Documentation
Schematics
The above constitutes the full schematic for our project. It is based on the E155 FA22 Development Board, schematics for which can be found here.
Source Code Overview
Our source code consists of two codebases: one for the MCU and one for the FPGA. Both can be found in their full form, with everything needed to run the code, in this repository of ours. An excerpt consisting of the most important code we wrote can be found here.
Bill of Materials
| Item | Part Number | Quantity | Unit Price | Link |
|---|---|---|---|---|
| Xin Da Brushed Motor | 3420 | 1 | $23.09* | motor |
| Adafruit Inertial Measurement Unit (IMU) | 2472 | 1 | $34.95 | IMU |
| AndyMark High Resolution CIM Encoder | am-3314a | 1 | $29.00 | Encoder |
| Pololu DRV8874 Single Brushed DC Motor Driver Carrier | 4035 | 1 | $9.15 | Driver |
| HOZEON 6061 Aluminum Sheet | KEILEOHO | 1 | $37.99 | Aluminum |
| MCICICM Breadboard | 400tie | 1 | $6.69 | BreadBoard |
*not included in total cost
Total cost: $117.78
New Hardware
Of the above materials, many were new hardware to us: driving a brushed motor with an H-bridge-like motor driver, reading from an IMU using USART, and interpreting encoder quadrature signals were all novel.