Printed circuit board

The printed circuit board, or PCB is the brain that receives all the data from the bike's sensors and sends commands to the actuators based on the sensor data. The Arduino is attached to the PCB. This page is for current individual components that are on the PCB currently. For components that are removed, they are now moved to the Components Previously on the PCB.

Overview of Individual Components

DUE Shield

This component hold the Arduino. For more information, visit the Arduino page. For pin connections, visit _____ page.

Operational Amplifier (Op-Amp)

It amplifies the difference between two voltage inputs and sends this amplified signal to the DUE. In addition to its purpose, the op-amp (in combination with an RC integrator) converts a square-wave signal from the RC to a sinusoidal wave because the motor controller only accepts sinusoidal wave forms.In the report they discuss the general purpose of the op-amp, its inputs and outputs, and the reason for choosing a specific model (MCP6401). There is no documentation regarding why the team decided to change to OP344 later on (the current op-amp installed in the PCB). After looking at the specification sheets of the two components, it seems that the OP344 is better with the common mode rejection ratio. In other words, it is better in rejecting signals that are in-phase and appear simultaneously.

Pin Label	Connected To
1 (OUT)	Bike Motor Pin 3
2 (V-)	BGND
3 (+IN)	Isolator 2 Pin 7
4 (-IN)	Bike Motor Pin 3
5 (V+)	REG5V

Opto-Isolators 1 & 2

Isolation devices allow for multiple power domains to coexist and communicate, which means that sensitive circuits are protected from switching circuits. As one can see in figure 1, the PCB is separated into two domains (5V and 3.3V), where the components placed in that domain only deal with that certain voltage. The report does go into good detail explaining the function the opto-isolator, why they chose the IL711 and IL712 (which we currently use), and how it works.

Isolator 1 (IL711)

Pin Label	Connected To
1 (VDD1)	3.3 V
2 (IN1)	DUE Shield Pin 9
3 (IN2)	DUE Shield Pin 46
4 (GND1)	GND
5 (GND2)	BGND
6 (OUT2)	Bike Motor Pin 2
7 (OUT1)	Bike Motor Pin 1
8 (VDD2)	REG5V

Isolator 2 (IL712)

Pin Label	Connected To
1 (VDD1)	3.3 V
2 (IN1)	DUE Shield Pin 8
3 (OUT2)	DUE Shield Pin 11
4 (GND1)	GND
5 (GND2)	BGND
6 (IN2)	Bike Motor Pin 4
7 (OUT1)	Op-Amp Pin 7
8 (VDD2)	REG5V

Differential Line Receiver (LR)

Translates differential voltage signals into standard logic signals. In this case, it is used to reduce the noise from the transmission by differentiating two inputs and then cancelling out any differences. Since the signals transmitted from the encoder has to travel a large amount of distance to reach the DUE, a significant amount of noise is produced. The second line receiver (the lower one in the figure 1) takes in a total of six inputs from the encoder connector. Specifically, the inputs are A, B, and C. Channels A and B reads the markings of the inner disk of the encoder (i.e. the current position of the motor) and channel C outputs one pulse per revolution to indicate number of turns. Thus, the line receiver intakes these noisy signals and outputs a cleaner signal. Furthermore, we believe that the the first line receiver (the one closer to the top in figure 1) is not currently used since none of its inputs are being used. We used the module ST26C32ABDR for both line receivers.

LR 1

Pin Label	Connected To
1 (AIN1)	RE1 Pin 8
2 (AIN2)	RE1 Pin 7
3 (AOUT)	DUE Shield Pin 4
4 (EN)	DUE Shield Pin 26
5 (BOUT)	DUE Shield Pin 5
6 (BIN2)	RE1 Pin 5
7 (BIN1)	RE1 Pin 6
8 (GND)	GND
9 (CIN1)	RE1 Pin 4
10 (CIN2)	RE1 Pin 3
11 (COUT)	DUE Shield Pin 10
12 (~EN)
13 (DOUT)
14 (DIN2)	GND
15 (DIN1)	GND
16 (VCC)	3.3 V

LR 2

Pin Label	Connected To
1 (AIN1)	RE2 Pin 8
2 (AIN2)	RE2 Pin 7
3 (AOUT)	DUE Shield Pin 2
4 (EN)	DUE Shield Pin 26
5 (BOUT)	DUE Shield Pin 13
6 (BIN2)	RE2 Pin 5
7 (BIN1)	RE2 Pin 6
8 (GND)	GND
9 (CIN1)	RE2 Pin 4
10 (CIN2)	RE2 Pin 3
11 (COUT)	DUE Shield Pin A6
12 (~EN)
13 (DOUT)
14 (DIN2)	GND
15 (DIN1)	GND
16 (VCC)	3.3 V

Voltage Regulator

As one can guess from the name, this component stabilizes the voltage to a constant level. On the PCB, the regulator takes in the voltage outputted by the DC converter and outputs the stabilized voltage to other components. The present regulator (NCV8705) is a low drop-out (LDO) linear voltage regulator. As a linear regulator, the component acts as a variable resistor, meaning the regulator adjusts the amount of resistance to vary the output voltage as desired. Furthermore, in order for a regulator to work, the input voltage must always be greater than the output voltage (in most cases the input has to be greater than the output by a minimum of 2V). LDO regulators basically reduces the minimum the input voltage has to be relative to the output voltage. The main advantages for having a LDO linear voltage regulator is because of its simplicity and they are small in size. (7818DT is the one on the PCB???)

Pin Label	Connected To
1 (VI)	BAT+
2 (VO)	REG5V
3 (GND)	BGND

Bike Motor && other related components

Bike Motor controls the front and rear motor. The servos were removed and replaced with a MA02-1 pin header. Both pins supply BGND and can be used for RM and FM. (Can be expanded)

Bike Motor

Pin Label	Connected To
1	Isolator 1 Pin 7
2	Isolator 1 Pin 6
3	Op-Amp Pin 1 && 4
4	Isolator 2 Pin 6

FM_RM_GND

Pin Label	Connected To
1	BGND1
2	BGND2

IMU && RC

The IMU (Inertial Measurement Unit) is a sensor used to provide information regarding the bike's current angle and angular rates. (Not sure about the RC, can be expanded)

IMU

Pin Label	Connected To
1	MOSI
2	Due Shield Pin A11
3	MISO
4	3.3 V
5	SCK
6	GND

RC

Pin Label	Connected To
1	MOSI
2	Due Shield Pin 52
3	MISO
4	Due Shield Pin 3v3
5	SCK
6	Due Shield Pin Gnd_1

Encoders (RE) && other related components

Currently, only RE1 is used for the front motor encoder. Although RE2 is not being used, it was decided to keep it because of the potential benefit of having a secondary encoder. To learn more about encoder outputs and their function, check Fundamental Concepts. Because RE2 is not used, the power supply pins are used for the RC. To avoid this, an MA02-1 (i.e. two-by-one pin header) was added specifically for the RC.

RE 1

Pin Label	Connected To
1	GND
2	5V
3	LR1 Pin 10
4	LR1 Pin 9
5	LR1 Pin 6
6	LR1 Pin 7
7	LR1 Pin 2
8	LR1 Pin 1

RE 2

Pin Label	Connected To
1	GND
2	5V
3	LR2 Pin 10
4	LR2 Pin 9
5	LR2 Pin 6
6	LR2 Pin 7
7	LR2 Pin 2
8	LR2 Pin 1

RC_PWR

Pin Label	Connected To
1	5V
2	GND

A-PINS, D-PINS, S-PINS

Useful for experimentation (can be expanded)