Circuits Overview
The different circuits for our robot are detailed on the pages below. You can download a zip of all the DXP files here. All programming was done exclusively on the PIC6F790, in assembly. The TOWRP uses one master PIC and two slaves PICs, and the COACH uses one PIC. Pinouts are listed in the following table.
Side Selection
Detect the position of the side-selection switch.
Tape Sensing
Condition the signal from the emitter/detector pair.
Beacon Sensing
Detect the duty cycles and amplitudes of the flags and corner beacons.
Flash Sensing
Detect the starting flash.
Voltage Regulators
Regulate the battery voltage to 5V.
Low-Voltage Indicator
Illuminate an LED when the battery voltage drops.
Encoders
Condition the slot detector signal.
Motor Drivers
Take the PWM signals and drive the motors.
Debugging LEDs
Use an SPI-controlled seven-segment LED display to help with debugging.
Board Pinouts
