q24, Q26, Q28, Q30
 +
| closest to driver, 30V, 21A
 +
| [http://www.digikey.com/product-detail/en/IRF8734TRPBF/IRF8734TRPBFTR-ND/2096582 http://www.digikey.com/product-detail/en/IRF8734TRPBF/IRF8734TRPBFTR-ND/2096582]
 +
| [http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf]
 +
|-
 +
| 15
 +
| Power
 +
| TC4428
 +
| MOSEFT Driver
 +
| SOIC-8
 +
| U6, U9, U12, U15, U18, U21, U24, U27, U30, U33, U36, U39, U42, U45, U48
 +
|
 +
| [http://www.digikey.com/product-detail/en/TC4428COA/TC4428COA-ND/267356 http://www.digikey.com/product-detail/en/TC4428COA/TC4428COA-ND/267356]
 +
| [http://ww1.microchip.com/downloads/en/DeviceDoc/20001422F.pdf http://ww1.microchip.com/downloads/en/DeviceDoc/20001422F.pdf]
 +
|-
 +
| 15
 +
| Power
 +
| IRF9310TRPbF
 +
| P-channel Power MOSFET
 +
| SOIC-8
 +
| Q1, Q3, Q5, Q7, Q9, Q11, Q13, Q15, Q17, Q19, Q21, Q23, Q25, Q27, Q29
 +
| closest to edge, -30V, -20A
 +
| [http://www.digikey.com/product-detail/en/IRF9310TRPBF/IRF9310TRPBFDKR-ND/2202251 http://www.digikey.com/product-detail/en/IRF9310TRPBF/IRF9310TRPBFDKR-ND/2202251]
 +
| [http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf]
 +
|-
 +
| 1
 +
| Power
 +
| MCP1824ST-3302E/DB
 +
| 3.3V, 0.3A Regulator
 +
| SOT-223-3
 +
| U8
 +
|
 +
| [http://www.digikey.com/product-detail/en/MCP1824ST-3302E/DB/MCP1824ST-3302E/DBCT-ND/2003475 http://www.digikey.com/product-detail/en/MCP1824ST-3302E%2FDB/MCP1824ST-3302E%2FDBCT-ND/2003475]
 +
| [http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf]
 +
|-
 +
| 1
 +
| Power
 +
| FDV304P
 +
| MOSFET
 +
| SOT-23
 +
| Q33
 +
| p-channel, 25V, 460mA
 +
| [http://www.digikey.com/product-detail/en/FDV304P/FDV304PTR-ND/458854 http://www.digikey.com/product-detail/en/FDV304P/FDV304PTR-ND/458854]
 +
| [http://www.fairchildsemi.com/ds/FD/FDV304P.pdf http://www.fairchildsemi.com/ds/FD/FDV304P.pdf]
 +
|-
 +
| 1
 +
| Power
 +
| MCP1824T-1202E/OT
 +
| 1.2V, 0.3A Regulator
 +
| SOT-23-5
 +
| U4
 +
|
 +
| [http://www.digikey.com/product-detail/en/MCP1824T-1202E/OT/MCP1824T-1202E/OTCT-ND/1979789 http://www.digikey.com/product-detail/en/MCP1824T-1202E%2FOT/MCP1824T-1202E%2FOTCT-ND/1979789]
 +
| [http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf]
 +
|-
 +
| 1
 +
| Power
 +
| MCP1824T-2502E/OT
 +
| 2.5V, 0.3A Regulator
 +
| SOT-23-5
 +
| U5
 +
|
 +
| [http://www.digikey.com/product-detail/en/MCP1824T-2502E/OT/MCP1824T-2502E/OTCT-ND/1817326 http://www.digikey.com/product-detail/en/MCP1824T-2502E%2FOT/MCP1824T-2502E%2FOTCT-ND/1817326]
 +
| [http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf]
 +
|-
 +
| 1
 +
| Power
 +
| LM2734XMKX/NOPB
 +
| DC-DC Switching Regulator
 +
| SOT-23-6
 +
| U3
 +
| 1A output current
 +
| [http://www.digikey.com/product-detail/en/LM2734XMKX/NOPB/296-35168-1-ND/3738879 http://www.digikey.com/product-detail/en/LM2734XMKX%2FNOPB/296-35168-1-ND/3738879]
 +
| [http://www.ti.com/lit/ds/symlink/lm2734.pdf http://www.ti.com/lit/ds/symlink/lm2734.pdf]
 +
|-
 +
| 1
 +
| Radio
 +
| 0896BM15A0001
 +
| Balun Filter
 +
| 0805
 +
| U13
 +
| For RF tranceiver, 863MHz - 928MHz
 +
| [http://www.digikey.com/product-detail/en/0896BM15A0001E/712-1474-2-ND/2038627 http://www.digikey.com/product-detail/en/0896BM15A0001E/712-1474-2-ND/2038627]
 +
| [http://media.digikey.com/PDF/Data Sheets/Johanson Technology/0896BM15A0001.pdf http://media.digikey.com/PDF/Data%20Sheets/Johanson%20Technology/0896BM15A0001.pdf]
 +
|-
 +
| 1
 +
| Radio
 +
| CC1101
 +
| UHF Transceiver
 +
| 32-VQFN
 +
| U10
 +
| 310MHz - 928MHz
 +
| [http://www.ti.com/product/cc1101-q1 http://www.ti.com/product/cc1101-q1]
 +
| [http://www.ti.com/lit/ds/symlink/cc1101-q1.pdf http://www.ti.com/lit/ds/symlink/cc1101-q1.pdf]
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 52.3k?
 +
| 0603
 +
| R83
 +
|
 +
|
 +
|
 +
|-
 +
| 5
 +
| Resistor
 +
|
 +
| 0?
 +
| 0603
 +
| R14, R15, R102, R113, R114
 +
|
 +
|
 +
|
 +
|-
 +
| 3
 +
| Resistor
 +
|
 +
| 1.5k?
 +
| 0603
 +
| R17, R94, R110
 +
|
 +
|
 +
|
 +
|-
 +
| 30
 +
| Resistor
 +
|
 +
| 10?
 +
| 0603
 +
| R18, R19, R22, R23, R26, R27, R30, R31, R34, R35, R38, R39, R42, R43, R46, R47, R50, R51, R54, R55, R58, R59, R62, R63, R66, R67, R70, R71, R74, R75
 +
|
 +
|
 +
|
 +
|-
 +
| 42
 +
| Resistor
 +
|
 +
| 10k?
 +
| 0603
 +
| R2, R5, R7, R8, R12, R20, R21, R24, R25, R28, R29, R32, R33, R36, R37, R40, R41, R44, R45, R48, R49, R52, R53, R56, R57, R60, R61, R64, R65, R68, R69, R72, R73, R76, R77, R82, R84, R96, R97, R111, R112, R116
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 100k?
 +
| 0603
 +
| R16
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 5.6k?
 +
| 0603
 +
| R78
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 56k?
 +
| 0603
 +
| R95
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 68k?
 +
| 0603
 +
| R81
 +
|
 +
|
 +
|
 +
|-
 +
| 2
 +
| Resistor
 +
|
 +
| 330k?
 +
| 0603
 +
| R108, R109
 +
|
 +
|
 +
|
 +
|-
 +
| 4
 +
| Resistor
 +
|
 +
| 220?
 +
| 0603
 +
| R10, R13, R79, R107
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 27?
 +
| 0606
 +
| R93
 +
|
 +
|
 +
|
 +
|-
 +
| 14
 +
| Resistor
 +
|
 +
| 220? Array (2)
 +
| 0606
 +
| R89, R90, R91, R92, R103, R119, R122, R123, R124, R125, R128, R129, R130, R131
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Resistor
 +
|
 +
| 150?
 +
| 0805
 +
| R9
 +
| 1/8w
 +
|
 +
|
 +
|-
 +
| 12
 +
| Resistor
 +
|
 +
| 220? Array (4)
 +
| 1206
 +
| R1, R3, R4, R6, R85, R86, R87, R88, R104, R117, R118, R120
 +
|
 +
|
 +
|
 +
|-
 +
| 1
 +
| Switch
 +
| KMR 2
 +
| Tactile Button Switch
 +
| SMD
 +
| S4
 +
|
 +
| [http://www.ck-components.com/kmr-2/tactile,10572,en.html http://www.ck-components.com/kmr-2/tactile,10572,en.html]
 +
| [http://www.ck-components.com/14414/kmr2_9aug12.pdf/ http://www.ck-components.com/14414/kmr2_9aug12.pdf/]
 +
|-
 +
| 1
 +
| Switch
 +
| 219-4LPST
 +
| Dip Switch Array
 +
| SMD
 +
| S1
 +
| SPST, 4 positions
 +
| [http://www.digikey.com/product-detail/en/219-4LPST/CT2194LPST-ND/223169 http://www.digikey.com/product-detail/en/219-4LPST/CT2194LPST-ND/223169]
 +
| [http://www.ctscorp.com/components/Datasheets/219.pdf http://www.ctscorp.com/components/Datasheets/219.pdf]
 +
|-
 +
| 1
 +
| Switch
 +
| 94HBB16RAT
 +
| Selector
 +
| Through Hole
 +
| S5
 +
| 16 positions
 +
| [http://www.digikey.com/product-detail/en/94HBB16RAT/GH7262-ND/726320 http://www.digikey.com/product-detail/en/94HBB16RAT/GH7262-ND/726320]
 +
| [http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf]
 +
|-
 +
| 1
 +
| Switch
 +
| B3F-3120
 +
| Tactile Switch
 +
| Through Hole
 +
| S2
 +
| SPST, right angle, 0.05A @ 24V DC rating
 +
| [http://www.digikey.com/product-detail/en/B3F-3120/SW407-ND/38364 http://www.digikey.com/product-detail/en/B3F-3120/SW407-ND/38364]
 +
| [http://www.components.omron.com/components/web/PDFLIB.nsf/0/D85EBCB9FA436B2485257201007DD56E/$file/B3F_0811.pdf http://www.components.omron.com/components/web/PDFLIB.nsf/0/D85EBCB9FA436B2485257201007DD56E/$file/B3F_0811.pdf]
 +
|-
 +
| 1
 +
| Switch
 +
| M2022S2A2W30
 +
| DPDT Toggle Switch
 +
| Through Hole
 +
| S3
 +
| 30V max DC, 4A max DC, main power switch
 +
| [http://www.digikey.com/product-detail/en/M2022S2A2W30/360-1838-ND/1006917 http://www.digikey.com/product-detail/en/M2022S2A2W30/360-1838-ND/1006917]
 +
| [http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf]
 +
|}
 +
[[Category:RoboCup]] [[Category: 2013-2014]]

Latest revision as of 21:34, 13 June 2018


Quick Reference
Timeline
Year 2011 - 2014
Versions
Control Board 2011 Rev c
Kicker Board -
Main Components
MCU Atmel AT91SAM7S256
FPGA Xilinx Spartan-3E
IMU InvenSense IMU-3000
Motors Maxon EC45flat 30W
Battery Thunder Power TP1350-4SPL25

Overview

This page contains reference information for the 2011c control boards.

Quick Links

Motor Operations

RC EE three phase bridge 2011 c.png

A three-phase bridge (figure 1) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA (Spartan-3E Series). The robot uses four (4) 30W three phase brushless motors to maneuver itself on the field. A fifth motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain hall effect sensors. These sensors send data back to the FPGA that is used to determine a motor�s rotational position. Each phase of a brushless motor is controlled using two (2) transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET (IRF9310TRPBF) is used to connect to +12V and a n-channel MOSFET (IRF8734TRPBF) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver (TC4428) is used in order to boost the signal for the gate on each FET.

MOSFET Operation

RC EE Mosfet Diagram.png

A MOSFET or Metal-Oxide-Semiconductor Field-Effect Transistor, is basically a switch. There are 3 terminals: source, drain, and gate, and figure 2 outlines the physical layout of their relations. If you apply a voltage at the gate, this will allow a flow of charges from the source to the drain. These devices use metal oxides and the charges flow due to the effect of an electric field between the source and drain. Hence why they are called MOSFET. There are 2 types of MOSFETs, nMOSFET - where the majority of charge carriers are electrons - and pMOSFET - where the majority of charge carriers are holes. The gate-source voltage must be high (positive) to turn on a nMOS and low (negative) to turn on a pMOS. This voltage is refereed to as the threshold voltage and is defined in table 1 below. The pMOS is better at pulling the output high while nMOS is better at pulling the output low; Therefore, both MOSFETs are used in the motor driver circuit - they complement one another.

nMOS pMOS
Vg - Vs > Vt Vg - Vs < Vt

Single Motor Winding Circuit Explanation

From figure 3, OUTA is the inverting output and OUTB is non-inverting output (from the MOSFET Driver). Q7 is the pMOS and Q8 is the nMOS. The source of the pMOS is connected to VDD (+12V) and the drain is connected to one of the motor coils. In the nMOS, the source is connected to the motor coil while the drain is connected to GND. When the signal from the FPGA is to activate one of the motor windings, M4C_H is high and M4C_L is low. So, OUTA becomes low while OUTB is still the same as INB. This turns the pMOS on and the nMOS off. Doing so connects M4C to VDD, thus M4C is set to high potential. At this same instant, a different motor winding circuit will connect its output to GND. For example, let�s say M4B (not shown) connects to GND when M4C connects to VDD. This means current will flow from M4C to M4B, thus powering the motor for a short instance of time. However, we must ensure that the 3rd motor winding circuit (M4A, also not shown) is disconnected from both VDD and GND. This means both FETs from M4A must be off at this instance in time. R128 is a resistor which limits the current from the FPGA�s I/O pin. R56 and R57 are pull-down resistors that ensure INA and INB maintain a proper value if there is no signal from the FPGA. R54 and R55 provide signal stability for the base of each FET (the voltage could oscillate back and forth without them). C26 is used to filter out unwanted high frequencies from VDD.

RC EE Motor Winding.png

Debugging

If a fuse is blown, then a likely cause is that one of the FETs experienced a high back flow of current and broke. Ideally you should test for faulty FETs with the FET tester. If you are stranded on a deserted island without the FET tester, you can still determine if a FET is faulty or not. The steps for checking both nFETs and pFETs using a digital multimeter are outlined on the testing a MOSFET page. It is recommended to change the entire three-phase bridge (3 pFETs, 3 nFETs and 3 MOSFET drivers) if any 1 part is damaged.

Other Websites/Resources


Power Operations

This is the main stage where the input, VDD, from the battery is converted to the different DC voltage levels required by the various components on the board. To protect the components on the board, two (2) things are done:

  1. The kicker's power supply is separated from the rest of the control board.
  2. A fuse is used for the kicker power supply and the power supply for the motors.

The big red,10A, fuse is used for connecting the battery to all of the motors and the kicker board. The 10A fuse is independent from all digital logic power.

Voltage Monitor for kicker

The voltage monitor is a circuit used to measure the voltage at the output of the transformers, since they are in the range of 150V and is a cause of concern for safety if it is exceeded. The main component of the voltage monitor is the analog-to-digital converter, ADC081C027. The type of architecture used in the ADC is an 8-bit Successive Approximation Register (SAR). In successive approximation, the ADC internally has a DAC, a comparator and 8-bit register. In one input of the comparator, the ADC�s input signal is applied. For the other input, the SAR produces an 8 bit sequence with only the MSB as 1 and the rest of the digits as 0. The DAC then converts it into an analog signal. This analog signal is compared with the input signal. If the analog signal is greater than the input signal, then the SAR MSB is reset to zero else, it remains one. Then the next bit is set to one and this process continues for 8 steps till the input signal and analog signals are equal. So, now, the value in the SAR is the digital equivalent of the input signal. The L1 inductor and C8 capacitance act as a filter which removes the oscillations in the power supply. The serial clock (SCK) and serial data (SDA) communicate with the FPGA, so that the value is processed.

LM2734 Switching Voltage Regulator

The LM2734 is a voltage converter that can convert a maximum of 24V to different output voltages depending upon its configuration in a circuit using external resistors, capacitors, inductors, and diodes. The circuit used to convert VDD to 5V is based on a similar circuit provided in the datasheet. The output voltage depends on the values of the resistors R83 and R84 at the feedback (FB) pin. From the reference diagram, the way to calculate output voltage is given by, R1 = R2 ( VO / Vref - 1 ). Usually, R2 is fixed as 10kohm. We need VO to be 5V. Vref is set internally in the IC as 0.8V, so R1 is calculated to be 52.5kohm and the control board reflects these values.

MCP1824 Linear Voltage Regulator

The MCP1824is the name for a series of LDO voltage regulatorsthat are capable of providing up to 300mA of current. The regulators come in various fixed and adjustable voltages when purchasing. The control board contains three (3) of these MCP1824regulators. All regulators on the control board from this series are the kind that produce a fixed voltage. These voltages are listed below and test points are located to the left of the power switch for easily probing the outputs of these regulators.

  • 3.3V
  • 2.5V
  • 1.2V


Radio Operations

 Halo Antenna


Images of Control Board

  • Back

  • Motor FETs

  • Motor FETs

  • Single Motor Circuit

  • Motor FETs

  • Motor FETs

  • System Clock

  • Top

  • Top

  • Connectors

  • Connectors

  • Power Switch

  • Connectors

  • Left View

  • Right View

  • Connectors

  • Kicker Discharge Button

  • Robot ID Select

  • Robot ID Select

  • Left Angled View

  • Side View

  • Status LEDs

  • Power Switch

  • Encoder & Kicker Connectors

  • Motor & Encoder Connectors

  • Power Inductor

  • Kicker Power Connector

  • Power Circuits

  • Selectable Switches

  • Xilinx FPGA

  • Board ID Location

  • USB Connection

  • Atmel Microcontroller

  • Accelerator/Gyroscope Sensors

  • Reset Button

  • USB & Antenna Connections

Board Overview Videos 

 Board Overview
FPGA


Component List

Download as PDF

Qty CAT PART# DESC PKG/MNT LABEL NOTES PRODUCT LINK DATASHEET LINK
1 Capacitor 500R07S1R8BV4T RF Capicator 0402 C40 http://www.digikey.com/product-detail/en/500R07S1R8BV4T/712-1271-6-ND/1786943 http://www.johansontechnology.com/images/stories/catalog/JTI_CAT_2012_MLCC_HighQ.pdf
39 Capacitor 100nF 0603 C2, C6, C17, C21, C22, C23, C24, C25, C26, C27, C28, C29, C30, C32, C33, C35, C36, C37, C38, C39, C46, C47, C48, C49, C50, C51, C52, C53, C54, C55, C56, C57, C58, C60, C67, C68, C71, C77, C79
1 Capacitor 100pF 0603 C13
4 Capacitor 10nF 0603 C8, C11, C19, C43
1 Capacitor 1nF 0603 C20
3 Capacitor 1�F 0603 C3, C31, C34
2 Capacitor 2.2nF 0603 C9, C59
1 Capacitor 220nF 0603 C12
2 Capacitor 27pF 0603 C15, C16
1 Capacitor 33pF 0603 C18
1 Capacitor 10�F 0805 C1
1 Capacitor 1�F (Polarized) 0805 C41 35V, aluminum, for power supply
1 Capacitor 22�F 1206 C44 6.3V
1 Capacitor 100�F (Polarized) Panasonic E C42 25V, aluminum, for power supply
5 Capacitor 470�F (Polarized) Panasonic G C4, C5, C7, C10, C14 25V, aluminum, for motors
4 Connector 0522711179 Motor Header SMD J4, J5, J6, J7 11 pins, 1mm pitch, 0.5A current rating, 50V voltage rating http://www.digikey.com/product-detail/en/0522711179/WM3379CT-ND/2405748 http://www.molex.com/pdm_docs/sd/522711179_sd.pdf
1 Connector 5285-20870 Kicker Header SMD J1 8 pins, 2mm pitch, right angle http://www.mouser.com/ProductDetail/Molex/52852-0870/?qs=kD7lmHUVEJanNvV6FphzIg== http://www.molex.com/webdocs/datasheets/pdf/en-us/0528520870_FFC_FPC_CONNECTORS.pdf
1 Connector UX60A-MB-5ST Mini USB 2.0 Receptacle SMD J2 right angle http://www.digikey.com/product-detail/en/UX60A-MB-5ST/H2961CT-ND/597540 http://www.hirose.co.jp/cataloge_hp/e24000019.pdf
1 Connector 35363-0660 JTAG Header Through Hole J10 6 pins, 2mm pitch, right angle http://www.mouser.com/ProductDetail/Molex/35363-0660/?qs=%2fha2pyFadujBOZ1JGwzODo9s6IhbRgLmbKFlMuRfet72D1vzVyKatg%3d%3d http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630660_PCB_HEADERS.pdf
1 Connector 35363-0360 Detector Header Through Hole J9 3 pins, 2mm pitch, right angle http://www.mouser.com/ProductDetail/Molex/35363-0360/?qs=%2fha2pyFaduhK4v2tb3HgRUpbM1MbxgTCgr8TLSxaq9o%3d http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630360_PCB_HEADERS.pdf
1 Connector 35363-0260 LED Header Through Hole J3 2 pins, 2mm pitch, right angle http://www.mouser.com/ProductDetail/Molex/35363-0260/?qs=%2fha2pyFaduhyNMfBO1jMVa8dd2vEMulOKy2iGSNutHw%3d http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630260_PCB_HEADERS.pdf
2 Connector "B2PS-VH(LF)(SN) Battery Header Through Hole J11, J19 2 pins, 3.95mm pitch, right angle http://www.digikey.com/product-detail/en/B2PS-VH%28LF%29%28SN%29/455-1648-ND/926555 http://www.jst-mfg.com/product/pdf/eng/eVH.pdf
1 Connector 1408151-1 Antenna Jack Through Hole J8 50ohms, right angle http://www.digikey.com/product-detail/en/1408151-1/A30741-ND/685515 https://www.samtec.com/ftppub/pdf/mmcx.pdf
1 Connector 35363-0860 Dribbler Header Through Hole J17 8 pins, 2mm pitch, right angle http://www.mouser.com/ProductDetail/Molex/35363-0860/?qs=%2fha2pyFaduiMyCNhbXdsL8gpN6EJXiXRGlv4zydAGUg%3d http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630860_PCB_HEADERS.pdf
4 Connector 35363-0460 Encoder Header Through Hole J13, J14, J15, J16 4 pins, 2mm pitch, right angle http://www.mouser.com/ProductDetail/Molex/35363-0460/?qs=%2fha2pyFaduj5LMGsqqiWUQR3WhZoP6hp6wDKcJuHuLs%3d http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630460_PCB_HEADERS.pdf
1 Diode LED 0603 LED1 beside FPGA
1 Diode SMBJP6KE18A-TP Suppressor Diode DO-214AA (SMB) D6 17.1V min breakdown, zener type diode http://www.digikey.com/product-detail/en/SMBJP6KE18A-TP/SMBJP6KE18A-TPMSCT-ND/2345724 http://www.mccsemi.com/up_pdf/SMBJP6KE6.8%28C%29A-SMBJP6KE550%28C%29A%28DO-214AA%29.pdf
2 Diode MBRX160-TP Schottky Barrier Rectifier Diode SOD-123 D1, D2 60V max reverse http://www.digikey.com/product-detail/en/MBRX160-TP/MBRX160TPMSTR-ND/717266 http://www.mccsemi.com/up_pdf/MBRX120-MBRX160%28SOD123%29.pdf
1 Diode BAS16H High-Speed Switching Diode SOD-123F D3 100V max reverse, 1.25V @ 150mA forward voltage http://www.digikey.com/product-detail/en/BAS16H,115/568-5995-1-ND/2531282 http://www.nxp.com/documents/data_sheet/BAS16_SER.pdf
2 Diode 564-0100-132F RGB LED Array Through Hole D4, D5 3mm LEDs, 2.2V, 20mA http://www.mouser.com/ProductDetail/Dialight/564-0100-132F/?qs=0KZIkTEbAAvHMFIBWgRq8A== http://www.dialight.com/Assets/Brochures_And_Catalogs/Indication/564-0x00-xxx.pdf
1 IC KXTF9-2050 Accelerometer 10-VFLGA U20 25Hz bandwidth, I2C interface, Tri-axis http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346 http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf
1 IC XC3S100E-4TQG144 Spartan-3E FPGA 144-LQFP U1 144 I/O pins http://www.digikey.com/product-detail/en/XC3S100E-4TQG144C/122-1478-ND/1091706 http://www.xilinx.com/support/documentation/data_sheets/ds312.pdf
1 IC IMU-3000 Inertial Measurement Unit 36-QFN U19 6-axis http://www.invensense.com/mems/gyro/imu3000.html http://www.invensense.com/mems/gyro/documents/PS-IMU-3000A.pdf
1 IC AT91SAM7S256 Microcontroller 64-LQFP U7 55MHz, 32 I/O pins, 256KB memory http://www.digikey.com/product-detail/en/AT91SAM7S256D-AU-999/AT91SAM7S256D-AU-999CT-ND/3720075 http://www.atmel.com/images/doc6175.pdf
1 IC M25P10-AVMN6TP 1Mbit Serial Flash Memory SOIC-8 U2 SPI serial interface http://www.digikey.com/product-detail/en/M25P10-AVMN6TP/M25P10-AVMN6TPCT-ND/1880692 Sheets/Micron Technology Inc PDFs/M25P10-A.pdf http://media.digikey.com/pdf/Data%20Sheets/Micron%20Technology%20Inc%20PDFs/M25P10-A.pdf
1 Inductor L-07C5N6SV6T RF Ceramic Inductor 0402 L4 5.6nH inductance http://www.digikey.com/product-detail/en/L-07C5N6SV6T/712-1462-1-ND/1915241 http://www.johansontechnology.com/images/stories/rf-inductors/cci/JTI_CAT_2012_Inductors_Chip.pdf
3 Inductor HZ0603B102R-10 Ferrite EMI Chip Bead 0603 L2, L3, L5 rated for 200mA http://www.digikey.com/product-detail/en/HZ0603B102R-10/240-2378-6-ND/1730389 http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4876
1 Inductor SDR0403-270KL Power Inductor SMD L1 27uH inductance, 710mA current rating, +/-10% tolerance http://www.digikey.com/product-detail/en/SDR0403-270KL/SDR0403-270KLCT-ND/2127088 http://www.bourns.com/data/global/pdfs/sdr0403.pdf
1 Oscillator 18.432MHz Crystal Oscillator SMD X1 3.3V
1 Oscillator 644-1055-1-ND 27.000MHz Crystal Oscillator SMD X2 8pF load capacitance http://www.digikey.com/product-detail/en/NX3225SA-27.000MHZ-STD-CSR-1/644-1055-1-ND/1128927 Sheets/NDK PDFs/NX3225SA.pdf http://media.digikey.com/pdf/Data%20Sheets/NDK%20PDFs/NX3225SA.pdf
1 Other Spare FPGA Pins (Not Populated) J20
1 Other Voltage Test Points (Not Populated) J12
1 Other 947705-012 Selector Knob http://www.digikey.com/product-detail/en/947705-012/GH5006-ND/10734 http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf
4 Other Not populated 0603 R11, R80, R105, R115
1 Other FUSESF-1206F100-2 Small Fuse 1206 F2 rated for 1A, 63V http://www.digikey.com/product-detail/en/SF-1206F100-2/SF-1206F100-2CT-ND/1948202 http://www.bourns.com/data/global/pdfs/sf1206f.pdf
1 Other PS1240P02BT Piezo Buzzer Through Hole BZ1 http://www.digikey.com/product-detail/en/PS1240P02BT/445-2525-1-ND/935930 http://www.tdk.co.jp/tefe02/ef532_ps.pdf
2 Other BK6011 Fuseholder Through Hole F1 http://www.digikey.com/product-search/en?vendor=0&keywords=BK6011 http://www.memoryprotectiondevices.com/datasheets/BK-6011-datasheet.pdf
15 Power IRF8734TRPbF N-channel Power MOSFET SOIC-8 Q2, Q4, Q6, Q8, Q10, Q12, Q14, Q16, Q18, Q20, Q22, Q24, Q26, Q28, Q30 closest to driver, 30V, 21A http://www.digikey.com/product-detail/en/IRF8734TRPBF/IRF8734TRPBFTR-ND/2096582 http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf
15 Power TC4428 MOSEFT Driver SOIC-8 U6, U9, U12, U15, U18, U21, U24, U27, U30, U33, U36, U39, U42, U45, U48 http://www.digikey.com/product-detail/en/TC4428COA/TC4428COA-ND/267356 http://ww1.microchip.com/downloads/en/DeviceDoc/20001422F.pdf
15 Power IRF9310TRPbF P-channel Power MOSFET SOIC-8 Q1, Q3, Q5, Q7, Q9, Q11, Q13, Q15, Q17, Q19, Q21, Q23, Q25, Q27, Q29 closest to edge, -30V, -20A http://www.digikey.com/product-detail/en/IRF9310TRPBF/IRF9310TRPBFDKR-ND/2202251 http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf
1 Power MCP1824ST-3302E/DB 3.3V, 0.3A Regulator SOT-223-3 U8 http://www.digikey.com/product-detail/en/MCP1824ST-3302E%2FDB/MCP1824ST-3302E%2FDBCT-ND/2003475 http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf
1 Power FDV304P MOSFET SOT-23 Q33 p-channel, 25V, 460mA http://www.digikey.com/product-detail/en/FDV304P/FDV304PTR-ND/458854 http://www.fairchildsemi.com/ds/FD/FDV304P.pdf
1 Power MCP1824T-1202E/OT 1.2V, 0.3A Regulator SOT-23-5 U4 http://www.digikey.com/product-detail/en/MCP1824T-1202E%2FOT/MCP1824T-1202E%2FOTCT-ND/1979789 http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf
1 Power MCP1824T-2502E/OT 2.5V, 0.3A Regulator SOT-23-5 U5 http://www.digikey.com/product-detail/en/MCP1824T-2502E%2FOT/MCP1824T-2502E%2FOTCT-ND/1817326 http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf
1 Power LM2734XMKX/NOPB DC-DC Switching Regulator SOT-23-6 U3 1A output current http://www.digikey.com/product-detail/en/LM2734XMKX%2FNOPB/296-35168-1-ND/3738879 http://www.ti.com/lit/ds/symlink/lm2734.pdf
1 Radio 0896BM15A0001 Balun Filter 0805 U13 For RF tranceiver, 863MHz - 928MHz http://www.digikey.com/product-detail/en/0896BM15A0001E/712-1474-2-ND/2038627 Sheets/Johanson Technology/0896BM15A0001.pdf http://media.digikey.com/PDF/Data%20Sheets/Johanson%20Technology/0896BM15A0001.pdf
1 Radio CC1101 UHF Transceiver 32-VQFN U10 310MHz - 928MHz http://www.ti.com/product/cc1101-q1 http://www.ti.com/lit/ds/symlink/cc1101-q1.pdf
1 Resistor 52.3k? 0603 R83
5 Resistor 0? 0603 R14, R15, R102, R113, R114
3 Resistor 1.5k? 0603 R17, R94, R110
30 Resistor 10? 0603 R18, R19, R22, R23, R26, R27, R30, R31, R34, R35, R38, R39, R42, R43, R46, R47, R50, R51, R54, R55, R58, R59, R62, R63, R66, R67, R70, R71, R74, R75
42 Resistor 10k? 0603 R2, R5, R7, R8, R12, R20, R21, R24, R25, R28, R29, R32, R33, R36, R37, R40, R41, R44, R45, R48, R49, R52, R53, R56, R57, R60, R61, R64, R65, R68, R69, R72, R73, R76, R77, R82, R84, R96, R97, R111, R112, R116
1 Resistor 100k? 0603 R16
1 Resistor 5.6k? 0603 R78
1 Resistor 56k? 0603 R95
1 Resistor 68k? 0603 R81
2 Resistor 330k? 0603 R108, R109
4 Resistor 220? 0603 R10, R13, R79, R107
1 Resistor 27? 0606 R93
14 Resistor 220? Array (2) 0606 R89, R90, R91, R92, R103, R119, R122, R123, R124, R125, R128, R129, R130, R131
1 Resistor 150? 0805 R9 1/8w
12 Resistor 220? Array (4) 1206 R1, R3, R4, R6, R85, R86, R87, R88, R104, R117, R118, R120
1 Switch KMR 2 Tactile Button Switch SMD S4 http://www.ck-components.com/kmr-2/tactile,10572,en.html http://www.ck-components.com/14414/kmr2_9aug12.pdf/
1 Switch 219-4LPST Dip Switch Array SMD S1 SPST, 4 positions http://www.digikey.com/product-detail/en/219-4LPST/CT2194LPST-ND/223169 http://www.ctscorp.com/components/Datasheets/219.pdf
1 Switch 94HBB16RAT Selector Through Hole S5 16 positions http://www.digikey.com/product-detail/en/94HBB16RAT/GH7262-ND/726320 http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf
1 Switch B3F-3120 Tactile Switch Through Hole S2 SPST, right angle, 0.05A @ 24V DC rating http://www.digikey.com/product-detail/en/B3F-3120/SW407-ND/38364 http://www.components.omron.com/components/web/PDFLIB.nsf/0/D85EBCB9FA436B2485257201007DD56E/$file/B3F_0811.pdf
1 Switch M2022S2A2W30 DPDT Toggle Switch Through Hole S3 30V max DC, 4A max DC, main power switch http://www.digikey.com/product-detail/en/M2022S2A2W30/360-1838-ND/1006917 http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf
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