Integrated PCB<\/h2>\n\n\n\n![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/04\/Screenshot-2025-04-28-at-3.13.26\u202fPM-1024x592.jpg\")
<\/figure>\n\n\n\nCompleted PCB<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/04\/02d9a5e6-a62f-4feb-bb4d-fb4d59588389.jpg\")
<\/figure>\n\n\n\nWiring Diagram<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/02\/circuit-1024x962.png\")
<\/figure>\n\n\n\nSchematic Circuit Diagrams<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/03\/Screenshot-2025-03-18-at-4.22.49\u202fPM-1-1024x652.png\")
<\/figure>\n\n\n\nPCB Layout<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/03\/Screenshot-2025-03-18-at-4.24.56\u202fPM-1024x655.png\")
<\/figure>\n\n\n\nFinal Design<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/03\/Screenshot-2025-03-18-at-4.28.04\u202fPM-1024x699.png\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/03\/Screenshot-2025-03-18-at-4.28.10\u202fPM-1024x741.png\")
<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\nSome important data is shown below:<\/p>\n\n\n\n
Bill of Materials<\/h3>\n\n\n\n
The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/03\/Screenshot-2025-03-18-at-4.30.38\u202fPM-1024x245.png\")
<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
Power Source:<\/strong><\/p>\n\n\n\n\n- Battery: 3x Vanon Power Tools Batteries<\/li>\n\n\n\n
- Nominal Voltage: 20V<\/li>\n\n\n\n
- Nominal Capacity: 5.0Ah<\/li>\n\n\n\n
- Energy: 100Wh<\/li>\n\n\n\n
- Chemistry: Li-ion<\/li>\n\n\n\n
- Cell Configuration: 5s2p<\/li>\n\n\n\n
- Number of Cells: 10<\/li>\n\n\n\n
- Monitoring: Using Turnigy\u00ae Watt Meter and Power Analyzer (180A).<\/li>\n<\/ul>\n\n\n\n
Specifications:<\/strong><\/p>\n\n\n\n\n- Operating Voltage Range: 4.6~60 V<\/li>\n\n\n\n
- Measured Voltage Range: 0~60 V<\/li>\n\n\n\n
- Current Range: 0~180 A<\/li>\n<\/ul>\n\n\n\n
Overvoltage Protection:<\/strong><\/p>\n\n\n\n\n- Primary: 30 A Blade Fuse (each)<\/li>\n\n\n\n
- Secondary: Push Button Emergency Stop<\/li>\n<\/ul>\n\n\n\n
Board Design<\/h3>\n\n\n\n
To accommodate the high current requirements for the circuit, we shifted to two different inputs. This
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n
Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n\n- Current \u2013 10A<\/li>\n\n\n\n
- Ambient Temperature \u2013 25\u00b0C<\/li>\n\n\n\n
- Temperature Rise \u2013 20\u00b0C<\/li>\n\n\n\n
- Thickness \u2013 2oz\/ft2<\/li>\n<\/ul>\n\n\n\n
This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\nLink to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\nLink to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nMechanical<\/h1>\n\n\n\nMechanical Drawings<\/h2>\n\n\n\n![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/02\/dozer-1-1024x524.png\")
<\/figure>\n\n\n\n![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/02\/wheel-1024x476.png\")
<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nSoftware Flowcharts<\/h1>\n\n\n\nFall Autonomy State Machine<\/h2>\n\n\n\n![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/11\/BEN-1024x881.jpeg\")
<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/04\/Screenshot-2025-04-28-at-3.23.22\u202fPM-1024x571.png\")
<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/04\/Screenshot-2025-04-28-at-3.30.44\u202fPM-1024x532.png\")
<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-content\/uploads\/sites\/91\/2025\/11\/Screenshot-2025-11-12-at-10.45.04\u202fAM-1024x535.png\")
<\/figure>\n","protected":false},"excerpt":{"rendered":"Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
<\/figure>\n\n\n\nCompleted PCB<\/h2>\n\n\n\n<\/figure>\n\n\n\nWiring Diagram<\/h2>\n\n\n\n<\/figure>\n\n\n\nSchematic Circuit Diagrams<\/h2>\n\n\n\n<\/figure>\n\n\n\nPCB Layout<\/h2>\n\n\n\n<\/figure>\n\n\n\nFinal Design<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\nSome important data is shown below:<\/p>\n\n\n\n
Bill of Materials<\/h3>\n\n\n\n
The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
Power Source:<\/strong><\/p>\n\n\n\n\n- Battery: 3x Vanon Power Tools Batteries<\/li>\n\n\n\n
- Nominal Voltage: 20V<\/li>\n\n\n\n
- Nominal Capacity: 5.0Ah<\/li>\n\n\n\n
- Energy: 100Wh<\/li>\n\n\n\n
- Chemistry: Li-ion<\/li>\n\n\n\n
- Cell Configuration: 5s2p<\/li>\n\n\n\n
- Number of Cells: 10<\/li>\n\n\n\n
- Monitoring: Using Turnigy\u00ae Watt Meter and Power Analyzer (180A).<\/li>\n<\/ul>\n\n\n\n
Specifications:<\/strong><\/p>\n\n\n\n\n- Operating Voltage Range: 4.6~60 V<\/li>\n\n\n\n
- Measured Voltage Range: 0~60 V<\/li>\n\n\n\n
- Current Range: 0~180 A<\/li>\n<\/ul>\n\n\n\n
Overvoltage Protection:<\/strong><\/p>\n\n\n\n\n- Primary: 30 A Blade Fuse (each)<\/li>\n\n\n\n
- Secondary: Push Button Emergency Stop<\/li>\n<\/ul>\n\n\n\n
Board Design<\/h3>\n\n\n\n
To accommodate the high current requirements for the circuit, we shifted to two different inputs. This
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n
Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n\n- Current \u2013 10A<\/li>\n\n\n\n
- Ambient Temperature \u2013 25\u00b0C<\/li>\n\n\n\n
- Temperature Rise \u2013 20\u00b0C<\/li>\n\n\n\n
- Thickness \u2013 2oz\/ft2<\/li>\n<\/ul>\n\n\n\n
This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\nLink to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\nLink to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nMechanical<\/h1>\n\n\n\nMechanical Drawings<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nSoftware Flowcharts<\/h1>\n\n\n\nFall Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n<\/figure>\n","protected":false},"excerpt":{"rendered":"Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
<\/figure>\n\n\n\nWiring Diagram<\/h2>\n\n\n\n<\/figure>\n\n\n\nSchematic Circuit Diagrams<\/h2>\n\n\n\n<\/figure>\n\n\n\nPCB Layout<\/h2>\n\n\n\n<\/figure>\n\n\n\nFinal Design<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\nSome important data is shown below:<\/p>\n\n\n\n
Bill of Materials<\/h3>\n\n\n\n
The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
Power Source:<\/strong><\/p>\n\n\n\n\n- Battery: 3x Vanon Power Tools Batteries<\/li>\n\n\n\n
- Nominal Voltage: 20V<\/li>\n\n\n\n
- Nominal Capacity: 5.0Ah<\/li>\n\n\n\n
- Energy: 100Wh<\/li>\n\n\n\n
- Chemistry: Li-ion<\/li>\n\n\n\n
- Cell Configuration: 5s2p<\/li>\n\n\n\n
- Number of Cells: 10<\/li>\n\n\n\n
- Monitoring: Using Turnigy\u00ae Watt Meter and Power Analyzer (180A).<\/li>\n<\/ul>\n\n\n\n
Specifications:<\/strong><\/p>\n\n\n\n\n- Operating Voltage Range: 4.6~60 V<\/li>\n\n\n\n
- Measured Voltage Range: 0~60 V<\/li>\n\n\n\n
- Current Range: 0~180 A<\/li>\n<\/ul>\n\n\n\n
Overvoltage Protection:<\/strong><\/p>\n\n\n\n\n- Primary: 30 A Blade Fuse (each)<\/li>\n\n\n\n
- Secondary: Push Button Emergency Stop<\/li>\n<\/ul>\n\n\n\n
Board Design<\/h3>\n\n\n\n
To accommodate the high current requirements for the circuit, we shifted to two different inputs. This
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n
Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n\n- Current \u2013 10A<\/li>\n\n\n\n
- Ambient Temperature \u2013 25\u00b0C<\/li>\n\n\n\n
- Temperature Rise \u2013 20\u00b0C<\/li>\n\n\n\n
- Thickness \u2013 2oz\/ft2<\/li>\n<\/ul>\n\n\n\n
This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\nLink to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\nLink to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nMechanical<\/h1>\n\n\n\nMechanical Drawings<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nSoftware Flowcharts<\/h1>\n\n\n\nFall Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n<\/figure>\n","protected":false},"excerpt":{"rendered":"Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
<\/figure>\n\n\n\nSchematic Circuit Diagrams<\/h2>\n\n\n\n<\/figure>\n\n\n\nPCB Layout<\/h2>\n\n\n\n<\/figure>\n\n\n\nFinal Design<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\nSome important data is shown below:<\/p>\n\n\n\n
Bill of Materials<\/h3>\n\n\n\n
The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
Power Source:<\/strong><\/p>\n\n\n\n\n- Battery: 3x Vanon Power Tools Batteries<\/li>\n\n\n\n
- Nominal Voltage: 20V<\/li>\n\n\n\n
- Nominal Capacity: 5.0Ah<\/li>\n\n\n\n
- Energy: 100Wh<\/li>\n\n\n\n
- Chemistry: Li-ion<\/li>\n\n\n\n
- Cell Configuration: 5s2p<\/li>\n\n\n\n
- Number of Cells: 10<\/li>\n\n\n\n
- Monitoring: Using Turnigy\u00ae Watt Meter and Power Analyzer (180A).<\/li>\n<\/ul>\n\n\n\n
Specifications:<\/strong><\/p>\n\n\n\n\n- Operating Voltage Range: 4.6~60 V<\/li>\n\n\n\n
- Measured Voltage Range: 0~60 V<\/li>\n\n\n\n
- Current Range: 0~180 A<\/li>\n<\/ul>\n\n\n\n
Overvoltage Protection:<\/strong><\/p>\n\n\n\n\n- Primary: 30 A Blade Fuse (each)<\/li>\n\n\n\n
- Secondary: Push Button Emergency Stop<\/li>\n<\/ul>\n\n\n\n
Board Design<\/h3>\n\n\n\n
To accommodate the high current requirements for the circuit, we shifted to two different inputs. This
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n
Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n\n- Current \u2013 10A<\/li>\n\n\n\n
- Ambient Temperature \u2013 25\u00b0C<\/li>\n\n\n\n
- Temperature Rise \u2013 20\u00b0C<\/li>\n\n\n\n
- Thickness \u2013 2oz\/ft2<\/li>\n<\/ul>\n\n\n\n
This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\nLink to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\nLink to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nMechanical<\/h1>\n\n\n\nMechanical Drawings<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nSoftware Flowcharts<\/h1>\n\n\n\nFall Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n<\/figure>\n","protected":false},"excerpt":{"rendered":"Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
<\/figure>\n\n\n\nPCB Layout<\/h2>\n\n\n\n<\/figure>\n\n\n\nFinal Design<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\nSome important data is shown below:<\/p>\n\n\n\n
Bill of Materials<\/h3>\n\n\n\n
The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
Power Source:<\/strong><\/p>\n\n\n\n\n- Battery: 3x Vanon Power Tools Batteries<\/li>\n\n\n\n
- Nominal Voltage: 20V<\/li>\n\n\n\n
- Nominal Capacity: 5.0Ah<\/li>\n\n\n\n
- Energy: 100Wh<\/li>\n\n\n\n
- Chemistry: Li-ion<\/li>\n\n\n\n
- Cell Configuration: 5s2p<\/li>\n\n\n\n
- Number of Cells: 10<\/li>\n\n\n\n
- Monitoring: Using Turnigy\u00ae Watt Meter and Power Analyzer (180A).<\/li>\n<\/ul>\n\n\n\n
Specifications:<\/strong><\/p>\n\n\n\n\n- Operating Voltage Range: 4.6~60 V<\/li>\n\n\n\n
- Measured Voltage Range: 0~60 V<\/li>\n\n\n\n
- Current Range: 0~180 A<\/li>\n<\/ul>\n\n\n\n
Overvoltage Protection:<\/strong><\/p>\n\n\n\n\n- Primary: 30 A Blade Fuse (each)<\/li>\n\n\n\n
- Secondary: Push Button Emergency Stop<\/li>\n<\/ul>\n\n\n\n
Board Design<\/h3>\n\n\n\n
To accommodate the high current requirements for the circuit, we shifted to two different inputs. This
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n
Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n\n- Current \u2013 10A<\/li>\n\n\n\n
- Ambient Temperature \u2013 25\u00b0C<\/li>\n\n\n\n
- Temperature Rise \u2013 20\u00b0C<\/li>\n\n\n\n
- Thickness \u2013 2oz\/ft2<\/li>\n<\/ul>\n\n\n\n
This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\nLink to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\nLink to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nMechanical<\/h1>\n\n\n\nMechanical Drawings<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nSoftware Flowcharts<\/h1>\n\n\n\nFall Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n<\/figure>\n","protected":false},"excerpt":{"rendered":"Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
<\/figure>\n\n\n\nFinal Design<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\nSome important data is shown below:<\/p>\n\n\n\n
Bill of Materials<\/h3>\n\n\n\n
The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
Power Source:<\/strong><\/p>\n\n\n\n\n- Battery: 3x Vanon Power Tools Batteries<\/li>\n\n\n\n
- Nominal Voltage: 20V<\/li>\n\n\n\n
- Nominal Capacity: 5.0Ah<\/li>\n\n\n\n
- Energy: 100Wh<\/li>\n\n\n\n
- Chemistry: Li-ion<\/li>\n\n\n\n
- Cell Configuration: 5s2p<\/li>\n\n\n\n
- Number of Cells: 10<\/li>\n\n\n\n
- Monitoring: Using Turnigy\u00ae Watt Meter and Power Analyzer (180A).<\/li>\n<\/ul>\n\n\n\n
Specifications:<\/strong><\/p>\n\n\n\n\n- Operating Voltage Range: 4.6~60 V<\/li>\n\n\n\n
- Measured Voltage Range: 0~60 V<\/li>\n\n\n\n
- Current Range: 0~180 A<\/li>\n<\/ul>\n\n\n\n
Overvoltage Protection:<\/strong><\/p>\n\n\n\n\n- Primary: 30 A Blade Fuse (each)<\/li>\n\n\n\n
- Secondary: Push Button Emergency Stop<\/li>\n<\/ul>\n\n\n\n
Board Design<\/h3>\n\n\n\n
To accommodate the high current requirements for the circuit, we shifted to two different inputs. This
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n
Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n\n- Current \u2013 10A<\/li>\n\n\n\n
- Ambient Temperature \u2013 25\u00b0C<\/li>\n\n\n\n
- Temperature Rise \u2013 20\u00b0C<\/li>\n\n\n\n
- Thickness \u2013 2oz\/ft2<\/li>\n<\/ul>\n\n\n\n
This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\nLink to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\nLink to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nMechanical<\/h1>\n\n\n\nMechanical Drawings<\/h2>\n\n\n\n<\/figure>\n\n\n\n<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n<\/div>\n\n\n\nSoftware Flowcharts<\/h1>\n\n\n\nFall Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n<\/figure>\n","protected":false},"excerpt":{"rendered":"Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
<\/figure>\n\n\n\n<\/figure>\n\n\n\nDatasheets<\/h2>\n\n\n\n
Our datasheet is is available here: Datasheet<\/a><\/p>\n\n\n\n Some important data is shown below:<\/p>\n\n\n\n The bill of materials (including spares) for the PDB is shown below:<\/p>\n\n\n\n The board contains 4 M3 mounting holes at the corners. On our rover, we have designed an electronic box with custom mounting holes matching the board. Once the PDB design is finalized, the placeholder (blue part on the bottom face) will be replaced, and holes will be made accordingly. All power outputs from the PCB will be connected to components inside the box. The input comes from the batteries mounted behind the box.<\/p>\n\n\n\n Power Source:<\/strong><\/p>\n\n\n\n Specifications:<\/strong><\/p>\n\n\n\n Overvoltage Protection:<\/strong><\/p>\n\n\n\n To accommodate the high current requirements for the circuit, we shifted to two different inputs. This Trace Width Calculation Parameters:<\/strong><\/p>\n\n\n\n This gave us a minimum trace width of 93mils. Hence, the high current trace widths are 100mils and the low current widths are 20mils.<\/p>\n\n\n\n Link to DFM results summary: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/summary2.htm<\/a><\/p>\n\n\n\n Link to DFM plots: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/results\/plots.htm<\/a><\/p>\n\n\n\n Link to multilayer PDF: https:\/\/www.freedfm.com\/freedfm\/0038175906222431\/FreeDFM-v2.0\/freeDFM.pdf<\/a><\/p>\n\n\n\n https:\/\/drive.google.com\/drive\/folders\/1ijqGhws03Moxf-ZGnWYdQ2ptv2UZmjBw?usp=sharing<\/a><\/p>\n\n\n\n Electrical Our final electrical Power Distribution System design is available here: Electrical System Integrated PCB Completed PCB Wiring Diagram Schematic Circuit Diagrams PCB Layout Final Design Datasheets Our datasheet is is available here: Datasheet Some important data is shown below: Bill of Materials The bill of materials (including spares) for the PDB is shown below:Bill of Materials<\/h3>\n\n\n\n
<\/figure>\n\n\n\nMounting Method<\/h3>\n\n\n\n
Design Considerations<\/h3>\n\n\n\n
\n
\n
\n
Board Design<\/h3>\n\n\n\n
allows us to create 2 independent circuits with a common ground.<\/p>\n\n\n\n\n
DFM Results<\/h3>\n\n\n\n
Mechanical<\/h1>\n\n\n\n
Mechanical Drawings<\/h2>\n\n\n\n
<\/figure>\n\n\n\n<\/figure>\n\n\n\nCAD Vault<\/h3>\n\n\n\n
Software Flowcharts<\/h1>\n\n\n\n
Fall Autonomy State Machine<\/h2>\n\n\n\n
<\/figure>\n\n\n\nSpring Autonomy State Machine<\/h2>\n\n\n\n
<\/figure>\n\n\n\nLocalization Method (Total Station)<\/h2>\n\n\n\n
<\/figure>\n\n\n\nLocalization Method (Skycam)<\/h2>\n\n\n\n
<\/figure>\n","protected":false},"excerpt":{"rendered":"
+ Read More<\/a><\/p>\n","protected":false},"author":431,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-192","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/users\/431"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":32,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions"}],"predecessor-version":[{"id":1258,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/pages\/192\/revisions\/1258"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teami\/wp-json\/wp\/v2\/media?parent=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}