Day 3

We decide to use a PIC on the roamer to carry out both SPI (with the SPECIAL) and SCI (with the Zigbee). The PIC on the roamer will be assisted by a C32 on the Roamer while there will be an E128 on the Pod.

Roamer electrical components:

1. 4-5 motors

-2 for driving the roamer

-2 servos for the hook

-1 for tilting the camera (maybe)

2. SPI lines for communication between the PIC and the SPECIAL

3. xBee

4. 1 HC12C32

5. On/Off toggle switch

6. Switch to determine which Roamer it is (1/2/3)

7. LEDs to debug. Small protoboards for each circuit

8. Batteries

9. Voltage Regulator circuits

Pod electrical components:

1. Sensors

-Accelerometers - to detect rocking motion and convert to movement of the roamer

-Force sensors - to detect tension in the cable and carry out turning motion of the roamer

-Limit switches - on whip for executing the grab action

-Toggle switch - to change roamer direction

2. Switches

-bot select

-on/off

-camera control

3. Indicator LEDs

4. Batteries

5. Voltage regulator circuits

6. xBee

7. E128

8. Servo for showing the battery level