Electronics

Motor Driver

The motor driver uses a P-FET high side switch to handle PWM signals from the controller, and a double pole double throw relay to reverse the potential to the motor.

Motor Driver Circuit

Motor Driver Circuit Diagram

Overdrive Protection

The overdrive protection logic circuit converts the manual controller inputs to speed and direction inputs to the motor driver board and prevents the motors from attempting to move the joints past their limits when in manual control mode. The circuit is built using 7400 series logic ICs.

Logic Diagram of Overdrive Protection circuit

Arduino Mega, Overdrive Protection board, and Power junction box