From f9f6e8a0f7f3f47dfd7087dc6b6e1f6898bc7366 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 25 May 2015 13:41:35 +0200 Subject: [PATCH 01/78] added github tools --- tools/createlog.sh | 1 + 1 file changed, 1 insertion(+) create mode 100644 tools/createlog.sh diff --git a/tools/createlog.sh b/tools/createlog.sh new file mode 100644 index 000000000..8963c2fe1 --- /dev/null +++ b/tools/createlog.sh @@ -0,0 +1 @@ +git log --pretty=format:"%ad %s" --date=short 1.0a2-Azurit..1.0a3-Azurit -- "ardumower" > log.txt From 1f4e4a0518b2fb3bde8d8449cdf6cde749eae832 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Mon, 25 May 2015 13:42:18 +0200 Subject: [PATCH 02/78] Version 1.0.2a3-Azurit --- ardumower/robot.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.h b/ardumower/robot.h index bec7359d4..f4fdd08d0 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -56,7 +56,7 @@ */ // code version -#define VER "1.0a4-Azurit-dev" +#define VER "1.0.2a3-Azurit" // sensors From bb1b8277661e048a44b40f61a2baaf60dac40f90 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Mon, 25 May 2015 13:47:28 +0200 Subject: [PATCH 03/78] pushing version to 1.0a4-Azurit --- ardumower/robot.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.h b/ardumower/robot.h index f4fdd08d0..2709b241d 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -56,7 +56,7 @@ */ // code version -#define VER "1.0.2a3-Azurit" +#define VER "1.0a4-Azurit" // sensors From 453a100f95167caf3e9e6e4c5ddecad01c22879a Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Mon, 25 May 2015 14:55:45 +0200 Subject: [PATCH 04/78] added motorRollTimeMin implements https://github.com/Ardumower/ardumower/issues/41 so we are in better control of robot movement --- ardumower/mower.cpp | 1 + ardumower/pfod.cpp | 4 +++- ardumower/robot.cpp | 8 +++++--- ardumower/robot.h | 1 + 4 files changed, 10 insertions(+), 4 deletions(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index ff1b8e354..86d371515 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -136,6 +136,7 @@ Mower::Mower(){ motorPowerIgnoreTime = 2000; // time to ignore motor power (ms) motorZeroSettleTime = 2000 ; // how long (ms) to wait for motors to settle at zero speed motorRollTimeMax = 3000; // max. roll time (ms) + motorRollTimeMin = 1000; //min. roll time (ms) should be smaller than motorRollTimeMax motorReverseTime = 3500; // max. reverse time (ms) motorForwTimeMax = 60000; // max. forward time (ms) / timeout motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index b69fbcd43..ce52117d1 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -296,7 +296,8 @@ void RemoteControl::sendMotorMenu(boolean update){ sendSlider("a15", F("Speed max in pwm"), robot->motorSpeedMaxPwm, "", 1, 255); sendSlider("a11", F("Accel"), robot->motorAccel, "", 1, 1000, 300); sendSlider("a18", F("Power ignore time"), robot->motorPowerIgnoreTime, "", 1, 8000); - sendSlider("a07", F("Roll time max"), robot->motorRollTimeMax, "", 1, 8000); + sendSlider("a07", F("Roll time max"), robot->motorRollTimeMax, "", 1, 8000); + sendSlider("a19", F("Roll time min"), robot->motorRollTimeMin, "", 1, (robot->motorRollTimeMax - 500)); sendSlider("a08", F("Reverse time"), robot->motorReverseTime, "", 1, 8000); sendSlider("a09", F("Forw time max"), robot->motorForwTimeMax, "", 10, 80000); sendSlider("a12", F("Bidir speed ratio 1"), robot->motorBiDirSpeedRatio1, "", 0.01, 1.0); @@ -337,6 +338,7 @@ void RemoteControl::processMotorMenu(String pfodCmd){ else if (pfodCmd.startsWith("a06")) processSlider(pfodCmd, robot->motorSpeedMaxRpm, 1); else if (pfodCmd.startsWith("a15")) processSlider(pfodCmd, robot->motorSpeedMaxPwm, 1); else if (pfodCmd.startsWith("a07")) processSlider(pfodCmd, robot->motorRollTimeMax, 1); + else if (pfodCmd.startsWith("a19")) processSlider(pfodCmd, robot->motorRollTimeMin, 1); else if (pfodCmd.startsWith("a08")) processSlider(pfodCmd, robot->motorReverseTime, 1); else if (pfodCmd.startsWith("a09")) processSlider(pfodCmd, robot->motorForwTimeMax, 10); else if (pfodCmd.startsWith("a11")) processSlider(pfodCmd, robot->motorAccel, 1); diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 434838703..d72e73b01 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -25,8 +25,7 @@ #include "robot.h" -//#define MAGIC 45 -#define MAGIC 45 +#define MAGIC 46 #define ADDR_USER_SETTINGS 0 @@ -207,6 +206,7 @@ void Robot::loadSaveUserSettings(boolean readflag){ eereadwrite(readflag, addr, motorSenseRightScale); eereadwrite(readflag, addr, motorSenseLeftScale); eereadwrite(readflag, addr, motorRollTimeMax); + eereadwrite(readflag, addr, motorRollTimeMin); eereadwrite(readflag, addr, motorReverseTime); eereadwrite(readflag, addr, motorPowerIgnoreTime); eereadwrite(readflag, addr, motorForwTimeMax); @@ -313,6 +313,8 @@ void Robot::printSettingSerial(){ Console.println(motorZeroSettleTime); Console.print (F("motorRollTimeMax : ")); Console.println(motorRollTimeMax); + Console.print (F("motorRollTimeMin : ")); + Console.println(motorRollTimeMin); Console.print (F("motorReverseTime : ")); Console.println(motorReverseTime); @@ -1748,7 +1750,7 @@ void Robot::setNextState(byte stateNew, byte dir){ imuRollHeading = scalePI(imuDriveHeading + PI/20); imuRollDir = LEFT; } - stateEndTime = millis() + random(motorRollTimeMax/2,motorRollTimeMax) + motorZeroSettleTime; + stateEndTime = millis() + random(motorRollTimeMin,motorRollTimeMax) + motorZeroSettleTime; if (dir == RIGHT){ motorLeftSpeedRpmSet = motorSpeedMaxRpm/1.25; motorRightSpeedRpmSet = -motorLeftSpeedRpmSet/1.25; diff --git a/ardumower/robot.h b/ardumower/robot.h index 2709b241d..acbccca37 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -248,6 +248,7 @@ class Robot float motorSenseRightScale ; // motor right sense scale (mA=(ADC-zero)/scale) float motorSenseLeftScale ; // motor left sense scale (mA=(ADC-zero)/scale) int motorRollTimeMax ; // max. roll time (ms) + int motorRollTimeMin ; // min. roll time (ms) int motorReverseTime ; // max. reverse time (ms) long motorForwTimeMax; // max. forward time (ms) / timeout float motorBiDirSpeedRatio1 ; // bidir mow pattern speed ratio 1 From cdf25a5e90e18304efee7909d06a04ab850a2323 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 25 May 2015 16:42:45 +0200 Subject: [PATCH 05/78] serial fixes --- tests/drivecontrol/adcman.cpp | 2 +- tests/drivecontrol/arbitrator.cpp | 39 ++--- tests/drivecontrol/battery.cpp | 16 +-- tests/drivecontrol/button.cpp | 4 +- tests/drivecontrol/buzzer.cpp | 2 +- tests/drivecontrol/drivecontrol.ino | 4 + tests/drivecontrol/led.cpp | 2 +- tests/drivecontrol/modelrc.cpp | 9 +- tests/drivecontrol/motorcontrol.cpp | 212 ++++++++++++++-------------- tests/drivecontrol/motormow.cpp | 22 +-- tests/drivecontrol/robot.cpp | 44 +++--- tests/drivecontrol/sonar.cpp | 4 +- tests/drivecontrol/timer.cpp | 12 +- 13 files changed, 189 insertions(+), 183 deletions(-) diff --git a/tests/drivecontrol/adcman.cpp b/tests/drivecontrol/adcman.cpp index 52f013a38..9078450f4 100644 --- a/tests/drivecontrol/adcman.cpp +++ b/tests/drivecontrol/adcman.cpp @@ -105,7 +105,7 @@ void ADCManager::setCapture(byte pin, byte samplecount, boolean autoCalibrateOfs } void ADCManager::calibrate(){ - Console.println("ADC calibration..."); + Console.println(F("ADC calibration...")); for (int ch=0; ch < CHANNELS; ch++){ ADCMax[ch] = -9999; ADCMin[ch] = 9999; diff --git a/tests/drivecontrol/arbitrator.cpp b/tests/drivecontrol/arbitrator.cpp index 06ac38bbe..3254c3806 100644 --- a/tests/drivecontrol/arbitrator.cpp +++ b/tests/drivecontrol/arbitrator.cpp @@ -1,4 +1,5 @@ #include "arbitrator.h" +#include "drivers.h" #define MAX_BEHAVIORS 30 @@ -14,54 +15,54 @@ Arbitrator::Arbitrator(){ void Arbitrator::addBehavior(Behavior *behavior){ if (behaviorCount >= MAX_BEHAVIORS) { - Serial.println("ERROR: Arbitrator::add"); + Console.println(F("ERROR: Arbitrator::add")); return; } - Serial.print("Arbitrator::addBehavior "); - Serial.print(behaviorCount); - Serial.print(": "); - Serial.println(behavior->name); + Console.print(F("Arbitrator::addBehavior ")); + Console.print(behaviorCount); + Console.print(": "); + Console.println(behavior->name); behaviors[behaviorCount] = behavior; behaviorCount++; } void Arbitrator::run(){ - Serial.println("Arbitrator::run"); + Console.println(F("Arbitrator::run")); if (activeBehavior){ activeBehavior->action(); - Serial.print("COMPLETED: "); - Serial.println(activeBehavior->name); + Console.print(F("COMPLETED: ")); + Console.println(activeBehavior->name); } activeBehavior = NULL; activeBehaviorIdx = -1; while (nextBehavior == NULL) { // no next behavior (no supression) => find out next behavior - Serial.println("NO SUPPRESSION"); + Console.println(F("NO SUPPRESSION")); monitor(); } activeBehaviorIdx=nextBehaviorIdx; activeBehavior = nextBehavior; nextBehavior = NULL; nextBehaviorIdx = -1; - Serial.print("CHANGED activeBehavior Idx: "); - Serial.print(activeBehaviorIdx); - Serial.print(" "); - Serial.println(activeBehavior->name); + Console.print(F("CHANGED activeBehavior Idx: ")); + Console.print(activeBehaviorIdx); + Console.print(" "); + Console.println(activeBehavior->name); } void Arbitrator::monitor() { - //Serial.println("Arbitrator::monitor"); + //Console.println("Arbitrator::monitor"); for (int idx=behaviorCount-1; idx >= 0; idx--) { Behavior *behavior = behaviors[idx]; - /*Serial.print("takeControl "); - Serial.print(idx); - Serial.print(" "); - Serial.println(behavior->name); */ + /*Console.print("takeControl "); + Console.print(idx); + Console.print(" "); + Console.println(behavior->name); */ if ( (idx > activeBehaviorIdx) && (behavior->takeControl()) ){ if (activeBehavior != NULL){ - Serial.println("Arbitrator::monitor suppressing"); + Console.println(F("Arbitrator::monitor suppressing")); activeBehavior->suppress(); } nextBehavior = behavior; diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/battery.cpp index ef460d4ef..c912db7d1 100644 --- a/tests/drivecontrol/battery.cpp +++ b/tests/drivecontrol/battery.cpp @@ -29,7 +29,7 @@ BatteryControl::BatteryControl(){ } void BatteryControl::setup(){ - Console.println("BatteryControl::setup"); + Console.println(F("BatteryControl::setup")); pinMode(pinBatterySwitch, OUTPUT); pinMode(pinBatteryVoltage, INPUT); pinMode(pinChargeCurrent, INPUT); @@ -45,7 +45,7 @@ void BatteryControl::setup(){ } void BatteryControl::setBatterySwitch(bool state){ - Console.print("BatteryControl::setBatterySwitch "); + Console.print(F("BatteryControl::setBatterySwitch ")); Console.println(state); digitalWrite(pinBatterySwitch, state); } @@ -133,7 +133,7 @@ bool BatteryControl::chargerConnected(){ } void BatteryControl::enableChargingRelay(bool state){ - Console.print("BatteryControll::enableChargingRelay "); + Console.print(F("BatteryControll::enableChargingRelay ")); Console.println(state); chargeRelayEnabled = state; digitalWrite(pinChargeRelay, state); @@ -141,15 +141,15 @@ void BatteryControl::enableChargingRelay(bool state){ void BatteryControl::print(){ - Console.print("batVoltage="); + Console.print(F("batVoltage=")); Console.print(batVoltage); - Console.print(" chgVoltage="); + Console.print(F(" chgVoltage=")); Console.print(chgVoltage); - Console.print(" chgCurrent="); + Console.print(F(" chgCurrent=")); Console.print(chgCurrent); - Console.print(" chargerConnected="); + Console.print(F(" chargerConnected=")); Console.print(chargerConnected()); - Console.print(" chargeRelayEnabled="); + Console.print(F(" chargeRelayEnabled=")); Console.print(chargeRelayEnabled); Console.println(); } diff --git a/tests/drivecontrol/button.cpp b/tests/drivecontrol/button.cpp index 2b9b68674..02686f42b 100644 --- a/tests/drivecontrol/button.cpp +++ b/tests/drivecontrol/button.cpp @@ -13,7 +13,7 @@ ButtonControl::ButtonControl(){ void ButtonControl::setup(){ // button - Console.println("ButtonControl::setup"); + Console.println(F("ButtonControl::setup")); pinMode(pinButton, INPUT); pinMode(pinButton, INPUT_PULLUP); } @@ -32,7 +32,7 @@ void ButtonControl::run(){ if ( (!buttonPressed) && (tempBeepCounter > 0) ){ nextButtonTime = millis() + 2000; beepCounter = tempBeepCounter; - Console.print("BUTTON beeps "); + Console.print(F("BUTTON beeps ")); Console.println(beepCounter); tempBeepCounter = 0; } diff --git a/tests/drivecontrol/buzzer.cpp b/tests/drivecontrol/buzzer.cpp index b4c5943eb..e57c2890a 100644 --- a/tests/drivecontrol/buzzer.cpp +++ b/tests/drivecontrol/buzzer.cpp @@ -26,7 +26,7 @@ BuzzerControl::BuzzerControl(){ } void BuzzerControl::setup(){ - Console.println("BuzzerControl::setup"); + Console.println(F("BuzzerControl::setup")); pinMode(pinBuzzer, OUTPUT); } diff --git a/tests/drivecontrol/drivecontrol.ino b/tests/drivecontrol/drivecontrol.ino index 50593ba0f..4c73f8c3d 100644 --- a/tests/drivecontrol/drivecontrol.ino +++ b/tests/drivecontrol/drivecontrol.ino @@ -18,11 +18,15 @@ void setup(){ Robot.setup(); + //Console.begin(19200); + //Console.println("setup()"); } void loop(){ Robot.loop(); + //Console.println("loop()"); + //delay(1000); } diff --git a/tests/drivecontrol/led.cpp b/tests/drivecontrol/led.cpp index 368194276..d443481f0 100644 --- a/tests/drivecontrol/led.cpp +++ b/tests/drivecontrol/led.cpp @@ -12,7 +12,7 @@ LEDControl::LEDControl(){ } void LEDControl::setup(){ - Console.println("LEDControl::setup"); + Console.println(F("LEDControl::setup")); pinMode(pinLED, OUTPUT); pinMode(pinLEDDuoRed, OUTPUT); pinMode(pinLEDDuoGreen, OUTPUT); diff --git a/tests/drivecontrol/modelrc.cpp b/tests/drivecontrol/modelrc.cpp index 7579347c7..17639b6fb 100644 --- a/tests/drivecontrol/modelrc.cpp +++ b/tests/drivecontrol/modelrc.cpp @@ -1,6 +1,7 @@ #include "modelrc.h" #include "motorcontrol.h" #include "config.h" +#include "drivers.h" ModelReceiver ModelRC; @@ -56,10 +57,10 @@ void ModelReceiver::run(){ } void ModelReceiver::print(){ - Serial.print("RC:"); - Serial.print(ModelRC.remoteSpeed); - Serial.print(","); - Serial.print(ModelRC.remoteSteer); + Console.print(F("RC:")); + Console.print(ModelRC.remoteSpeed); + Console.print(","); + Console.print(ModelRC.remoteSteer); } diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index a1a2c61f9..e39888ba2 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -110,7 +110,7 @@ MotorControl::MotorControl(){ void MotorControl::setup(){ - Serial.println("MotorControl::setup"); + Console.println(F("MotorControl::setup")); printCSV(true); motion = MOTION_STOP; enableSpeedControl = enableStallDetection = true; @@ -157,7 +157,7 @@ void MotorControl::setup(){ void MotorControl::resetStalled(){ motorLeftStalled = motorRightStalled = false; - Serial.println("STALL RESET"); + Console.println(F("STALL RESET")); } // MC33926 motor driver @@ -205,12 +205,12 @@ void MotorControl::run(){ case MOTION_LINE_DISTANCE: distanceToTargetCm = abs(odometryDistanceCmCurr - odometryDistanceCmSet); if (distanceToTargetCm < 20.0) { - Serial.println("reached destination"); + Console.println(F("reached destination")); motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; } /*if (odometryDistanceCmCurr > odometryDistanceCmSet) { - Serial.println("reached destination (overshoot)"); + Console.println(F("reached destination (overshoot)")); motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; }*/ @@ -218,7 +218,7 @@ void MotorControl::run(){ case MOTION_ROTATE_ANGLE: angleToTargetRad = abs(distancePI(odometryThetaRadCurr, odometryThetaRadSet)); if (angleToTargetRad < PI/32){ - Serial.println("reached angle"); + Console.println(F("reached angle")); motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; } @@ -260,7 +260,7 @@ void MotorControl::readOdometry(){ odometryLeftTicksZeroCounter = 0; } else { odometryLeftTicksZeroCounter++; - //Serial.println("LEFT TICKS ZERO"); + //Console.println(F("LEFT TICKS ZERO")); if (odometryLeftTicksZeroCounter > 10) motorLeftRpmCurr = 0; // ensures rpm gets zero } if (motorLeftPWMCurr < 0) motorLeftRpmCurr *= -1; @@ -270,7 +270,7 @@ void MotorControl::readOdometry(){ odometryRightTicksZeroCounter = 0; } else { odometryRightTicksZeroCounter++; - //Serial.println("RIGHT TICKS ZERO"); + //Console.println(F("RIGHT TICKS ZERO")); if (odometryRightTicksZeroCounter > 10) motorRightRpmCurr = 0; // ensures rpm gets zero } if (motorRightPWMCurr < 0) motorRightRpmCurr *= -1; @@ -356,8 +356,8 @@ void MotorControl::travelLineSpeedRpm(int speedRpm){ void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ motion = MOTION_LINE_DISTANCE; odometryDistanceCmSet = odometryDistanceCmCurr + distanceCm; - Serial.print("target distance="); - Serial.println(odometryDistanceCmSet); + Console.print(F("target distance=")); + Console.println(odometryDistanceCmSet); if (distanceCm < 0) motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -speedRpm; else @@ -367,8 +367,8 @@ void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ void MotorControl::rotate(float angleRad, int speedRpm){ motion = MOTION_ROTATE_ANGLE; odometryThetaRadSet = scalePI(odometryThetaRadCurr + angleRad); - Serial.print("target angle="); - Serial.println(odometryThetaRadSet/PI*180.0); + Console.print(F("target angle=")); + Console.println(odometryThetaRadSet/PI*180.0); if (angleRad < 0){ motorLeftSpeedRpmSet = -speedRpm; motorRightSpeedRpmSet = speedRpm; @@ -402,9 +402,9 @@ void MotorControl::readCurrent(){ //motorLeftSenseADC = analogRead(pinMotorLeftSense); //motorRightSenseADC = analogRead(pinMotorRightSense); - /*Serial.print(motorLeftSenseADC); - Serial.print(","); - Serial.println(motorRightSenseADC);*/ + /*Console.print(motorLeftSenseADC); + Console.print(","); + Console.println(motorRightSenseADC);*/ // compute gradient motorLeftSenseGradient = (((double)motorLeftSenseADC) - ((double)lastMotorLeftSenseADC)) / TaS; @@ -446,15 +446,15 @@ void MotorControl::readCurrent(){ // Vu: tire velocity //print(); - //Serial.println(); + //Console.println(); //printCSV(false); if (enableStallDetection) { if (!motorLeftStalled){ if ( (abs(motorLeftPWMCurr) > 0) && (motorLeftSensePower > 1) && (motorLeftEfficiency < 200) ) { print(); - Serial.print(" LEFT STALL"); - Serial.println(); + Console.print(F(" LEFT STALL")); + Console.println(); motorLeftStalled = true; stopImmediately(); } @@ -462,8 +462,8 @@ void MotorControl::readCurrent(){ if (!motorRightStalled){ if ( (abs(motorRightPWMCurr) > 0) && (motorRightSensePower > 1) && (motorRightEfficiency < 200) ) { print(); - Serial.print(" RIGHT STALL"); - Serial.println(); + Console.print(F(" RIGHT STALL")); + Console.println(); motorRightStalled = true; stopImmediately(); } @@ -472,97 +472,97 @@ void MotorControl::readCurrent(){ } void MotorControl::printCSV(bool includeHeader){ - if (includeHeader) Serial.println("millis,tickL,tickR,th,dist,setL,setR,curL,curR,errL,errR,pwmL,pwmR,maL,maR,gmaL,gmaR,pL,pR,effL,effR"); - /*Serial.print(millis()); - Serial.print(","); - Serial.print(MotorCtrl.odometryLeftTicks); - Serial.print(","); - Serial.print(MotorCtrl.odometryRightTicks); - Serial.print(","); - Serial.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); - Serial.print(","); - Serial.print(MotorCtrl.odometryDistanceCmCurr, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftSpeedRpmSet); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSpeedRpmSet); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftRpmCurr, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorRightRpmCurr, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftPID.eold, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorRightPID.eold, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftPWMCurr, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightPWMCurr, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftSenseCurrent, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSenseCurrent, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftSenseGradient, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSenseGradient, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorLeftSensePower, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSensePower, 1); - Serial.print(","); */ - Serial.print(MotorCtrl.motorLeftEfficiency, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightEfficiency, 0); - Serial.println(); + if (includeHeader) Console.println(F("millis,tickL,tickR,th,dist,setL,setR,curL,curR,errL,errR,pwmL,pwmR,maL,maR,gmaL,gmaR,pL,pR,effL,effR")); + /*Console.print(millis()); + Console.print(","); + Console.print(MotorCtrl.odometryLeftTicks); + Console.print(","); + Console.print(MotorCtrl.odometryRightTicks); + Console.print(","); + Console.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); + Console.print(","); + Console.print(MotorCtrl.odometryDistanceCmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorLeftSpeedRpmSet); + Console.print(","); + Console.print(MotorCtrl.motorRightSpeedRpmSet); + Console.print(","); + Console.print(MotorCtrl.motorLeftRpmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightRpmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorLeftPID.eold, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightPID.eold, 1); + Console.print(","); + Console.print(MotorCtrl.motorLeftPWMCurr, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightPWMCurr, 0); + Console.print(","); + Console.print(MotorCtrl.motorLeftSenseCurrent, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseCurrent, 0); + Console.print(","); + Console.print(MotorCtrl.motorLeftSenseGradient, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseGradient, 0); + Console.print(","); + Console.print(MotorCtrl.motorLeftSensePower, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightSensePower, 1); + Console.print(","); */ + Console.print(MotorCtrl.motorLeftEfficiency, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightEfficiency, 0); + Console.println(); } void MotorControl::print(){ - Serial.print(" ticks:"); - Serial.print(MotorCtrl.odometryLeftTicks); - Serial.print(","); - Serial.print(MotorCtrl.odometryRightTicks); - Serial.print(" th,dist:"); - Serial.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); - Serial.print(","); - Serial.print(MotorCtrl.odometryDistanceCmCurr, 1); - Serial.print(" ## "); - Serial.print(MotorCtrl.angleToTargetRad/PI*180.0, 1); - Serial.print(","); - Serial.print(MotorCtrl.distanceToTargetCm, 1); - Serial.print(" set:"); - Serial.print(MotorCtrl.motorLeftSpeedRpmSet); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSpeedRpmSet); - Serial.print(" cur:"); - Serial.print(MotorCtrl.motorLeftRpmCurr, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorRightRpmCurr, 1); - Serial.print(" err:"); - Serial.print(MotorCtrl.motorLeftPID.eold, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorRightPID.eold, 1); - Serial.print(" pwm:"); - Serial.print(MotorCtrl.motorLeftPWMCurr, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightPWMCurr, 0); - Serial.print(" mA:"); - Serial.print(MotorCtrl.motorLeftSenseCurrent, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSenseCurrent, 0); - Serial.print(" ## "); - Serial.print(MotorCtrl.motorLeftSenseGradient, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSenseGradient, 0); - Serial.print(" P:"); - Serial.print(MotorCtrl.motorLeftSensePower, 1); - Serial.print(","); - Serial.print(MotorCtrl.motorRightSensePower, 1); - Serial.print(" eff:"); - Serial.print(MotorCtrl.motorLeftEfficiency, 0); - Serial.print(","); - Serial.print(MotorCtrl.motorRightEfficiency, 0); + Console.print(F(" ticks:")); + Console.print(MotorCtrl.odometryLeftTicks); + Console.print(","); + Console.print(MotorCtrl.odometryRightTicks); + Console.print(F(" th,dist:")); + Console.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); + Console.print(","); + Console.print(MotorCtrl.odometryDistanceCmCurr, 1); + Console.print(F(" ## ")); + Console.print(MotorCtrl.angleToTargetRad/PI*180.0, 1); + Console.print(","); + Console.print(MotorCtrl.distanceToTargetCm, 1); + Console.print(F(" set:")); + Console.print(MotorCtrl.motorLeftSpeedRpmSet); + Console.print(","); + Console.print(MotorCtrl.motorRightSpeedRpmSet); + Console.print(F(" cur:")); + Console.print(MotorCtrl.motorLeftRpmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightRpmCurr, 1); + Console.print(F(" err:")); + Console.print(MotorCtrl.motorLeftPID.eold, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightPID.eold, 1); + Console.print(F(" pwm:")); + Console.print(MotorCtrl.motorLeftPWMCurr, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightPWMCurr, 0); + Console.print(F(" mA:")); + Console.print(MotorCtrl.motorLeftSenseCurrent, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseCurrent, 0); + Console.print(F(" ## ")); + Console.print(MotorCtrl.motorLeftSenseGradient, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseGradient, 0); + Console.print(F(" P:")); + Console.print(MotorCtrl.motorLeftSensePower, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightSensePower, 1); + Console.print(F(" eff:")); + Console.print(MotorCtrl.motorLeftEfficiency, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightEfficiency, 0); } diff --git a/tests/drivecontrol/motormow.cpp b/tests/drivecontrol/motormow.cpp index af66bb020..d976ee7bb 100644 --- a/tests/drivecontrol/motormow.cpp +++ b/tests/drivecontrol/motormow.cpp @@ -23,7 +23,7 @@ MotorMowControl::MotorMowControl(){ } void MotorMowControl::setup(){ - Console.println("MotorMowControl::setup"); + Console.println(F("MotorMowControl::setup")); // mower motor pinMode(pinMotorMowDir, OUTPUT); pinMode(pinMotorMowPWM, OUTPUT); @@ -55,13 +55,13 @@ void MotorMowControl::setSpeedPWM(int pwm){ void MotorMowControl::print(){ - Serial.print(" pwm:"); - Serial.print(motorPWMCurr, 0); - Serial.print(","); - Serial.print(" mA:"); - Serial.print(motorSenseCurrent, 0); - Serial.print(" P:"); - Serial.print(motorSensePower, 1); + Console.print(F(" pwm:")); + Console.print(motorPWMCurr, 0); + Console.print(","); + Console.print(F(" mA:")); + Console.print(motorSenseCurrent, 0); + Console.print(F(" P:")); + Console.print(motorSensePower, 1); } @@ -76,7 +76,7 @@ bool MotorMowControl::hasStopped(){ void MotorMowControl::resetStalled(){ motorStalled = false; - Serial.println("STALL RESET"); + Console.println(F("STALL RESET")); } @@ -110,8 +110,8 @@ void MotorMowControl::readCurrent(){ if (!motorStalled){ if ( (abs(motorPWMCurr) > 0) && (motorSensePower > motorMowPowerMax) ) { print(); - Serial.print(" MOW STALL"); - Serial.println(); + Console.print(F(" MOW STALL")); + Console.println(); motorStalled = true; stopImmediately(); } diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index c5dbfc24d..24ac468b2 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -15,8 +15,8 @@ RobotControl::RobotControl(){ void RobotControl::setup(){ Wire.begin(); - Serial.begin(19200); - Serial.println("SETUP"); + Console.begin(19200); + Console.println(F("SETUP")); ADCMan.setup(); Battery.setup(); @@ -37,7 +37,7 @@ void RobotControl::setup(){ arbitrator.addBehavior(&hitObstacleBehavior); arbitrator.addBehavior(&stopBehavior); arbitrator.addBehavior(&chargerConnectedBehavior); - Serial.println("SETUP completed"); + Console.println(F("SETUP completed")); } @@ -46,80 +46,80 @@ void testloop(){ nextInfoTime = millis() + 500; //ModelRC.print(); //MotorCtrl.print(); - //Serial.println(); + //Console.println(); } - if (Serial.available() > 0){ - char ch = (char)Serial.read(); + if (Console.available() > 0){ + char ch = (char)Console.read(); if (ch == 'm') { MotorCtrl.enableSpeedControl = true; useModelRC = true; - Serial.println("useModelRC"); + Console.println(F("useModelRC")); } if (ch == 'o') { MotorCtrl.enableSpeedControl = false; useModelRC = false; - Serial.println("pwm=127,127"); + Console.println(F("pwm=127,127")); MotorCtrl.setSpeedPWM(127, 127); } if (ch == 'p') { MotorCtrl.enableSpeedControl = false; useModelRC = false; - Serial.println("pwm=255,255"); + Console.println(F("pwm=255,255")); MotorCtrl.setSpeedPWM(255, 255); } if (ch == '1') { MotorCtrl.enableSpeedControl = true; useModelRC = false; - Serial.println("rpm=0,0"); + Console.println(F("rpm=0,0")); MotorCtrl.setSpeedRpm(0, 0); MotorCtrl.resetStalled(); } if (ch == '2') { MotorCtrl.enableSpeedControl = true; useModelRC = false; - Serial.println("rpm=5,5"); + Console.println(F("rpm=5,5")); MotorCtrl.setSpeedRpm(5, 5); } if (ch == '3') { useModelRC = false; - Serial.println("rpm=10,10"); + Console.println(F("rpm=10,10")); MotorCtrl.setSpeedRpm(10, 10); } if (ch == '4') { useModelRC = false; - Serial.println("rpm=-5,+5"); + Console.println(F("rpm=-5,+5")); MotorCtrl.setSpeedRpm(-5, +5); } if (ch == '5') { useModelRC = false; - Serial.println("rpm=+5,-5"); + Console.println(F("rpm=+5,-5")); MotorCtrl.setSpeedRpm(+5, -5); } if (ch == '6') { useModelRC = false; - Serial.println("theta=+45deg"); + Console.println(F("theta=+45deg")); MotorCtrl.rotate(PI/2, 5); } if (ch == '7') { useModelRC = false; - Serial.println("theta=-45deg"); + Console.println(F("theta=-45deg")); MotorCtrl.rotate(-PI/2, 5); } if (ch == '8') { useModelRC = false; - Serial.println("distance=+30cm"); + Console.println(F("distance=+30cm")); MotorCtrl.travelLineDistance(30, 5); } if (ch == '9') { useModelRC = false; - Serial.println("distance=-30cm"); + Console.println(F("distance=-30cm")); MotorCtrl.travelLineDistance(-30, 5); } } if ((MotorCtrl.motorRightError) || (MotorCtrl.motorLeftError)){ - Serial.println("ERROR"); + Console.println(F("ERROR")); if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT_SHORT_SHORT); } @@ -147,7 +147,7 @@ void testloop(){ // call this in ANY loop! void RobotControl::run(){ - //Serial.println("RobotControl::run"); + //Console.println(F("RobotControl::run")); arbitrator.monitor(); ADCMan.run(); @@ -189,8 +189,8 @@ void RobotControl::run(){ // this is called over and over from the Arduino loop void RobotControl::loop(){ - //Serial.print("RobotControl::loop "); - //Serial.println(loopCounter); + //Console.print(F("RobotControl::loop ")); + //Console.println(loopCounter); arbitrator.run(); loopCounter++; } diff --git a/tests/drivecontrol/sonar.cpp b/tests/drivecontrol/sonar.cpp index 5c5ad9e44..bae65f412 100644 --- a/tests/drivecontrol/sonar.cpp +++ b/tests/drivecontrol/sonar.cpp @@ -23,7 +23,7 @@ SonarControl::SonarControl(){ } void SonarControl::setup(){ - Console.println("SonarControl::setup"); + Console.println(F("SonarControl::setup")); // sonar pinMode(pinSonarCenterTrigger, OUTPUT); pinMode(pinSonarCenterEcho, INPUT); @@ -67,7 +67,7 @@ unsigned int SonarControl::readHCSR04(int triggerPin, int echoPin){ } void SonarControl::print(){ - Console.print("sonar L,C,R="); + Console.print(F("sonar L,C,R=")); Console.print(sonarDistLeft); Console.print(sonarDistCenter); Console.print(sonarDistRight); diff --git a/tests/drivecontrol/timer.cpp b/tests/drivecontrol/timer.cpp index 91e734166..1d32db917 100644 --- a/tests/drivecontrol/timer.cpp +++ b/tests/drivecontrol/timer.cpp @@ -17,7 +17,7 @@ TimerControl::TimerControl(){ } void TimerControl::setup(){ - Console.println("TimerControl::setup"); + Console.println(F("TimerControl::setup")); setDefaultTime(); rtcError = false; } @@ -25,7 +25,7 @@ void TimerControl::setup(){ // call this in main loop void TimerControl::run(){ if (millis() < nextTimerTime) return; - nextTimerTime = 60000; + nextTimerTime = millis() + 60000; readDS1307(datetime); print(); checkTimer(); @@ -89,13 +89,13 @@ String TimerControl::date2str(date_t date){ boolean TimerControl::readDS1307(datetime_t &dt){ byte buf[8]; if (I2CreadFrom(DS1307_ADDRESS, 0x00, 8, buf, 3) != 8) { - Console.println("DS1307 comm error"); + Console.println(F("DS1307 comm error")); rtcError = true; return false; } if ( ((buf[0] >> 7) != 0) || ((buf[1] >> 7) != 0) || ((buf[2] >> 7) != 0) || ((buf[3] >> 3) != 0) || ((buf[4] >> 6) != 0) || ((buf[5] >> 5) != 0) || ((buf[7] & B01101100) != 0) ) { - Console.println("DS1307 data1 error"); + Console.println(F("DS1307 data1 error")); rtcError = true; return false; } @@ -109,7 +109,7 @@ boolean TimerControl::readDS1307(datetime_t &dt){ if ( (r.time.minute > 59) || (r.time.hour > 23) || (r.date.dayOfWeek > 6) || (r.date.month > 12) || (r.date.day > 31) || (r.date.day < 1) || (r.date.month < 1) || (r.date.year > 99) ){ - Console.println("DS1307 data2 error"); + Console.println(F("DS1307 data2 error")); rtcError = true; return false; } @@ -121,7 +121,7 @@ boolean TimerControl::readDS1307(datetime_t &dt){ boolean TimerControl::setDS1307(datetime_t &dt){ byte buf[7]; if (I2CreadFrom(DS1307_ADDRESS, 0x00, 7, buf, 3) != 7){ - Console.println("DS1307 comm error"); + Console.println(F("DS1307 comm error")); rtcError = true; return false; } From dba28c93c4164a9831d0e2cbe4c696076783bcbc Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Mon, 25 May 2015 19:39:42 +0200 Subject: [PATCH 06/78] now time and date under DATE/TIME are always shown fixes https://github.com/Ardumower/ardumower/issues/42 --- ardumower/robot.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index d72e73b01..60cc0868f 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1582,7 +1582,8 @@ void Robot::readSensors(){ } } - if ((timerUse) && (millis() >= nextTimeRTC)) { + //if ((timerUse) && (millis() >= nextTimeRTC)) { + if (millis() >= nextTimeRTC) { // read RTC nextTimeRTC = millis() + 60000; readSensor(SEN_RTC); From 1cc5e766d4621a7adf43536913ca53a535d0209c Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 25 May 2015 19:53:49 +0200 Subject: [PATCH 07/78] rccontrol, button/sonar simulation --- tests/drivecontrol/behavior.cpp | 23 ++++++++++++++++++++++- tests/drivecontrol/behavior.h | 8 ++++++++ tests/drivecontrol/button.cpp | 17 +++++++++++------ tests/drivecontrol/button.h | 1 + tests/drivecontrol/led.cpp | 1 + tests/drivecontrol/robot.cpp | 24 +++++++++++++++++++++--- tests/drivecontrol/robot.h | 3 ++- tests/drivecontrol/sonar.cpp | 23 ++++++++++++++++------- tests/drivecontrol/sonar.h | 3 +++ tests/drivecontrol/timer.cpp | 6 +++++- tests/drivecontrol/timer.h | 1 + 11 files changed, 91 insertions(+), 19 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 71b30b396..0e4e1725d 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -3,6 +3,7 @@ #include "buzzer.h" #include "button.h" #include "robot.h" +#include "modelrc.h" @@ -22,6 +23,26 @@ void StandbyBehavior::action(){ } } +// ---------------------------------------------------------- + +ModelRCBehavior::ModelRCBehavior() : Behavior() { + name = "ModelRCBehavior"; +} + +bool ModelRCBehavior::takeControl(){ + return (Button.beepCounter == 3); +} + +void ModelRCBehavior::action(){ + suppressed = false; + MotorCtrl.stopImmediately(); + while ( !suppressed ) { + ModelRC.run(); + Robot.run(); + } +} + + // ---------------------------------------------------------- StopBehavior::StopBehavior() : Behavior() { @@ -66,7 +87,7 @@ HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ } bool HitObstacleBehavior::takeControl(){ - return ((MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled)); + return ( (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); } void HitObstacleBehavior::action(){ diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 08e8cca36..4e3acf332 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -16,6 +16,14 @@ class Behavior virtual void action() {} }; +class ModelRCBehavior : public Behavior +{ + public: + ModelRCBehavior(); + virtual bool takeControl(); + virtual void action(); +}; + class StandbyBehavior : public Behavior { public: diff --git a/tests/drivecontrol/button.cpp b/tests/drivecontrol/button.cpp index 02686f42b..82881a9c1 100644 --- a/tests/drivecontrol/button.cpp +++ b/tests/drivecontrol/button.cpp @@ -26,15 +26,20 @@ bool ButtonControl::pressed(){ return (digitalRead(pinButton) == LOW); } +void ButtonControl::setBeepCount(int count){ + nextButtonTime = millis() + 2000; + beepCounter = count; + Console.print(F("BUTTON beeps ")); + Console.println(beepCounter); + tempBeepCounter = 0; +} + // call this in main loop -void ButtonControl::run(){ +void ButtonControl::run(){ boolean buttonPressed = pressed(); + if ( (!buttonPressed) && (tempBeepCounter > 0) ){ - nextButtonTime = millis() + 2000; - beepCounter = tempBeepCounter; - Console.print(F("BUTTON beeps ")); - Console.println(beepCounter); - tempBeepCounter = 0; + setBeepCount(tempBeepCounter); } if (millis() >= nextButtonTime){ if (buttonPressed) { diff --git a/tests/drivecontrol/button.h b/tests/drivecontrol/button.h index be0915ef4..1210b97fc 100644 --- a/tests/drivecontrol/button.h +++ b/tests/drivecontrol/button.h @@ -15,6 +15,7 @@ class ButtonControl void setup(); bool pressed(); void resetBeepCounter(); + void setBeepCount(int count); private: int tempBeepCounter; unsigned long nextButtonTime; diff --git a/tests/drivecontrol/led.cpp b/tests/drivecontrol/led.cpp index d443481f0..2f1c42483 100644 --- a/tests/drivecontrol/led.cpp +++ b/tests/drivecontrol/led.cpp @@ -41,6 +41,7 @@ void LEDControl::run(){ break; case LED_RED_BLINK: onState = !onState; + digitalWrite(pinLED, onState); digitalWrite(pinLEDDuoRed, onState); digitalWrite(pinLEDDuoGreen, LOW); break; diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 24ac468b2..009b283b1 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -31,13 +31,15 @@ void RobotControl::setup(){ LED.playSequence(LED_RED_BLINK); - // low-to-high priority + // low-to-high priority arbitrator.addBehavior(&standbyBehavior); arbitrator.addBehavior(&driveForwardBehavior); arbitrator.addBehavior(&hitObstacleBehavior); - arbitrator.addBehavior(&stopBehavior); - arbitrator.addBehavior(&chargerConnectedBehavior); + arbitrator.addBehavior(&stopBehavior); + arbitrator.addBehavior(&modelRCBehavior); + // arbitrator.addBehavior(&chargerConnectedBehavior); Console.println(F("SETUP completed")); + if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); } @@ -144,11 +146,27 @@ void testloop(){ delay(50); } + +void RobotControl::checkKey(){ + if (Console.available() > 0){ + char ch = (char)Console.read(); + switch (ch){ + case '1': Button.setBeepCount(1); break; + case '2': Button.setBeepCount(2); break; + case '3': Button.setBeepCount(3); break; + case '4': Button.setBeepCount(4); break; + case '5': Button.setBeepCount(5); break; + case 's': Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; break; + } + } +} + // call this in ANY loop! void RobotControl::run(){ //Console.println(F("RobotControl::run")); + checkKey(); arbitrator.monitor(); ADCMan.run(); MotorCtrl.run(); diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index da080647b..deaaca990 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -24,6 +24,7 @@ class RobotControl { public: unsigned long loopCounter; + ModelRCBehavior modelRCBehavior; StopBehavior stopBehavior; StandbyBehavior standbyBehavior; DriveForwardBehavior driveForwardBehavior; @@ -35,7 +36,7 @@ class RobotControl virtual void setup(); virtual void loop(); private: - + void checkKey(); }; extern RobotControl Robot; diff --git a/tests/drivecontrol/sonar.cpp b/tests/drivecontrol/sonar.cpp index bae65f412..8bc7cfab5 100644 --- a/tests/drivecontrol/sonar.cpp +++ b/tests/drivecontrol/sonar.cpp @@ -33,22 +33,31 @@ void SonarControl::setup(){ pinMode(pinSonarRightEcho, INPUT); } +bool SonarControl::triggeredLeft(){ + return ((sonarDistLeft != NO_ECHO) && (sonarDistLeft < sonarTriggerBelow)); +} + +bool SonarControl::triggeredRight(){ + return ((sonarDistRight != NO_ECHO) && (sonarDistRight < sonarTriggerBelow)); +} + +bool SonarControl::triggeredCenter(){ + return ((sonarDistCenter != NO_ECHO) && (sonarDistCenter < sonarTriggerBelow)); +} + // call this in main loop void SonarControl::run(){ if (millis() < nextSonarTime) return; nextSonarTime = millis() + 1000; + if (sonarRightUse) sonarDistRight = readHCSR04(pinSonarRightTrigger, pinSonarRightEcho); if (sonarLeftUse) sonarDistLeft = readHCSR04(pinSonarLeftTrigger, pinSonarLeftEcho); if (sonarCenterUse) sonarDistCenter = readHCSR04(pinSonarCenterTrigger, pinSonarCenterEcho); - if ((sonarDistCenter != NO_ECHO) && (sonarDistCenter < sonarTriggerBelow)) + if ( (triggeredRight()) || (triggeredLeft()) || (triggeredCenter()) ) sonarDistCounter++; - - if ((sonarDistRight != NO_ECHO) && (sonarDistRight < sonarTriggerBelow)) - sonarDistCounter++; - - if ((sonarDistLeft != NO_ECHO) && (sonarDistLeft < sonarTriggerBelow)) - sonarDistCounter++; + + print(); } diff --git a/tests/drivecontrol/sonar.h b/tests/drivecontrol/sonar.h index 20de90362..b6e4d1b5f 100644 --- a/tests/drivecontrol/sonar.h +++ b/tests/drivecontrol/sonar.h @@ -18,6 +18,9 @@ class SonarControl unsigned int sonarDistLeft ; unsigned int sonarDistCounter ; unsigned long sonarObstacleTimeout ; + bool triggeredCenter(); + bool triggeredLeft(); + bool triggeredRight(); SonarControl(); void setup(); void run(); diff --git a/tests/drivecontrol/timer.cpp b/tests/drivecontrol/timer.cpp index 1d32db917..c256822e4 100644 --- a/tests/drivecontrol/timer.cpp +++ b/tests/drivecontrol/timer.cpp @@ -11,6 +11,7 @@ char *dayOfWeek[] = {"Sun","Mon","Tue","Wed","Thu","Fri","Sat"}; TimerControl::TimerControl(){ + powerTimeMin = 0; nextTimerTime = 60000; stopTimerTriggered = true; startTimerTriggered = false; @@ -26,6 +27,7 @@ void TimerControl::setup(){ void TimerControl::run(){ if (millis() < nextTimerTime) return; nextTimerTime = millis() + 60000; + powerTimeMin++; readDS1307(datetime); print(); checkTimer(); @@ -150,7 +152,9 @@ void TimerControl::setDefaultTime(){ } void TimerControl::print(){ - Console.print(F("RTC date: ")); + Console.print(F("powerTime: ")); + Console.print(powerTimeMin); + Console.print(F(" RTC date: ")); Console.println(date2str(datetime.date)); } diff --git a/tests/drivecontrol/timer.h b/tests/drivecontrol/timer.h index 8da62b51f..fdcd0ec54 100644 --- a/tests/drivecontrol/timer.h +++ b/tests/drivecontrol/timer.h @@ -48,6 +48,7 @@ typedef struct ttimer_t ttimer_t; class TimerControl { public: + unsigned long powerTimeMin; // total power-time (minutes) ttimer_t timer[MAX_TIMERS]; // timers datetime_t datetime; // current date & time bool stopTimerTriggered; // stop timer triggered? From ebe67d9dec67943d020807a7a4ccdefa5157ea80 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 25 May 2015 23:38:42 +0200 Subject: [PATCH 08/78] config --- tests/drivecontrol/behavior.cpp | 2 +- tests/drivecontrol/config.cpp | 47 +++++++++ tests/drivecontrol/config.h | 6 +- tests/drivecontrol/modelrc.cpp | 11 +++ tests/drivecontrol/modelrc.h | 4 +- tests/drivecontrol/motorcontrol.cpp | 49 ++-------- tests/drivecontrol/motorcontrol.h | 18 +--- tests/drivecontrol/robot.cpp | 144 ++++++++++++++-------------- tests/drivecontrol/sonar.cpp | 15 +-- tests/drivecontrol/sonar.h | 6 +- tests/drivecontrol/timer.cpp | 4 +- tests/drivecontrol/timer.h | 1 + 12 files changed, 163 insertions(+), 144 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 0e4e1725d..c20273fa7 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -50,7 +50,7 @@ StopBehavior::StopBehavior() : Behavior() { } bool StopBehavior::takeControl(){ - return ( (Button.beepCounter == 1) && (MotorCtrl.motion != MOTION_STOP) ); + return ( (Button.beepCounter == 2) && (MotorCtrl.motion != MOTION_STOP) ); } void StopBehavior::action(){ diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index 491f6ae98..d9fd43a07 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -1,10 +1,57 @@ #include "config.h" +#include "drivers.h" #include "motorcontrol.h" +#include "motormow.h" +#include "timer.h" +#include "sonar.h" +FactoryConfig Config; + void FactoryConfig::setup(){ + Console.println(F("FactoryConfig::setup")); + + // -------------- gear motors ------------------------------------------- MotorCtrl.motorSpeedMaxRpm = 18; + MotorCtrl.enableStallDetection = true; + MotorCtrl.motorSpeedMaxPwm = 255; + MotorCtrl.motorLeftPID.Kp = 0.87; // PID speed controller + MotorCtrl.motorLeftPID.Ki = 0.29; + MotorCtrl.motorLeftPID.Kd = 0.25; +/* MotorCtrl.odometryTicksPerRevolution = 20; // encoder ticks per one full resolution + MotorCtrl.odometryTicksPerCm = 0.5; // encoder ticks per cm + MotorCtrl.odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) + MotorCtrl.motorLeftSwapDir = false; + MotorCtrl.motorRightSwapDir = false;*/ + MotorCtrl.odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution + MotorCtrl.odometryTicksPerCm = 13.49; // encoder ticks per cm + MotorCtrl.odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) + MotorCtrl.motorLeftSwapDir = true; +// MotorCtrl.motorLeftSwapDir = false; + MotorCtrl.motorRightSwapDir = false; +// motorRightSwapDir = true; + // MC33926 current: 5V / 1024 ADC counts, 525 mV per A => 9.3 mA per ADC step + MotorCtrl.motorSenseRightScale = 9.3; // motor right sense scale (mA=(ADC-zero) * scale) + MotorCtrl.motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) + MotorCtrl.motorVoltageDC = 24.0; + + // ---------------- mower motor --------------------------------------- + MotorMow.motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) + MotorMow.motorMowSpeedMaxPwm = 255; // motor mower max PWM + MotorMow.motorMowPowerMax = 75.0; // motor mower max power (Watt) + // MC33926 current: 5V / 1024 ADC counts, 525 mV per A => 9.3 mA per ADC step + MotorMow.motorSenseScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) + MotorMow.motorVoltageDC = 24.0; + + // ------------------ sonar ------------------------------------------- + Sonar.sonarTriggerBelow = 900; + Sonar.enableCenter = false; + Sonar.enableRight = true; + Sonar.enableLeft = true; + + // ----------------- timer/RTC ----------------------------------------- + Timer.enable = true; } diff --git a/tests/drivecontrol/config.h b/tests/drivecontrol/config.h index ef785767b..ea44a8e6a 100644 --- a/tests/drivecontrol/config.h +++ b/tests/drivecontrol/config.h @@ -84,9 +84,7 @@ #define PFOD_PIN 1234 // Bluetooth pin -// ------ drivers ---------------------------------- -#define MOTOR_DRIVER_MC33926 // enable this for MC33926 gear motor driver -#define MOTOR_MOW_DRIVER_MC33926 // enable this for MC33926 mower motor driver +#define SIM_MOTOR 1 // enable for simulation // ----- robot configuration ------------------------ @@ -96,11 +94,11 @@ class FactoryConfig { public: - FactoryConfig(); void setup(); }; +extern FactoryConfig Config; #endif diff --git a/tests/drivecontrol/modelrc.cpp b/tests/drivecontrol/modelrc.cpp index 17639b6fb..589098929 100644 --- a/tests/drivecontrol/modelrc.cpp +++ b/tests/drivecontrol/modelrc.cpp @@ -39,7 +39,17 @@ ISR(PCINT0_vect){ } } +void ModelReceiver::setup(){ + Console.println(F("ModelReceiver::setup")); + // R/C + pinMode(pinRemoteMow, INPUT); + pinMode(pinRemoteSteer, INPUT); + pinMode(pinRemoteSpeed, INPUT); + pinMode(pinRemoteSwitch, INPUT); +} + ModelReceiver::ModelReceiver(){ + enable=false; // configure R/C interrupts PCICR |= (1< -class ModelReceiver +class ModelReceiver { public: + bool enable; int remoteSteer ; // range -100..100 int remoteSpeed ; // range -100..100 ModelReceiver(); + void setup(); void run(); void print(); }; diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index e39888ba2..5db0c5685 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -4,11 +4,7 @@ #include "config.h" -#ifdef MOTOR_DRIVER_MC33926 - MotorControlMC33926 MotorCtrl; -#elif MOTOR_DRIVER_XYZ - extern MotorControlXYZ MotorCtrl; -#endif +MotorControl MotorCtrl; volatile static boolean odometryLeftLastState; @@ -19,33 +15,6 @@ volatile static unsigned long odometryRightLastHighTime = 0; volatile static unsigned long odometryLeftTickTime = 0; volatile static unsigned long odometryRightTickTime = 0; -/* -// rescale to -PI..+PI -double scalePI(double v) -{ - double d = v; - while (d < 0) d+=2*PI; - while (d >= 2*PI) d-=2*PI; - if (d >= PI) return (-2*PI+d); - else if (d < -PI) return (2*PI+d); - else return d; -} - -// computes minimum distance between x radiant (current-value) and w radiant (set-value) -double distancePI(double x, double w) -{ - // cases: - // w=330 degree, x=350 degree => -20 degree - // w=350 degree, x=10 degree => -20 degree - // w=10 degree, x=350 degree => 20 degree - // w=0 degree, x=190 degree => 170 degree - // w=190 degree, x=0 degree => -170 degree - double d = scalePI(w - x); - if (d < -PI) d = d + 2*PI; - else if (d > PI) d = d - 2*PI; - return d; -}*/ - // odometry interrupt handler ISR(PCINT2_vect, ISR_NOBLOCK){ @@ -80,10 +49,6 @@ MotorControl::MotorControl(){ motorSpeedMaxRpm = 18; motorSpeedMaxPwm = 255; -/* motorLeftPID.Kp = 0.87; // motor wheel PID controller - motorLeftPID.Ki = 0.29; - motorLeftPID.Kd = 0.25; */ - motorLeftPID.Kp = 0.87; // motor wheel PID controller motorLeftPID.Ki = 0.29; motorLeftPID.Kd = 0.25; @@ -237,6 +202,12 @@ void MotorControl::readOdometry(){ if (TaC > 1000) TaC = 1; static int lastOdoLeft = 0; static int lastOdoRight = 0; + #if SIM_MOTOR + odometryLeftTicks += motorLeftPWMCurr; + odometryRightTicks += motorRightPWMCurr; + odometryLeftTickTime = 255.0 / ((double)motorLeftPWMCurr); + odometryRightTickTime = 255.0 / ((double)motorRightPWMCurr); + #endif int odoLeft = odometryLeftTicks; int odoRight = odometryRightTicks; unsigned long leftTime = odometryLeftTickTime; @@ -444,9 +415,9 @@ void MotorControl::readCurrent(){ // sigma_a = (Vu - Vf) / Vu (acceleration tracktion) // Vf: vehicle velocity // Vu: tire velocity - - //print(); - //Console.println(); + + print(); + Console.println(); //printCSV(false); if (enableStallDetection) { diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index 1a6140905..87bb82719 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -111,25 +111,9 @@ class MotorControl virtual void resetFault(); }; -// ------------------------------------------------------------------- - -// MC33926 motor control -class MotorControlMC33926 : public MotorControl -{ - public: - virtual void setSpeedPWM(int leftPWM, int rightPWM){} -private: - virtual void readCurrent(){} - virtual void checkFault(){} - virtual void resetFault(){} -}; +extern MotorControl MotorCtrl; -#ifdef MOTOR_DRIVER_MC33926 - extern MotorControlMC33926 MotorCtrl; -#elif MOTOR_DRIVER_XYZ - extern MotorControlXYZ MotorCtrl; -#endif #endif diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 009b283b1..732b18dd5 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -15,19 +15,21 @@ RobotControl::RobotControl(){ void RobotControl::setup(){ Wire.begin(); - Console.begin(19200); + Console.begin(BAUDRATE); Console.println(F("SETUP")); ADCMan.setup(); Battery.setup(); MotorCtrl.setup(); - //MotorCtrl.enableStallDetection = false; MotorMow.setup(); + ModelRC.setup(); Buzzer.setup(); Sonar.setup(); Timer.setup(); Button.setup(); LED.setup(); + + Config.setup(); LED.playSequence(LED_RED_BLINK); @@ -43,6 +45,75 @@ void RobotControl::setup(){ } +void RobotControl::checkKey(){ + if (Console.available() > 0){ + char ch = (char)Console.read(); + switch (ch){ + case '1': Button.setBeepCount(1); break; + case '2': Button.setBeepCount(2); break; + case '3': Button.setBeepCount(3); break; + case '4': Button.setBeepCount(4); break; + case '5': Button.setBeepCount(5); break; + case 's': Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; break; + } + } +} + + +// call this in ANY loop! +void RobotControl::run(){ + //Console.println(F("RobotControl::run")); + + checkKey(); + arbitrator.monitor(); + ADCMan.run(); + MotorCtrl.run(); + MotorMow.run(); + Buzzer.run(); + LED.run(); + Button.run(); + Battery.run(); + Sonar.run(); + Timer.run(); + + delay(50); +} + + + /* program flow: + a. aribitrator.run (1) calls specific behavior.run (2) + b. specific behavior.run periodically calls Robot.run (3) + c. Robot.run processes MotorCtrl, BuzzerCtrl, PfodApp etc. and monitors (4) for behavior suppression (5) + d. behavior is finsihed if finished or suppressed + e. arbitrator.run is called again for next behavior + + + aribitrator behavior Robot + -------------------------------------------------------------- +(1) run-->| | | + |----------------(2)--run-->| | + | |--------------(3)--run-->| + | | | + | | | + |<--monitor--(4)--------------------------------------| + | | | + |-----------(5)--suppress-->| | + | X | + | | + | | + */ + +// this is called over and over from the Arduino loop +void RobotControl::loop(){ + //Console.print(F("RobotControl::loop ")); + //Console.println(loopCounter); + arbitrator.run(); + loopCounter++; +} + + + + void testloop(){ if (millis() >= nextInfoTime){ nextInfoTime = millis() + 500; @@ -146,72 +217,3 @@ void testloop(){ delay(50); } - -void RobotControl::checkKey(){ - if (Console.available() > 0){ - char ch = (char)Console.read(); - switch (ch){ - case '1': Button.setBeepCount(1); break; - case '2': Button.setBeepCount(2); break; - case '3': Button.setBeepCount(3); break; - case '4': Button.setBeepCount(4); break; - case '5': Button.setBeepCount(5); break; - case 's': Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; break; - } - } -} - - -// call this in ANY loop! -void RobotControl::run(){ - //Console.println(F("RobotControl::run")); - - checkKey(); - arbitrator.monitor(); - ADCMan.run(); - MotorCtrl.run(); - MotorMow.run(); - Buzzer.run(); - LED.run(); - Button.run(); - Battery.run(); - Sonar.run(); - Timer.run(); - - delay(50); -} - - - /* program flow: - a. aribitrator.run (1) calls specific behavior.run (2) - b. specific behavior.run periodically calls Robot.run (3) - c. Robot.run processes MotorCtrl, BuzzerCtrl, PfodApp etc. and monitors (4) for behavior suppression (5) - d. behavior is finsihed if finished or suppressed - e. arbitrator.run is called again for next behavior - - - aribitrator behavior Robot - -------------------------------------------------------------- -(1) run-->| | | - |----------------(2)--run-->| | - | |--------------(3)--run-->| - | | | - | | | - |<--monitor--(4)--------------------------------------| - | | | - |-----------(5)--suppress-->| | - | X | - | | - | | - */ - -// this is called over and over from the Arduino loop -void RobotControl::loop(){ - //Console.print(F("RobotControl::loop ")); - //Console.println(loopCounter); - arbitrator.run(); - loopCounter++; -} - - - diff --git a/tests/drivecontrol/sonar.cpp b/tests/drivecontrol/sonar.cpp index 8bc7cfab5..aaf8648b8 100644 --- a/tests/drivecontrol/sonar.cpp +++ b/tests/drivecontrol/sonar.cpp @@ -14,9 +14,9 @@ SonarControl Sonar; SonarControl::SonarControl(){ nextSonarTime = 0; - sonarLeftUse = 1; - sonarRightUse = 1; - sonarCenterUse = 0; + enableLeft = false; + enableRight = false; + enableCenter = false; sonarTriggerBelow = 900; // ultrasonic sensor trigger distance sonarDistCenter = sonarDistLeft = sonarDistRight = 0; sonarDistCounter = 0; @@ -50,9 +50,9 @@ void SonarControl::run(){ if (millis() < nextSonarTime) return; nextSonarTime = millis() + 1000; - if (sonarRightUse) sonarDistRight = readHCSR04(pinSonarRightTrigger, pinSonarRightEcho); - if (sonarLeftUse) sonarDistLeft = readHCSR04(pinSonarLeftTrigger, pinSonarLeftEcho); - if (sonarCenterUse) sonarDistCenter = readHCSR04(pinSonarCenterTrigger, pinSonarCenterEcho); + if (enableRight) sonarDistRight = readHCSR04(pinSonarRightTrigger, pinSonarRightEcho); + if (enableLeft) sonarDistLeft = readHCSR04(pinSonarLeftTrigger, pinSonarLeftEcho); + if (enableCenter) sonarDistCenter = readHCSR04(pinSonarCenterTrigger, pinSonarCenterEcho); if ( (triggeredRight()) || (triggeredLeft()) || (triggeredCenter()) ) sonarDistCounter++; @@ -64,11 +64,12 @@ void SonarControl::run(){ // HC-SR04 ultrasonic sensor driver unsigned int SonarControl::readHCSR04(int triggerPin, int echoPin){ unsigned int uS; - digitalWrite(triggerPin, LOW); + digitalWrite(triggerPin, LOW); delayMicroseconds(2); digitalWrite(triggerPin, HIGH); delayMicroseconds(10); digitalWrite(triggerPin, LOW); + // ultrasonic sensor max echo time (WARNING: do not set too high, it consumes CPU time!) uS = pulseIn(echoPin, HIGH, MAX_ECHO_TIME + 1000); if (uS > MAX_ECHO_TIME) uS = NO_ECHO; else if (uS < MIN_ECHO_TIME) uS = NO_ECHO; diff --git a/tests/drivecontrol/sonar.h b/tests/drivecontrol/sonar.h index b6e4d1b5f..a68792ffd 100644 --- a/tests/drivecontrol/sonar.h +++ b/tests/drivecontrol/sonar.h @@ -9,9 +9,9 @@ class SonarControl { public: - char sonarLeftUse; - char sonarRightUse; - char sonarCenterUse; + bool enableLeft; + bool enableRight; + bool enableCenter; int sonarTriggerBelow ; // ultrasonic sensor trigger distance unsigned int sonarDistCenter ; unsigned int sonarDistRight ; diff --git a/tests/drivecontrol/timer.cpp b/tests/drivecontrol/timer.cpp index c256822e4..3c20e16a2 100644 --- a/tests/drivecontrol/timer.cpp +++ b/tests/drivecontrol/timer.cpp @@ -10,7 +10,8 @@ char *dayOfWeek[] = {"Sun","Mon","Tue","Wed","Thu","Fri","Sat"}; -TimerControl::TimerControl(){ +TimerControl::TimerControl(){ + enable = false; powerTimeMin = 0; nextTimerTime = 60000; stopTimerTriggered = true; @@ -25,6 +26,7 @@ void TimerControl::setup(){ // call this in main loop void TimerControl::run(){ + if (!enable) return; if (millis() < nextTimerTime) return; nextTimerTime = millis() + 60000; powerTimeMin++; diff --git a/tests/drivecontrol/timer.h b/tests/drivecontrol/timer.h index fdcd0ec54..10ef0bd15 100644 --- a/tests/drivecontrol/timer.h +++ b/tests/drivecontrol/timer.h @@ -48,6 +48,7 @@ typedef struct ttimer_t ttimer_t; class TimerControl { public: + bool enable; unsigned long powerTimeMin; // total power-time (minutes) ttimer_t timer[MAX_TIMERS]; // timers datetime_t datetime; // current date & time From a72c78655448e8d7d17cbd345c7d7ad7310dbc2e Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 00:11:12 +0200 Subject: [PATCH 09/78] minor changes to config, battery class --- tests/drivecontrol/battery.cpp | 20 ++++++++++++++++++-- tests/drivecontrol/battery.h | 8 ++++++++ tests/drivecontrol/config.cpp | 27 +++++++++++++++++++++++++++ tests/drivecontrol/robot.h | 2 +- tests/drivecontrol/timer.h | 6 +++--- 5 files changed, 57 insertions(+), 6 deletions(-) diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/battery.cpp index c912db7d1..61dfe9dc0 100644 --- a/tests/drivecontrol/battery.cpp +++ b/tests/drivecontrol/battery.cpp @@ -9,6 +9,8 @@ BatteryControl Battery; BatteryControl::BatteryControl(){ nextBatteryTime = batteryReadCounter = 0; + idleTimeSec = 0; + enableMonitor = false; chargeRelayEnabled = false; batFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) batChgFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) @@ -25,7 +27,7 @@ BatteryControl::BatteryControl(){ chgFactor = 39; // charge current conversion factor - Empfindlichkeit nimmt mit ca. 39/V Vcc ab chgSense = 185.0; // mV/A empfindlichkeit des Ladestromsensors in mV/A (Für ACS712 5A = 185) chgChange = 0; // Messwertumkehr von - nach + 1 oder 0 - chgNull = 2; // Nullduchgang abziehen (1 oder 2) + chgNull = 2; // Nullduchgang abziehen (1 oder 2) } void BatteryControl::setup(){ @@ -58,9 +60,23 @@ void BatteryControl::run(){ if (batteryReadCounter == 10) { batteryReadCounter = 0; print(); - } + } + idleTimeSec++; } +bool BatteryControl::robotShouldGoHome(){ + return ((enableMonitor) && (batVoltage < batGoHomeIfBelow)); +} + +bool BatteryControl::robotShouldSwitchOff(){ + return ( (enableMonitor) + && ( (idleTimeSec > batSwitchOffIfIdle * 60) || (batVoltage < batSwitchOffIfBelow) ) + ); +} + +bool BatteryControl::robotShouldStartCharging(){ + return ((enableMonitor) && (batVoltage < startChargingIfBelow)); +} // read battery void BatteryControl::read(){ diff --git a/tests/drivecontrol/battery.h b/tests/drivecontrol/battery.h index 55bb9f15f..4e9249b12 100644 --- a/tests/drivecontrol/battery.h +++ b/tests/drivecontrol/battery.h @@ -9,7 +9,11 @@ class BatteryControl { public: + bool enableMonitor; float batFactor ; // battery conversion factor + float batGoHomeIfBelow; // drive home voltage (Volt) + float batSwitchOffIfBelow; // switch off battery if below voltage (Volt) + int batSwitchOffIfIdle ; // switch off battery if idle (minutes) float batChgFactor ; // battery conversion factor float batFull ; // battery reference Voltage (fully charged) float batChargingCurrentMax ; // maximum current your charger can devliver @@ -30,6 +34,7 @@ class BatteryControl int chgNull; // Nulldurchgang Ladestromsensor int batteryReadCounter; bool chargeRelayEnabled; + int idleTimeSec; // number of seconds robot is idle (no user-interaction and no mowing) BatteryControl(); void setup(); void run(); @@ -37,6 +42,9 @@ class BatteryControl void print(); void setBatterySwitch(bool state); bool chargerConnected(); + bool robotShouldGoHome(); + bool robotShouldSwitchOff(); + bool robotShouldStartCharging(); void enableChargingRelay(bool state); private: unsigned long nextBatteryTime; diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index d9fd43a07..caa8879d1 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -3,7 +3,9 @@ #include "motorcontrol.h" #include "motormow.h" #include "timer.h" +#include "modelrc.h" #include "sonar.h" +#include "battery.h" FactoryConfig Config; @@ -50,8 +52,33 @@ void FactoryConfig::setup(){ Sonar.enableRight = true; Sonar.enableLeft = true; + // ------------------ battery ------------------------------------------ + Battery.enableMonitor = true; + Battery.batGoHomeIfBelow = 23.7; // drive home voltage (Volt) + Battery.batSwitchOffIfBelow = 21.7; // switch off battery if below voltage (Volt) + Battery.batSwitchOffIfIdle = 1; // switch off battery if idle (minutes) + Battery.batFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) + Battery.batChgFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) + Battery.batFull =29.4; // battery reference Voltage (fully charged) PLEASE ADJUST IF USING A DIFFERENT BATTERY VOLTAGE! FOR a 12V SYSTEM TO 14.4V + Battery.batChargingCurrentMax =1.6; // maximum current your charger can devliver + Battery.batFullCurrent = 0.3; // current flowing when battery is fully charged + Battery.startChargingIfBelow = 27.0; // start charging if battery Voltage is below + Battery.chargingTimeout = 12600000; // safety timer for charging (ms) 12600000 = 3.5hrs + // Sensorausgabe Konsole (chgSelection =0) + // Einstellungen ACS712 5A (chgSelection =1 / chgSenseZero ~ 511 / chgFactor = 39 / chgSense =185.0 / chgChange = 0 oder 1 (je nach Stromrichtung) / chgNull = 2) + // Einstellungen INA169 board (chgSelection =2) + Battery.chgSelection = 2; + Battery.chgSenseZero = 511; // charge current sense zero point + Battery.chgFactor = 39; // charge current conversion factor - Empfindlichkeit nimmt mit ca. 39/V Vcc ab + Battery.chgSense = 185.0; // mV/A empfindlichkeit des Ladestromsensors in mV/A (Für ACS712 5A = 185) + Battery.chgChange = 0; // Messwertumkehr von - nach + 1 oder 0 + Battery.chgNull = 2; // Nullduchgang abziehen (1 oder 2) + // ----------------- timer/RTC ----------------------------------------- Timer.enable = true; + + // ------------------ model R/C ---------------------------------------- + ModelRC.enable = true; } diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index deaaca990..7df2c7938 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -23,7 +23,7 @@ class RobotControl { public: - unsigned long loopCounter; + unsigned long loopCounter; // Arduino loop counter ModelRCBehavior modelRCBehavior; StopBehavior stopBehavior; StandbyBehavior standbyBehavior; diff --git a/tests/drivecontrol/timer.h b/tests/drivecontrol/timer.h index 10ef0bd15..7d3875d23 100644 --- a/tests/drivecontrol/timer.h +++ b/tests/drivecontrol/timer.h @@ -49,11 +49,11 @@ class TimerControl { public: bool enable; - unsigned long powerTimeMin; // total power-time (minutes) + unsigned long powerTimeMin; // power-ON time (minutes) ttimer_t timer[MAX_TIMERS]; // timers datetime_t datetime; // current date & time - bool stopTimerTriggered; // stop timer triggered? - bool startTimerTriggered; // start timer triggered? + bool stopTimerTriggered; // has stop timer triggered? + bool startTimerTriggered; // has start timer triggered? TimerControl(); void setup(); bool rtcError; // RTC communication error? From b6d1ba8c33a1f6d30bc99bf2042b20890dd2e788 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 01:03:30 +0200 Subject: [PATCH 10/78] new behavior order --- tests/drivecontrol/behavior.cpp | 10 +++++++--- tests/drivecontrol/button.cpp | 14 ++++++-------- tests/drivecontrol/button.h | 6 +++--- tests/drivecontrol/motorcontrol.cpp | 4 ++-- tests/drivecontrol/robot.cpp | 11 ++++++----- 5 files changed, 24 insertions(+), 21 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index c20273fa7..77cd8d335 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -36,7 +36,8 @@ bool ModelRCBehavior::takeControl(){ void ModelRCBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); - while ( !suppressed ) { + Button.resetBeepCounter(); + while ( (!suppressed) && (!Button.pressed) ) { ModelRC.run(); Robot.run(); } @@ -50,13 +51,16 @@ StopBehavior::StopBehavior() : Behavior() { } bool StopBehavior::takeControl(){ - return ( (Button.beepCounter == 2) && (MotorCtrl.motion != MOTION_STOP) ); + return ( (Button.beepCounter == 1) && (MotorCtrl.motion != MOTION_STOP) ); } void StopBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); Button.resetBeepCounter(); + while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ + Robot.run(); + } } // ---------------------------------------------------------- @@ -87,7 +91,7 @@ HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ } bool HitObstacleBehavior::takeControl(){ - return ( (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); + return ( (MotorCtrl.motion != MOTION_STOP) && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); } void HitObstacleBehavior::action(){ diff --git a/tests/drivecontrol/button.cpp b/tests/drivecontrol/button.cpp index 82881a9c1..7bbc1ddad 100644 --- a/tests/drivecontrol/button.cpp +++ b/tests/drivecontrol/button.cpp @@ -9,6 +9,7 @@ ButtonControl Button; ButtonControl::ButtonControl(){ nextButtonTime = 0; beepCounter = tempBeepCounter = 0; + pressed = false; } void ButtonControl::setup(){ @@ -22,10 +23,6 @@ void ButtonControl::resetBeepCounter(){ beepCounter = 0; } -bool ButtonControl::pressed(){ - return (digitalRead(pinButton) == LOW); -} - void ButtonControl::setBeepCount(int count){ nextButtonTime = millis() + 2000; beepCounter = count; @@ -36,13 +33,14 @@ void ButtonControl::setBeepCount(int count){ // call this in main loop void ButtonControl::run(){ - boolean buttonPressed = pressed(); - - if ( (!buttonPressed) && (tempBeepCounter > 0) ){ + //if (pressed) Console.println(F("BUTTON pressed")); + pressed = (digitalRead(pinButton) == LOW); + + if ( (!pressed) && (tempBeepCounter > 0) ){ setBeepCount(tempBeepCounter); } if (millis() >= nextButtonTime){ - if (buttonPressed) { + if (pressed) { nextButtonTime = millis() + 1000; Buzzer.play(BC_SHORT); tempBeepCounter++; diff --git a/tests/drivecontrol/button.h b/tests/drivecontrol/button.h index 1210b97fc..fd3f706dc 100644 --- a/tests/drivecontrol/button.h +++ b/tests/drivecontrol/button.h @@ -9,14 +9,14 @@ class ButtonControl { public: + bool pressed; int beepCounter; ButtonControl(); void run(); - void setup(); - bool pressed(); + void setup(); void resetBeepCounter(); void setBeepCount(int count); - private: + private: int tempBeepCounter; unsigned long nextButtonTime; }; diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 5db0c5685..b8317cd3c 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -416,8 +416,8 @@ void MotorControl::readCurrent(){ // Vf: vehicle velocity // Vu: tire velocity - print(); - Console.println(); + // print(); + // Console.println(); //printCSV(false); if (enableStallDetection) { diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 732b18dd5..25766b545 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -37,8 +37,8 @@ void RobotControl::setup(){ arbitrator.addBehavior(&standbyBehavior); arbitrator.addBehavior(&driveForwardBehavior); arbitrator.addBehavior(&hitObstacleBehavior); - arbitrator.addBehavior(&stopBehavior); arbitrator.addBehavior(&modelRCBehavior); + arbitrator.addBehavior(&stopBehavior); // arbitrator.addBehavior(&chargerConnectedBehavior); Console.println(F("SETUP completed")); if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); @@ -46,7 +46,8 @@ void RobotControl::setup(){ void RobotControl::checkKey(){ - if (Console.available() > 0){ + while (Console.available() > 0){ + Button.pressed = true; char ch = (char)Console.read(); switch (ch){ case '1': Button.setBeepCount(1); break; @@ -63,15 +64,15 @@ void RobotControl::checkKey(){ // call this in ANY loop! void RobotControl::run(){ //Console.println(F("RobotControl::run")); - - checkKey(); - arbitrator.monitor(); + + arbitrator.monitor(); ADCMan.run(); MotorCtrl.run(); MotorMow.run(); Buzzer.run(); LED.run(); Button.run(); + checkKey(); Battery.run(); Sonar.run(); Timer.run(); From fd9f401150acf64efbab567f72800668dad80c74 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 09:06:09 +0200 Subject: [PATCH 11/78] battery handling --- tests/drivecontrol/battery.cpp | 28 +++++++++++++++++++++++++--- tests/drivecontrol/battery.h | 8 +++++--- tests/drivecontrol/behavior.cpp | 7 ++++--- tests/drivecontrol/config.cpp | 2 +- tests/drivecontrol/timer.cpp | 6 +++--- tests/drivecontrol/timer.h | 2 +- 6 files changed, 39 insertions(+), 14 deletions(-) diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/battery.cpp index 61dfe9dc0..45e852284 100644 --- a/tests/drivecontrol/battery.cpp +++ b/tests/drivecontrol/battery.cpp @@ -1,6 +1,7 @@ #include "battery.h" #include "config.h" #include "ADCMan.h" +#include "timer.h" #include "drivers.h" BatteryControl Battery; @@ -9,6 +10,7 @@ BatteryControl Battery; BatteryControl::BatteryControl(){ nextBatteryTime = batteryReadCounter = 0; + chargingStartTimeMinutes = 0; idleTimeSec = 0; enableMonitor = false; chargeRelayEnabled = false; @@ -18,7 +20,7 @@ BatteryControl::BatteryControl(){ batChargingCurrentMax =1.6; // maximum current your charger can devliver batFullCurrent = 0.3; // current flowing when battery is fully charged startChargingIfBelow = 27.0; // start charging if battery Voltage is below - chargingTimeout = 12600000; // safety timer for charging (ms) 12600000 = 3.5hrs + chargingTimeoutMinutes = 210; // safety timer for charging (minutes) // Sensorausgabe Konsole (chgSelection =0) // Einstellungen ACS712 5A (chgSelection =1 / chgSenseZero ~ 511 / chgFactor = 39 / chgSense =185.0 / chgChange = 0 oder 1 (je nach Stromrichtung) / chgNull = 2) // Einstellungen INA169 board (chgSelection =2) @@ -61,6 +63,14 @@ void BatteryControl::run(){ batteryReadCounter = 0; print(); } + if (chargerConnected()) { + if (robotShouldCharge()) { + Battery.enableChargingRelay(true); + } + else { + Battery.enableChargingRelay(false); + } + } idleTimeSec++; } @@ -74,8 +84,10 @@ bool BatteryControl::robotShouldSwitchOff(){ ); } -bool BatteryControl::robotShouldStartCharging(){ - return ((enableMonitor) && (batVoltage < startChargingIfBelow)); +bool BatteryControl::robotShouldCharge(){ + return ( (enableMonitor) && (batVoltage < startChargingIfBelow) + && (getChargingTimeMinutes() < chargingTimeoutMinutes) + ); } // read battery @@ -148,11 +160,21 @@ bool BatteryControl::chargerConnected(){ return ((chgVoltage > 5.0) && (batVoltage > 8)); } +int BatteryControl::getChargingTimeMinutes(){ + if (chargingStartTimeMinutes == 0) return 0; + else return (Timer.powerTimeMinutes - chargingStartTimeMinutes); +} + void BatteryControl::enableChargingRelay(bool state){ Console.print(F("BatteryControll::enableChargingRelay ")); Console.println(state); chargeRelayEnabled = state; digitalWrite(pinChargeRelay, state); + if (state){ + chargingStartTimeMinutes = Timer.powerTimeMinutes; + } else { + chargingStartTimeMinutes = 0; + } } diff --git a/tests/drivecontrol/battery.h b/tests/drivecontrol/battery.h index 4e9249b12..7a8201f6a 100644 --- a/tests/drivecontrol/battery.h +++ b/tests/drivecontrol/battery.h @@ -19,7 +19,7 @@ class BatteryControl float batChargingCurrentMax ; // maximum current your charger can devliver float batFullCurrent ; // current flowing when battery is fully charged float startChargingIfBelow; // start charging if battery Voltage is below - unsigned long chargingTimeout; // safety timer for charging + unsigned long chargingTimeoutMinutes; // safety timer for charging (minutes) int batADC; float chgSenseZero ; // charge current sense zero point float chgFactor ; // charge current conversion factor @@ -35,17 +35,19 @@ class BatteryControl int batteryReadCounter; bool chargeRelayEnabled; int idleTimeSec; // number of seconds robot is idle (no user-interaction and no mowing) + unsigned long chargingStartTimeMinutes; // start time of charging BatteryControl(); void setup(); void run(); void read(); void print(); - void setBatterySwitch(bool state); + int getChargingTimeMinutes(); bool chargerConnected(); bool robotShouldGoHome(); bool robotShouldSwitchOff(); - bool robotShouldStartCharging(); + bool robotShouldCharge(); void enableChargingRelay(bool state); + void setBatterySwitch(bool state); private: unsigned long nextBatteryTime; }; diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 77cd8d335..5c309cda1 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -79,6 +79,7 @@ void DriveForwardBehavior::action(){ // forward MotorCtrl.setSpeedRpm(+10, +10); + while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ Robot.run(); } @@ -112,6 +113,7 @@ void HitObstacleBehavior::action(){ } else { MotorCtrl.rotate(+PI/2, 10); } + // wait until motion stop while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ Robot.run(); } @@ -132,11 +134,10 @@ void ChargerConnectedBehavior::action(){ MotorCtrl.stopImmediately(); Buzzer.play(BC_SHORT_SHORT_SHORT); - Battery.enableChargingRelay(true); - // wait until charging completed + // wait until some other behavior was activated while ( !suppressed ){ - Robot.run(); + Robot.run(); } } diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index caa8879d1..a6e3bbd60 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -63,7 +63,7 @@ void FactoryConfig::setup(){ Battery.batChargingCurrentMax =1.6; // maximum current your charger can devliver Battery.batFullCurrent = 0.3; // current flowing when battery is fully charged Battery.startChargingIfBelow = 27.0; // start charging if battery Voltage is below - Battery.chargingTimeout = 12600000; // safety timer for charging (ms) 12600000 = 3.5hrs + Battery.chargingTimeoutMinutes = 210; // safety timer for charging (minutes) // Sensorausgabe Konsole (chgSelection =0) // Einstellungen ACS712 5A (chgSelection =1 / chgSenseZero ~ 511 / chgFactor = 39 / chgSense =185.0 / chgChange = 0 oder 1 (je nach Stromrichtung) / chgNull = 2) // Einstellungen INA169 board (chgSelection =2) diff --git a/tests/drivecontrol/timer.cpp b/tests/drivecontrol/timer.cpp index 3c20e16a2..af2d91b56 100644 --- a/tests/drivecontrol/timer.cpp +++ b/tests/drivecontrol/timer.cpp @@ -12,7 +12,7 @@ char *dayOfWeek[] = {"Sun","Mon","Tue","Wed","Thu","Fri","Sat"}; TimerControl::TimerControl(){ enable = false; - powerTimeMin = 0; + powerTimeMinutes = 0; nextTimerTime = 60000; stopTimerTriggered = true; startTimerTriggered = false; @@ -29,7 +29,7 @@ void TimerControl::run(){ if (!enable) return; if (millis() < nextTimerTime) return; nextTimerTime = millis() + 60000; - powerTimeMin++; + powerTimeMinutes++; readDS1307(datetime); print(); checkTimer(); @@ -155,7 +155,7 @@ void TimerControl::setDefaultTime(){ void TimerControl::print(){ Console.print(F("powerTime: ")); - Console.print(powerTimeMin); + Console.print(powerTimeMinutes); Console.print(F(" RTC date: ")); Console.println(date2str(datetime.date)); } diff --git a/tests/drivecontrol/timer.h b/tests/drivecontrol/timer.h index 7d3875d23..7e7a3eb5f 100644 --- a/tests/drivecontrol/timer.h +++ b/tests/drivecontrol/timer.h @@ -49,7 +49,7 @@ class TimerControl { public: bool enable; - unsigned long powerTimeMin; // power-ON time (minutes) + unsigned long powerTimeMinutes; // power-ON time (minutes) ttimer_t timer[MAX_TIMERS]; // timers datetime_t datetime; // current date & time bool stopTimerTriggered; // has stop timer triggered? From fc941f7ba197c6363088b218d5dadaac139df584 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 09:55:48 +0200 Subject: [PATCH 12/78] FatalErrorBehavior --- tests/drivecontrol/battery.cpp | 1 + tests/drivecontrol/behavior.cpp | 38 ++++++++++++++++++++++++++--- tests/drivecontrol/behavior.h | 14 +++++++++-- tests/drivecontrol/motorcontrol.cpp | 8 ++++-- tests/drivecontrol/motorcontrol.h | 2 +- tests/drivecontrol/motormow.cpp | 10 +++++++- tests/drivecontrol/motormow.h | 1 + tests/drivecontrol/robot.cpp | 5 ++-- tests/drivecontrol/robot.h | 3 ++- tests/drivecontrol/sonar.cpp | 6 ++--- tests/drivecontrol/timer.cpp | 10 ++++---- 11 files changed, 77 insertions(+), 21 deletions(-) diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/battery.cpp index 45e852284..34f8ca77d 100644 --- a/tests/drivecontrol/battery.cpp +++ b/tests/drivecontrol/battery.cpp @@ -166,6 +166,7 @@ int BatteryControl::getChargingTimeMinutes(){ } void BatteryControl::enableChargingRelay(bool state){ + if (state == chargeRelayEnabled) return; Console.print(F("BatteryControll::enableChargingRelay ")); Console.println(state); chargeRelayEnabled = state; diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 5c309cda1..95c3c236e 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -46,15 +46,16 @@ void ModelRCBehavior::action(){ // ---------------------------------------------------------- -StopBehavior::StopBehavior() : Behavior() { - name = "StopBehavior"; +// user stopped robot +UserStopBehavior::UserStopBehavior() : Behavior() { + name = "UserStopBehavior"; } -bool StopBehavior::takeControl(){ +bool UserStopBehavior::takeControl(){ return ( (Button.beepCounter == 1) && (MotorCtrl.motion != MOTION_STOP) ); } -void StopBehavior::action(){ +void UserStopBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); Button.resetBeepCounter(); @@ -65,6 +66,7 @@ void StopBehavior::action(){ // ---------------------------------------------------------- +// robot is mowing and driving forward DriveForwardBehavior::DriveForwardBehavior() : Behavior() { name = "DriveForwardBehavior"; } @@ -87,6 +89,7 @@ void DriveForwardBehavior::action(){ // ---------------------------------------------------------- +// robot hit obstacle HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ name = "HitObstacleBehavior"; } @@ -121,6 +124,7 @@ void HitObstacleBehavior::action(){ // ---------------------------------------------------------- +// charger connected to robot ChargerConnectedBehavior::ChargerConnectedBehavior() : Behavior() { name = "ChargerConnectedBehavior"; } @@ -142,4 +146,30 @@ void ChargerConnectedBehavior::action(){ } +// ---------------------------------------------------------- + +// fatal error appeared +FatalErrorBehavior::FatalErrorBehavior() : Behavior() { + name = "FatalErrorBehavior"; +} + +bool FatalErrorBehavior::takeControl(){ + return (MotorCtrl.motorLeftError || MotorCtrl.motorRightError || MotorMow.motorError); +} + +void FatalErrorBehavior::action(){ + suppressed = false; + + MotorCtrl.stopImmediately(); + Buzzer.play(BC_SHORT_SHORT_SHORT); + + // wait until some other behavior was activated + while ( (!suppressed )&& (!Button.pressed) ) { + Robot.run(); + } + + MotorCtrl.resetFault(); + MotorMow.resetFault(); +} + diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 4e3acf332..8d427d73f 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -32,10 +32,10 @@ class StandbyBehavior : public Behavior virtual void action(); }; -class StopBehavior : public Behavior +class UserStopBehavior : public Behavior { public: - StopBehavior(); + UserStopBehavior(); virtual bool takeControl(); virtual void action(); }; @@ -66,6 +66,16 @@ class ChargerConnectedBehavior : public Behavior }; +class FatalErrorBehavior : public Behavior +{ + public: + FatalErrorBehavior(); + virtual bool takeControl(); + virtual void action(); +}; + + + #endif diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index b8317cd3c..45b037c63 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -142,17 +142,21 @@ void MotorControl::setMC33926(int pinDir, int pinPWM, int speed){ } void MotorControl::checkFault(){ - if (digitalRead(pinMotorLeftFault)==LOW){ + if ( (!motorLeftError) && (digitalRead(pinMotorLeftFault)==LOW) ){ + Console.println(F("ERROR: left gear motor/MC33926")); motorLeftError = true; } - if (digitalRead(pinMotorRightFault)==LOW){ + if ( (!motorRightError) && (digitalRead(pinMotorRightFault)==LOW) ){ + Console.println(F("ERROR: right gear motor/MC33926")); motorRightError = true; } } void MotorControl::resetFault(){ + Console.println(F("MotorControl::resetFault")); digitalWrite(pinMotorEnable, LOW); digitalWrite(pinMotorEnable, HIGH); + motorRightError = motorLeftError = false; } void MotorControl::run(){ diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index 87bb82719..ddf99a615 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -96,6 +96,7 @@ class MotorControl virtual void rotate(float angleRad, int speedRpm); virtual bool hasStopped(); virtual void resetStalled(); + virtual void resetFault(); virtual void print(); virtual void printCSV(bool includeHeader); private: @@ -108,7 +109,6 @@ class MotorControl virtual void setMC33926(int pinDir, int pinPWM, int speed); virtual void readCurrent(); virtual void checkFault(); - virtual void resetFault(); }; diff --git a/tests/drivecontrol/motormow.cpp b/tests/drivecontrol/motormow.cpp index d976ee7bb..12d226384 100644 --- a/tests/drivecontrol/motormow.cpp +++ b/tests/drivecontrol/motormow.cpp @@ -81,11 +81,19 @@ void MotorMowControl::resetStalled(){ void MotorMowControl::checkMotorFault(){ - if (digitalRead(pinMotorMowFault)==LOW){ + if ( (!motorError) && (digitalRead(pinMotorMowFault)==LOW) ){ + Console.println(F("ERROR: mower motor/MC33926")); motorError = true; } } +void MotorMowControl::resetFault(){ + Console.println(F("MotorMowControl::resetFault")); + digitalWrite(pinMotorMowEnable, LOW); + digitalWrite(pinMotorMowEnable, HIGH); + motorError = false; +} + // read motor current void MotorMowControl::readCurrent(){ diff --git a/tests/drivecontrol/motormow.h b/tests/drivecontrol/motormow.h index 902ee257c..17d7c5f8e 100644 --- a/tests/drivecontrol/motormow.h +++ b/tests/drivecontrol/motormow.h @@ -30,6 +30,7 @@ class MotorMowControl void setSpeedPWM(int pwm); bool hasStopped(); void resetStalled(); + void resetFault(); void stopImmediately(); private: unsigned long lastMotorCurrentTime; diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 25766b545..d9f6243a2 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -38,8 +38,9 @@ void RobotControl::setup(){ arbitrator.addBehavior(&driveForwardBehavior); arbitrator.addBehavior(&hitObstacleBehavior); arbitrator.addBehavior(&modelRCBehavior); - arbitrator.addBehavior(&stopBehavior); - // arbitrator.addBehavior(&chargerConnectedBehavior); + arbitrator.addBehavior(&userStopBehavior); + arbitrator.addBehavior(&chargerConnectedBehavior); + arbitrator.addBehavior(&fatalErrorBehavior); Console.println(F("SETUP completed")); if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); } diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 7df2c7938..f878ccca4 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -25,11 +25,12 @@ class RobotControl public: unsigned long loopCounter; // Arduino loop counter ModelRCBehavior modelRCBehavior; - StopBehavior stopBehavior; + UserStopBehavior userStopBehavior; StandbyBehavior standbyBehavior; DriveForwardBehavior driveForwardBehavior; HitObstacleBehavior hitObstacleBehavior; ChargerConnectedBehavior chargerConnectedBehavior; + FatalErrorBehavior fatalErrorBehavior; Arbitrator arbitrator; RobotControl(); virtual void run(); diff --git a/tests/drivecontrol/sonar.cpp b/tests/drivecontrol/sonar.cpp index aaf8648b8..26cc899a2 100644 --- a/tests/drivecontrol/sonar.cpp +++ b/tests/drivecontrol/sonar.cpp @@ -54,10 +54,10 @@ void SonarControl::run(){ if (enableLeft) sonarDistLeft = readHCSR04(pinSonarLeftTrigger, pinSonarLeftEcho); if (enableCenter) sonarDistCenter = readHCSR04(pinSonarCenterTrigger, pinSonarCenterEcho); - if ( (triggeredRight()) || (triggeredLeft()) || (triggeredCenter()) ) + if ( (triggeredRight()) || (triggeredLeft()) || (triggeredCenter()) ){ sonarDistCounter++; - - print(); + print(); + } } diff --git a/tests/drivecontrol/timer.cpp b/tests/drivecontrol/timer.cpp index af2d91b56..79ac355a6 100644 --- a/tests/drivecontrol/timer.cpp +++ b/tests/drivecontrol/timer.cpp @@ -93,13 +93,13 @@ String TimerControl::date2str(date_t date){ boolean TimerControl::readDS1307(datetime_t &dt){ byte buf[8]; if (I2CreadFrom(DS1307_ADDRESS, 0x00, 8, buf, 3) != 8) { - Console.println(F("DS1307 comm error")); + Console.println(F("ERROR: DS1307 comm")); rtcError = true; return false; } if ( ((buf[0] >> 7) != 0) || ((buf[1] >> 7) != 0) || ((buf[2] >> 7) != 0) || ((buf[3] >> 3) != 0) || ((buf[4] >> 6) != 0) || ((buf[5] >> 5) != 0) || ((buf[7] & B01101100) != 0) ) { - Console.println(F("DS1307 data1 error")); + Console.println(F("ERROR: DS1307 data1")); rtcError = true; return false; } @@ -113,7 +113,7 @@ boolean TimerControl::readDS1307(datetime_t &dt){ if ( (r.time.minute > 59) || (r.time.hour > 23) || (r.date.dayOfWeek > 6) || (r.date.month > 12) || (r.date.day > 31) || (r.date.day < 1) || (r.date.month < 1) || (r.date.year > 99) ){ - Console.println(F("DS1307 data2 error")); + Console.println(F("ERROR: DS1307 data2")); rtcError = true; return false; } @@ -125,7 +125,7 @@ boolean TimerControl::readDS1307(datetime_t &dt){ boolean TimerControl::setDS1307(datetime_t &dt){ byte buf[7]; if (I2CreadFrom(DS1307_ADDRESS, 0x00, 7, buf, 3) != 7){ - Console.println(F("DS1307 comm error")); + Console.println(F("ERROR: DS1307 comm")); rtcError = true; return false; } @@ -154,7 +154,7 @@ void TimerControl::setDefaultTime(){ } void TimerControl::print(){ - Console.print(F("powerTime: ")); + Console.print(F("powerTimeMinutes: ")); Console.print(powerTimeMinutes); Console.print(F(" RTC date: ")); Console.println(date2str(datetime.date)); From cd075552ad99a79eae1c503b383f630f2555fe8f Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 10:23:26 +0200 Subject: [PATCH 13/78] comments --- tests/drivecontrol/behavior.cpp | 5 ----- tests/drivecontrol/behavior.h | 14 +++++++++++++- 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 95c3c236e..a24952782 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -46,7 +46,6 @@ void ModelRCBehavior::action(){ // ---------------------------------------------------------- -// user stopped robot UserStopBehavior::UserStopBehavior() : Behavior() { name = "UserStopBehavior"; } @@ -66,7 +65,6 @@ void UserStopBehavior::action(){ // ---------------------------------------------------------- -// robot is mowing and driving forward DriveForwardBehavior::DriveForwardBehavior() : Behavior() { name = "DriveForwardBehavior"; } @@ -89,7 +87,6 @@ void DriveForwardBehavior::action(){ // ---------------------------------------------------------- -// robot hit obstacle HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ name = "HitObstacleBehavior"; } @@ -124,7 +121,6 @@ void HitObstacleBehavior::action(){ // ---------------------------------------------------------- -// charger connected to robot ChargerConnectedBehavior::ChargerConnectedBehavior() : Behavior() { name = "ChargerConnectedBehavior"; } @@ -148,7 +144,6 @@ void ChargerConnectedBehavior::action(){ // ---------------------------------------------------------- -// fatal error appeared FatalErrorBehavior::FatalErrorBehavior() : Behavior() { name = "FatalErrorBehavior"; } diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 8d427d73f..f11d20355 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -3,6 +3,12 @@ #include +// subsumption architecture +// external resources: +// http://www.convict.lu/Jeunes/Subsumption.htm +// http://www.lejos.org/nxt/nxj/tutorial/Behaviors/BehaviorProgramming.htm +// http://www.ibm.com/developerworks/library/j-robots/ + // abstract superclass class Behavior @@ -16,6 +22,7 @@ class Behavior virtual void action() {} }; +// Model R/C control activated class ModelRCBehavior : public Behavior { public: @@ -24,6 +31,7 @@ class ModelRCBehavior : public Behavior virtual void action(); }; +// robot is idle (not driving around or charging) class StandbyBehavior : public Behavior { public: @@ -32,6 +40,7 @@ class StandbyBehavior : public Behavior virtual void action(); }; +// user stopped robot class UserStopBehavior : public Behavior { public: @@ -40,7 +49,7 @@ class UserStopBehavior : public Behavior virtual void action(); }; - +// robot is mowing and driving forward class DriveForwardBehavior : public Behavior { public: @@ -49,6 +58,7 @@ class DriveForwardBehavior : public Behavior virtual void action(); }; +// robot hit obstacle class HitObstacleBehavior : public Behavior { public: @@ -57,6 +67,7 @@ class HitObstacleBehavior : public Behavior virtual void action(); }; +// charger connected to robot class ChargerConnectedBehavior : public Behavior { public: @@ -66,6 +77,7 @@ class ChargerConnectedBehavior : public Behavior }; +// fatal error appeared class FatalErrorBehavior : public Behavior { public: From 3fac7aab977c3dfdf139aff6e25bcec7de72403b Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 12:12:47 +0200 Subject: [PATCH 14/78] robot mode --- tests/drivecontrol/arbitrator.cpp | 5 +-- tests/drivecontrol/battery.cpp | 34 ++++++++++--------- tests/drivecontrol/battery.h | 15 +++++---- tests/drivecontrol/behavior.cpp | 52 ++++++++++++++++++++--------- tests/drivecontrol/behavior.h | 6 ++-- tests/drivecontrol/button.cpp | 1 + tests/drivecontrol/config.h | 2 +- tests/drivecontrol/led.cpp | 2 ++ tests/drivecontrol/motorcontrol.cpp | 17 ++++++---- tests/drivecontrol/motormow.cpp | 4 +++ tests/drivecontrol/robot.cpp | 50 +++++++++++++++++++++------ tests/drivecontrol/robot.h | 16 ++++++++- 12 files changed, 142 insertions(+), 62 deletions(-) diff --git a/tests/drivecontrol/arbitrator.cpp b/tests/drivecontrol/arbitrator.cpp index 3254c3806..8982a46ab 100644 --- a/tests/drivecontrol/arbitrator.cpp +++ b/tests/drivecontrol/arbitrator.cpp @@ -44,10 +44,11 @@ void Arbitrator::run(){ activeBehavior = nextBehavior; nextBehavior = NULL; nextBehaviorIdx = -1; - Console.print(F("CHANGED activeBehavior Idx: ")); + Console.print(F("-----CHANGED activeBehavior Idx: ")); Console.print(activeBehaviorIdx); Console.print(" "); - Console.println(activeBehavior->name); + Console.print(activeBehavior->name); + Console.println(F("-----")); } void Arbitrator::monitor() { diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/battery.cpp index 34f8ca77d..7c04425d7 100644 --- a/tests/drivecontrol/battery.cpp +++ b/tests/drivecontrol/battery.cpp @@ -63,17 +63,18 @@ void BatteryControl::run(){ batteryReadCounter = 0; print(); } - if (chargerConnected()) { - if (robotShouldCharge()) { - Battery.enableChargingRelay(true); - } - else { - Battery.enableChargingRelay(false); - } + if ( (chargerConnected()) && (robotShouldCharge()) ) { + Battery.enableChargingRelay(true); + } else { + Battery.enableChargingRelay(false); } idleTimeSec++; } +bool BatteryControl::isCharging(){ + return chargeRelayEnabled; +} + bool BatteryControl::robotShouldGoHome(){ return ((enableMonitor) && (batVoltage < batGoHomeIfBelow)); } @@ -92,6 +93,9 @@ bool BatteryControl::robotShouldCharge(){ // read battery void BatteryControl::read(){ + batteryReadCounter++; + + #ifndef SIMULATE if ((abs(chgCurrent) > 0.04) && (chgVoltage > 5)){ // charging batCapacity += (chgCurrent / 36.0); @@ -153,7 +157,7 @@ void BatteryControl::read(){ //batVoltage = batVolt //chgVoltage = chgvolt; //chgCurrent = current; - batteryReadCounter++; + #endif } bool BatteryControl::chargerConnected(){ @@ -161,8 +165,8 @@ bool BatteryControl::chargerConnected(){ } int BatteryControl::getChargingTimeMinutes(){ - if (chargingStartTimeMinutes == 0) return 0; - else return (Timer.powerTimeMinutes - chargingStartTimeMinutes); + if (!chargeRelayEnabled) return 0; + return (Timer.powerTimeMinutes - chargingStartTimeMinutes); } void BatteryControl::enableChargingRelay(bool state){ @@ -171,11 +175,7 @@ void BatteryControl::enableChargingRelay(bool state){ Console.println(state); chargeRelayEnabled = state; digitalWrite(pinChargeRelay, state); - if (state){ - chargingStartTimeMinutes = Timer.powerTimeMinutes; - } else { - chargingStartTimeMinutes = 0; - } + if (state) chargingStartTimeMinutes = Timer.powerTimeMinutes; } @@ -189,7 +189,9 @@ void BatteryControl::print(){ Console.print(F(" chargerConnected=")); Console.print(chargerConnected()); Console.print(F(" chargeRelayEnabled=")); - Console.print(chargeRelayEnabled); + Console.print(chargeRelayEnabled); + Console.print(F(" chargingTimeMinutes=")); + Console.print(getChargingTimeMinutes()); Console.println(); } diff --git a/tests/drivecontrol/battery.h b/tests/drivecontrol/battery.h index 7a8201f6a..b3a9ad7cd 100644 --- a/tests/drivecontrol/battery.h +++ b/tests/drivecontrol/battery.h @@ -40,15 +40,16 @@ class BatteryControl void setup(); void run(); void read(); - void print(); - int getChargingTimeMinutes(); + void print(); bool chargerConnected(); - bool robotShouldGoHome(); - bool robotShouldSwitchOff(); - bool robotShouldCharge(); - void enableChargingRelay(bool state); + bool isCharging(); + int getChargingTimeMinutes(); + bool robotShouldGoHome(); + private: void setBatterySwitch(bool state); - private: + void enableChargingRelay(bool state); + bool robotShouldSwitchOff(); + bool robotShouldCharge(); unsigned long nextBatteryTime; }; diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index a24952782..179b16d70 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -18,6 +18,7 @@ bool StandbyBehavior::takeControl(){ void StandbyBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); + LED.playSequence(LED_GREEN_ON); while ( !suppressed ) { Robot.run(); } @@ -30,14 +31,14 @@ ModelRCBehavior::ModelRCBehavior() : Behavior() { } bool ModelRCBehavior::takeControl(){ - return (Button.beepCounter == 3); + return (Robot.mode == MODE_MODEL_RC); } void ModelRCBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); Button.resetBeepCounter(); - while ( (!suppressed) && (!Button.pressed) ) { + while ( (!suppressed) && (Robot.mode == MODE_MODEL_RC) ) { ModelRC.run(); Robot.run(); } @@ -46,19 +47,34 @@ void ModelRCBehavior::action(){ // ---------------------------------------------------------- -UserStopBehavior::UserStopBehavior() : Behavior() { - name = "UserStopBehavior"; +UserInteractionBehavior::UserInteractionBehavior() : Behavior() { + name = "UserInteractionBehavior"; } -bool UserStopBehavior::takeControl(){ - return ( (Button.beepCounter == 1) && (MotorCtrl.motion != MOTION_STOP) ); +bool UserInteractionBehavior::takeControl(){ + return ( Button.pressed ); } -void UserStopBehavior::action(){ +void UserInteractionBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); - Button.resetBeepCounter(); - while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ + while ( !suppressed ){ + int bc = Button.beepCounter; + if (bc != 0){ + switch (bc){ + case 1: + if (Robot.mode == MODE_STANDBY) + Robot.setMode(MODE_AUTO); + else + Robot.setMode(MODE_STANDBY); + break; + case 3: + Robot.setMode(MODE_MODEL_RC); + break; + } + Button.resetBeepCounter(); + break; + } Robot.run(); } } @@ -70,7 +86,7 @@ DriveForwardBehavior::DriveForwardBehavior() : Behavior() { } bool DriveForwardBehavior::takeControl(){ - return (Button.beepCounter == 1); + return (Robot.mode == MODE_AUTO); } void DriveForwardBehavior::action(){ @@ -92,7 +108,9 @@ HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ } bool HitObstacleBehavior::takeControl(){ - return ( (MotorCtrl.motion != MOTION_STOP) && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); + return ( (Robot.mode == MODE_AUTO) + && (MotorCtrl.motion != MOTION_STOP) + && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); } void HitObstacleBehavior::action(){ @@ -126,7 +144,7 @@ ChargerConnectedBehavior::ChargerConnectedBehavior() : Behavior() { } bool ChargerConnectedBehavior::takeControl(){ - return Battery.chargerConnected(); + return ( Battery.isCharging() ); } void ChargerConnectedBehavior::action(){ @@ -136,7 +154,7 @@ void ChargerConnectedBehavior::action(){ Buzzer.play(BC_SHORT_SHORT_SHORT); // wait until some other behavior was activated - while ( !suppressed ){ + while ( (!suppressed ) && (Battery.isCharging()) ) { Robot.run(); } } @@ -149,17 +167,21 @@ FatalErrorBehavior::FatalErrorBehavior() : Behavior() { } bool FatalErrorBehavior::takeControl(){ - return (MotorCtrl.motorLeftError || MotorCtrl.motorRightError || MotorMow.motorError); + return ( (Robot.mode == MODE_AUTO) + && (MotorCtrl.motorLeftError || MotorCtrl.motorRightError || MotorMow.motorError ) + ); } void FatalErrorBehavior::action(){ suppressed = false; + Robot.setMode(MODE_ERROR); MotorCtrl.stopImmediately(); Buzzer.play(BC_SHORT_SHORT_SHORT); + LED.playSequence(LED_RED_BLINK); // wait until some other behavior was activated - while ( (!suppressed )&& (!Button.pressed) ) { + while ( (!suppressed )&& (Robot.mode == MODE_ERROR) ) { Robot.run(); } diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index f11d20355..705ced9ab 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -40,11 +40,11 @@ class StandbyBehavior : public Behavior virtual void action(); }; -// user stopped robot -class UserStopBehavior : public Behavior +// user is interacting with robot (via button) +class UserInteractionBehavior : public Behavior { public: - UserStopBehavior(); + UserInteractionBehavior(); virtual bool takeControl(); virtual void action(); }; diff --git a/tests/drivecontrol/button.cpp b/tests/drivecontrol/button.cpp index 7bbc1ddad..5935fe550 100644 --- a/tests/drivecontrol/button.cpp +++ b/tests/drivecontrol/button.cpp @@ -29,6 +29,7 @@ void ButtonControl::setBeepCount(int count){ Console.print(F("BUTTON beeps ")); Console.println(beepCounter); tempBeepCounter = 0; + pressed = true; } // call this in main loop diff --git a/tests/drivecontrol/config.h b/tests/drivecontrol/config.h index ea44a8e6a..71162aeec 100644 --- a/tests/drivecontrol/config.h +++ b/tests/drivecontrol/config.h @@ -84,7 +84,7 @@ #define PFOD_PIN 1234 // Bluetooth pin -#define SIM_MOTOR 1 // enable for simulation +#define SIMULATE 1 // enable for simulation (not using hardware) // ----- robot configuration ------------------------ diff --git a/tests/drivecontrol/led.cpp b/tests/drivecontrol/led.cpp index 2f1c42483..ce2b5a61c 100644 --- a/tests/drivecontrol/led.cpp +++ b/tests/drivecontrol/led.cpp @@ -23,10 +23,12 @@ void LEDControl::run(){ nextLEDTime = millis() + 500; switch (ledSequenceIdx){ case LED_OFF: + digitalWrite(pinLED, LOW); digitalWrite(pinLEDDuoRed, LOW); digitalWrite(pinLEDDuoGreen, LOW); break; case LED_GREEN_ON: + digitalWrite(pinLED, HIGH); digitalWrite(pinLEDDuoRed, LOW); digitalWrite(pinLEDDuoGreen, HIGH); break; diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 45b037c63..78739afb9 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -142,6 +142,7 @@ void MotorControl::setMC33926(int pinDir, int pinPWM, int speed){ } void MotorControl::checkFault(){ + #ifndef SIMULATE if ( (!motorLeftError) && (digitalRead(pinMotorLeftFault)==LOW) ){ Console.println(F("ERROR: left gear motor/MC33926")); motorLeftError = true; @@ -150,6 +151,7 @@ void MotorControl::checkFault(){ Console.println(F("ERROR: right gear motor/MC33926")); motorRightError = true; } + #endif } void MotorControl::resetFault(){ @@ -197,6 +199,11 @@ void MotorControl::run(){ } readCurrent(); checkFault(); + if (motion != MOTION_STOP) { + print(); + Console.println(); + //printCSV(false); + } } @@ -206,7 +213,7 @@ void MotorControl::readOdometry(){ if (TaC > 1000) TaC = 1; static int lastOdoLeft = 0; static int lastOdoRight = 0; - #if SIM_MOTOR + #if SIMULATE odometryLeftTicks += motorLeftPWMCurr; odometryRightTicks += motorRightPWMCurr; odometryLeftTickTime = 255.0 / ((double)motorLeftPWMCurr); @@ -360,6 +367,7 @@ bool MotorControl::hasStopped(){ // read motor current void MotorControl::readCurrent(){ + #ifndef SIMULATE unsigned long TaC = millis() - lastMotorCurrentTime; // sampling time in millis lastMotorCurrentTime = millis(); if (TaC > 500) TaC = 1; @@ -419,11 +427,7 @@ void MotorControl::readCurrent(){ // sigma_a = (Vu - Vf) / Vu (acceleration tracktion) // Vf: vehicle velocity // Vu: tire velocity - - // print(); - // Console.println(); - //printCSV(false); - + if (enableStallDetection) { if (!motorLeftStalled){ if ( (abs(motorLeftPWMCurr) > 0) && (motorLeftSensePower > 1) && (motorLeftEfficiency < 200) ) { @@ -444,6 +448,7 @@ void MotorControl::readCurrent(){ } } } + #endif } void MotorControl::printCSV(bool includeHeader){ diff --git a/tests/drivecontrol/motormow.cpp b/tests/drivecontrol/motormow.cpp index 12d226384..d19fc1dc2 100644 --- a/tests/drivecontrol/motormow.cpp +++ b/tests/drivecontrol/motormow.cpp @@ -81,10 +81,12 @@ void MotorMowControl::resetStalled(){ void MotorMowControl::checkMotorFault(){ + #ifndef SIMULATE if ( (!motorError) && (digitalRead(pinMotorMowFault)==LOW) ){ Console.println(F("ERROR: mower motor/MC33926")); motorError = true; } + #endif } void MotorMowControl::resetFault(){ @@ -97,6 +99,7 @@ void MotorMowControl::resetFault(){ // read motor current void MotorMowControl::readCurrent(){ + #ifndef SIMULATE unsigned long TaC = millis() - lastMotorCurrentTime; // sampling time in millis lastMotorCurrentTime = millis(); if (TaC > 500) TaC = 1; @@ -124,6 +127,7 @@ void MotorMowControl::readCurrent(){ stopImmediately(); } } + #endif } diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index d9f6243a2..ae8c73c06 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -4,19 +4,30 @@ RobotControl Robot; -boolean useModelRC = true; -unsigned long nextInfoTime = 0; RobotControl::RobotControl(){ loopCounter = 0; + mode = -1; +} + +void RobotControl::setMode(int newMode){ + if (mode == newMode) return; + mode = newMode; + switch (mode){ + case MODE_STANDBY: Console.println(F("MODE_STANDBY")); break; + case MODE_MODEL_RC:Console.println(F("MODE_MODEL_RC")); break; + case MODE_AUTO: Console.println(F("MODE_AUTO")); break; + case MODE_MANUAL: Console.println(F("MODE_MANUAL")); break; + case MODE_ERROR: Console.println(F("MODE_ERROR")); break; + } } void RobotControl::setup(){ Wire.begin(); Console.begin(BAUDRATE); - Console.println(F("SETUP")); + Console.println(F("-----SETUP-----")); ADCMan.setup(); Battery.setup(); @@ -31,24 +42,24 @@ void RobotControl::setup(){ Config.setup(); - LED.playSequence(LED_RED_BLINK); - // low-to-high priority arbitrator.addBehavior(&standbyBehavior); arbitrator.addBehavior(&driveForwardBehavior); arbitrator.addBehavior(&hitObstacleBehavior); arbitrator.addBehavior(&modelRCBehavior); - arbitrator.addBehavior(&userStopBehavior); arbitrator.addBehavior(&chargerConnectedBehavior); - arbitrator.addBehavior(&fatalErrorBehavior); - Console.println(F("SETUP completed")); + arbitrator.addBehavior(&fatalErrorBehavior); + arbitrator.addBehavior(&userInteractionBehavior); + + setMode(MODE_STANDBY); + + Console.println(F("-----SETUP completed-----")); if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); } void RobotControl::checkKey(){ - while (Console.available() > 0){ - Button.pressed = true; + while (Console.available() > 0){ char ch = (char)Console.read(); switch (ch){ case '1': Button.setBeepCount(1); break; @@ -57,6 +68,16 @@ void RobotControl::checkKey(){ case '4': Button.setBeepCount(4); break; case '5': Button.setBeepCount(5); break; case 's': Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; break; + case 'e': MotorCtrl.motorLeftError = true; break; + case 'b': + if (Battery.chgVoltage > 5){ + Battery.chgVoltage = 0; + Battery.batVoltage = 24; + } else { + Battery.chgVoltage = 27; + Battery.batVoltage = 24; + } + break; } } } @@ -115,8 +136,12 @@ void RobotControl::loop(){ - +/* void testloop(){ + boolean useModelRC = true; + unsigned long nextInfoTime = 0; + + if (millis() >= nextInfoTime){ nextInfoTime = millis() + 500; //ModelRC.print(); @@ -219,3 +244,6 @@ void testloop(){ delay(50); } +*/ + + diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index f878ccca4..2588b0341 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -20,12 +20,25 @@ #include "arbitrator.h" +// modes +enum { + MODE_STANDBY, // standby + MODE_MODEL_RC, // model remote control (R/C) + MODE_AUTO, // auto mowing + MODE_MANUAL, // manual mowing + MODE_ERROR, // error +}; + + + + class RobotControl { public: + int mode; // current mode unsigned long loopCounter; // Arduino loop counter ModelRCBehavior modelRCBehavior; - UserStopBehavior userStopBehavior; + UserInteractionBehavior userInteractionBehavior; StandbyBehavior standbyBehavior; DriveForwardBehavior driveForwardBehavior; HitObstacleBehavior hitObstacleBehavior; @@ -33,6 +46,7 @@ class RobotControl FatalErrorBehavior fatalErrorBehavior; Arbitrator arbitrator; RobotControl(); + virtual void setMode(int newMode); virtual void run(); virtual void setup(); virtual void loop(); From 6df1123a80a906ec239b88aaadb670a9bdc54523 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 12:50:41 +0200 Subject: [PATCH 15/78] behavior enable flag --- tests/drivecontrol/arbitrator.cpp | 2 +- tests/drivecontrol/behavior.cpp | 39 ++++++++++++++++--------------- tests/drivecontrol/behavior.h | 12 +++++++++- tests/drivecontrol/robot.cpp | 17 +++----------- tests/drivecontrol/robot.h | 12 ---------- 5 files changed, 35 insertions(+), 47 deletions(-) diff --git a/tests/drivecontrol/arbitrator.cpp b/tests/drivecontrol/arbitrator.cpp index 8982a46ab..d8556de77 100644 --- a/tests/drivecontrol/arbitrator.cpp +++ b/tests/drivecontrol/arbitrator.cpp @@ -61,7 +61,7 @@ void Arbitrator::monitor() { Console.print(" "); Console.println(behavior->name); */ - if ( (idx > activeBehaviorIdx) && (behavior->takeControl()) ){ + if ( (behavior->enabled) && (idx > activeBehaviorIdx) && (behavior->takeControl()) ){ if (activeBehavior != NULL){ Console.println(F("Arbitrator::monitor suppressing")); activeBehavior->suppress(); diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 179b16d70..213e5d8c6 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -17,8 +17,8 @@ bool StandbyBehavior::takeControl(){ void StandbyBehavior::action(){ suppressed = false; - MotorCtrl.stopImmediately(); - LED.playSequence(LED_GREEN_ON); + LED.playSequence(LED_GREEN_ON); + MotorCtrl.stopImmediately(); while ( !suppressed ) { Robot.run(); } @@ -31,14 +31,13 @@ ModelRCBehavior::ModelRCBehavior() : Behavior() { } bool ModelRCBehavior::takeControl(){ - return (Robot.mode == MODE_MODEL_RC); + return true; } void ModelRCBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); - Button.resetBeepCounter(); - while ( (!suppressed) && (Robot.mode == MODE_MODEL_RC) ) { + while ( !suppressed ) { ModelRC.run(); Robot.run(); } @@ -63,13 +62,18 @@ void UserInteractionBehavior::action(){ if (bc != 0){ switch (bc){ case 1: - if (Robot.mode == MODE_STANDBY) - Robot.setMode(MODE_AUTO); - else - Robot.setMode(MODE_STANDBY); + if ((Robot.modelRCBehavior.enabled) || (Robot.driveForwardBehavior.enabled)){ + Robot.driveForwardBehavior.enable(false); + } else { + Robot.driveForwardBehavior.enable(true); + } + Robot.modelRCBehavior.enable(false); + Robot.hitObstacleBehavior.enable(true); break; case 3: - Robot.setMode(MODE_MODEL_RC); + Robot.modelRCBehavior.enable(true); + Robot.driveForwardBehavior.enable(false); + Robot.hitObstacleBehavior.enable(false); break; } Button.resetBeepCounter(); @@ -86,12 +90,11 @@ DriveForwardBehavior::DriveForwardBehavior() : Behavior() { } bool DriveForwardBehavior::takeControl(){ - return (Robot.mode == MODE_AUTO); + return true; } void DriveForwardBehavior::action(){ suppressed = false; - Button.resetBeepCounter(); // forward MotorCtrl.setSpeedRpm(+10, +10); @@ -108,8 +111,7 @@ HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ } bool HitObstacleBehavior::takeControl(){ - return ( (Robot.mode == MODE_AUTO) - && (MotorCtrl.motion != MOTION_STOP) + return ( (MotorCtrl.motion != MOTION_STOP) && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); } @@ -167,21 +169,20 @@ FatalErrorBehavior::FatalErrorBehavior() : Behavior() { } bool FatalErrorBehavior::takeControl(){ - return ( (Robot.mode == MODE_AUTO) - && (MotorCtrl.motorLeftError || MotorCtrl.motorRightError || MotorMow.motorError ) + return ( + (MotorCtrl.motorLeftError || MotorCtrl.motorRightError || MotorMow.motorError ) ); } void FatalErrorBehavior::action(){ suppressed = false; - - Robot.setMode(MODE_ERROR); + MotorCtrl.stopImmediately(); Buzzer.play(BC_SHORT_SHORT_SHORT); LED.playSequence(LED_RED_BLINK); // wait until some other behavior was activated - while ( (!suppressed )&& (Robot.mode == MODE_ERROR) ) { + while ( !suppressed ) { Robot.run(); } diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 705ced9ab..032faf297 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -2,6 +2,7 @@ #define BEHAVIOR_H #include +#include "drivers.h" // subsumption architecture // external resources: @@ -16,7 +17,16 @@ class Behavior public: String name; bool suppressed; - Behavior() { suppressed = false; } + bool enabled; + Behavior() { suppressed = false; enabled = true; } + virtual void enable(bool flag){ + if (enabled == flag) return; + enabled = flag; + Console.print(F("ENABLE ")); + Console.print(name); + Console.print(" "); + Console.println(enabled); + } virtual void suppress() { suppressed = true; } virtual bool takeControl() {} virtual void action() {} diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index ae8c73c06..8497e0f08 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -8,19 +8,6 @@ RobotControl Robot; RobotControl::RobotControl(){ loopCounter = 0; - mode = -1; -} - -void RobotControl::setMode(int newMode){ - if (mode == newMode) return; - mode = newMode; - switch (mode){ - case MODE_STANDBY: Console.println(F("MODE_STANDBY")); break; - case MODE_MODEL_RC:Console.println(F("MODE_MODEL_RC")); break; - case MODE_AUTO: Console.println(F("MODE_AUTO")); break; - case MODE_MANUAL: Console.println(F("MODE_MANUAL")); break; - case MODE_ERROR: Console.println(F("MODE_ERROR")); break; - } } @@ -51,7 +38,9 @@ void RobotControl::setup(){ arbitrator.addBehavior(&fatalErrorBehavior); arbitrator.addBehavior(&userInteractionBehavior); - setMode(MODE_STANDBY); + driveForwardBehavior.enable(false); + hitObstacleBehavior.enable(false); + modelRCBehavior.enable(false); Console.println(F("-----SETUP completed-----")); if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 2588b0341..40bcb0091 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -20,22 +20,11 @@ #include "arbitrator.h" -// modes -enum { - MODE_STANDBY, // standby - MODE_MODEL_RC, // model remote control (R/C) - MODE_AUTO, // auto mowing - MODE_MANUAL, // manual mowing - MODE_ERROR, // error -}; - - class RobotControl { public: - int mode; // current mode unsigned long loopCounter; // Arduino loop counter ModelRCBehavior modelRCBehavior; UserInteractionBehavior userInteractionBehavior; @@ -46,7 +35,6 @@ class RobotControl FatalErrorBehavior fatalErrorBehavior; Arbitrator arbitrator; RobotControl(); - virtual void setMode(int newMode); virtual void run(); virtual void setup(); virtual void loop(); From 1b7156de782679db389fb16cf5488b9449cc55d0 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 13:03:04 +0200 Subject: [PATCH 16/78] behavior enable fix --- tests/drivecontrol/behavior.cpp | 13 ++++++++----- tests/drivecontrol/behavior.h | 8 ++++---- tests/drivecontrol/robot.cpp | 2 +- tests/drivecontrol/robot.h | 2 +- 4 files changed, 14 insertions(+), 11 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 213e5d8c6..92afb23c9 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -17,7 +17,7 @@ bool StandbyBehavior::takeControl(){ void StandbyBehavior::action(){ suppressed = false; - LED.playSequence(LED_GREEN_ON); + LED.playSequence(LED_OFF); MotorCtrl.stopImmediately(); while ( !suppressed ) { Robot.run(); @@ -95,6 +95,8 @@ bool DriveForwardBehavior::takeControl(){ void DriveForwardBehavior::action(){ suppressed = false; + + LED.playSequence(LED_GREEN_ON); // forward MotorCtrl.setSpeedRpm(+10, +10); @@ -141,18 +143,19 @@ void HitObstacleBehavior::action(){ // ---------------------------------------------------------- -ChargerConnectedBehavior::ChargerConnectedBehavior() : Behavior() { - name = "ChargerConnectedBehavior"; +ChargingBehavior::ChargingBehavior() : Behavior() { + name = "ChargingBehavior"; } -bool ChargerConnectedBehavior::takeControl(){ +bool ChargingBehavior::takeControl(){ return ( Battery.isCharging() ); } -void ChargerConnectedBehavior::action(){ +void ChargingBehavior::action(){ suppressed = false; MotorCtrl.stopImmediately(); + LED.playSequence(LED_OFF); Buzzer.play(BC_SHORT_SHORT_SHORT); // wait until some other behavior was activated diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 032faf297..42f0273ed 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -32,7 +32,7 @@ class Behavior virtual void action() {} }; -// Model R/C control activated +// Model R/C control class ModelRCBehavior : public Behavior { public: @@ -77,11 +77,11 @@ class HitObstacleBehavior : public Behavior virtual void action(); }; -// charger connected to robot -class ChargerConnectedBehavior : public Behavior +// robot is charging +class ChargingBehavior : public Behavior { public: - ChargerConnectedBehavior(); + ChargingBehavior(); virtual bool takeControl(); virtual void action(); }; diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 8497e0f08..a587f8bae 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -34,8 +34,8 @@ void RobotControl::setup(){ arbitrator.addBehavior(&driveForwardBehavior); arbitrator.addBehavior(&hitObstacleBehavior); arbitrator.addBehavior(&modelRCBehavior); - arbitrator.addBehavior(&chargerConnectedBehavior); arbitrator.addBehavior(&fatalErrorBehavior); + arbitrator.addBehavior(&chargingBehavior); arbitrator.addBehavior(&userInteractionBehavior); driveForwardBehavior.enable(false); diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 40bcb0091..d5f70375b 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -31,7 +31,7 @@ class RobotControl StandbyBehavior standbyBehavior; DriveForwardBehavior driveForwardBehavior; HitObstacleBehavior hitObstacleBehavior; - ChargerConnectedBehavior chargerConnectedBehavior; + ChargingBehavior chargingBehavior; FatalErrorBehavior fatalErrorBehavior; Arbitrator arbitrator; RobotControl(); From d2a4caf58833530ec6a47fb4d764ad409a32b771 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 13:22:33 +0200 Subject: [PATCH 17/78] robot mode functions --- tests/drivecontrol/behavior.cpp | 14 ++++-------- tests/drivecontrol/robot.cpp | 40 ++++++++++++++++++++++++--------- tests/drivecontrol/robot.h | 7 ++++-- 3 files changed, 39 insertions(+), 22 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 92afb23c9..a7ae7f8ec 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -62,18 +62,12 @@ void UserInteractionBehavior::action(){ if (bc != 0){ switch (bc){ case 1: - if ((Robot.modelRCBehavior.enabled) || (Robot.driveForwardBehavior.enabled)){ - Robot.driveForwardBehavior.enable(false); - } else { - Robot.driveForwardBehavior.enable(true); - } - Robot.modelRCBehavior.enable(false); - Robot.hitObstacleBehavior.enable(true); + if (Robot.modelRCBehavior.enabled) Robot.setStandbyMode(); + else if (Robot.driveForwardBehavior.enabled) Robot.setStandbyMode(); + else Robot.setAutoMode(); break; case 3: - Robot.modelRCBehavior.enable(true); - Robot.driveForwardBehavior.enable(false); - Robot.hitObstacleBehavior.enable(false); + Robot.setModelRCMode(); break; } Button.resetBeepCounter(); diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index a587f8bae..21284d28a 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -15,17 +15,17 @@ void RobotControl::setup(){ Wire.begin(); Console.begin(BAUDRATE); Console.println(F("-----SETUP-----")); - + + Button.setup(); ADCMan.setup(); - Battery.setup(); + Battery.setup(); + Buzzer.setup(); + LED.setup(); + Timer.setup(); MotorCtrl.setup(); MotorMow.setup(); ModelRC.setup(); - Buzzer.setup(); - Sonar.setup(); - Timer.setup(); - Button.setup(); - LED.setup(); + Sonar.setup(); Config.setup(); @@ -38,15 +38,35 @@ void RobotControl::setup(){ arbitrator.addBehavior(&chargingBehavior); arbitrator.addBehavior(&userInteractionBehavior); - driveForwardBehavior.enable(false); - hitObstacleBehavior.enable(false); - modelRCBehavior.enable(false); + setStandbyMode(); Console.println(F("-----SETUP completed-----")); if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); } +void RobotControl::setAutoMode(){ + Console.println(F("RobotControl::setAutoMode")); + Robot.driveForwardBehavior.enable(true); + Robot.hitObstacleBehavior.enable(true); + Robot.modelRCBehavior.enable(false); +} + +void RobotControl::setModelRCMode(){ + Console.println(F("RobotControl::setModelRCMode")); + Robot.modelRCBehavior.enable(true); + Robot.driveForwardBehavior.enable(false); + Robot.hitObstacleBehavior.enable(false); +} + +void RobotControl::setStandbyMode(){ + Console.println(F("RobotControl::setStandbyMode")); + Robot.modelRCBehavior.enable(false); + Robot.driveForwardBehavior.enable(false); + Robot.hitObstacleBehavior.enable(false); +} + + void RobotControl::checkKey(){ while (Console.available() > 0){ char ch = (char)Console.read(); diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index d5f70375b..02db46118 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -33,12 +33,15 @@ class RobotControl HitObstacleBehavior hitObstacleBehavior; ChargingBehavior chargingBehavior; FatalErrorBehavior fatalErrorBehavior; - Arbitrator arbitrator; + Arbitrator arbitrator; RobotControl(); + virtual void setAutoMode(); // activate auto mode + virtual void setModelRCMode(); // activate model R/C mode + virtual void setStandbyMode(); // set robot to standby/idle mode virtual void run(); virtual void setup(); virtual void loop(); - private: + private: void checkKey(); }; From 65fb6a0a397d78ffcb9e3c6a96025363bd45c0a6 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 13:40:21 +0200 Subject: [PATCH 18/78] tracking behavior --- tests/drivecontrol/battery.cpp | 5 ++++- tests/drivecontrol/behavior.cpp | 24 ++++++++++++++++++++++++ tests/drivecontrol/behavior.h | 9 +++++++++ tests/drivecontrol/robot.cpp | 7 +++++++ tests/drivecontrol/robot.h | 1 + 5 files changed, 45 insertions(+), 1 deletion(-) diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/battery.cpp index 7c04425d7..3412adfd9 100644 --- a/tests/drivecontrol/battery.cpp +++ b/tests/drivecontrol/battery.cpp @@ -11,14 +11,17 @@ BatteryControl Battery; BatteryControl::BatteryControl(){ nextBatteryTime = batteryReadCounter = 0; chargingStartTimeMinutes = 0; + batVoltage = 24; + chgVoltage = 0; idleTimeSec = 0; enableMonitor = false; - chargeRelayEnabled = false; + chargeRelayEnabled = false; batFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) batChgFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) batFull =29.4; // battery reference Voltage (fully charged) PLEASE ADJUST IF USING A DIFFERENT BATTERY VOLTAGE! FOR a 12V SYSTEM TO 14.4V batChargingCurrentMax =1.6; // maximum current your charger can devliver batFullCurrent = 0.3; // current flowing when battery is fully charged + batGoHomeIfBelow = 23.7; // drive home voltage (Volt) startChargingIfBelow = 27.0; // start charging if battery Voltage is below chargingTimeoutMinutes = 210; // safety timer for charging (minutes) // Sensorausgabe Konsole (chgSelection =0) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index a7ae7f8ec..d5513f19c 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -188,3 +188,27 @@ void FatalErrorBehavior::action(){ } +// ---------------------------------------------------------- + +TrackingBehavior::TrackingBehavior() : Behavior() { + name = "TrackingBehavior"; +} + +bool TrackingBehavior::takeControl(){ + return ( Battery.robotShouldGoHome() ); +} + +void TrackingBehavior::action(){ + suppressed = false; + + MotorCtrl.stopImmediately(); + LED.playSequence(LED_OFF); + Buzzer.play(BC_LONG_LONG); + + // wait until some other behavior was activated + while ( !suppressed ) { + Robot.run(); + } +} + + diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 42f0273ed..40138fdf7 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -77,6 +77,15 @@ class HitObstacleBehavior : public Behavior virtual void action(); }; +// robot is perimeter tracking +class TrackingBehavior : public Behavior +{ + public: + TrackingBehavior(); + virtual bool takeControl(); + virtual void action(); +}; + // robot is charging class ChargingBehavior : public Behavior { diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 21284d28a..22d72cbb4 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -32,6 +32,7 @@ void RobotControl::setup(){ // low-to-high priority arbitrator.addBehavior(&standbyBehavior); arbitrator.addBehavior(&driveForwardBehavior); + arbitrator.addBehavior(&trackingBehavior); arbitrator.addBehavior(&hitObstacleBehavior); arbitrator.addBehavior(&modelRCBehavior); arbitrator.addBehavior(&fatalErrorBehavior); @@ -49,6 +50,7 @@ void RobotControl::setAutoMode(){ Console.println(F("RobotControl::setAutoMode")); Robot.driveForwardBehavior.enable(true); Robot.hitObstacleBehavior.enable(true); + Robot.trackingBehavior.enable(true); Robot.modelRCBehavior.enable(false); } @@ -57,6 +59,7 @@ void RobotControl::setModelRCMode(){ Robot.modelRCBehavior.enable(true); Robot.driveForwardBehavior.enable(false); Robot.hitObstacleBehavior.enable(false); + Robot.trackingBehavior.enable(false); } void RobotControl::setStandbyMode(){ @@ -64,6 +67,7 @@ void RobotControl::setStandbyMode(){ Robot.modelRCBehavior.enable(false); Robot.driveForwardBehavior.enable(false); Robot.hitObstacleBehavior.enable(false); + Robot.trackingBehavior.enable(false); } @@ -78,6 +82,9 @@ void RobotControl::checkKey(){ case '5': Button.setBeepCount(5); break; case 's': Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; break; case 'e': MotorCtrl.motorLeftError = true; break; + case 'h': + Battery.batVoltage = 18; + break; case 'b': if (Battery.chgVoltage > 5){ Battery.chgVoltage = 0; diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 02db46118..681fc7992 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -33,6 +33,7 @@ class RobotControl HitObstacleBehavior hitObstacleBehavior; ChargingBehavior chargingBehavior; FatalErrorBehavior fatalErrorBehavior; + TrackingBehavior trackingBehavior; Arbitrator arbitrator; RobotControl(); virtual void setAutoMode(); // activate auto mode From 6666c18e4c482c01e3b887b698487aad45bf1ded Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 14:26:33 +0200 Subject: [PATCH 19/78] tracking behavior force by user --- tests/drivecontrol/arbitrator.cpp | 28 ++++++++++++++++++++++------ tests/drivecontrol/arbitrator.h | 1 + tests/drivecontrol/behavior.cpp | 26 ++++++++++++++++++++------ tests/drivecontrol/robot.cpp | 17 +++++++++++++++-- 4 files changed, 58 insertions(+), 14 deletions(-) diff --git a/tests/drivecontrol/arbitrator.cpp b/tests/drivecontrol/arbitrator.cpp index d8556de77..cf34a9489 100644 --- a/tests/drivecontrol/arbitrator.cpp +++ b/tests/drivecontrol/arbitrator.cpp @@ -62,15 +62,31 @@ void Arbitrator::monitor() { Console.println(behavior->name); */ if ( (behavior->enabled) && (idx > activeBehaviorIdx) && (behavior->takeControl()) ){ - if (activeBehavior != NULL){ - Console.println(F("Arbitrator::monitor suppressing")); - activeBehavior->suppress(); - } - nextBehavior = behavior; - nextBehaviorIdx = idx; + setNextBehavior(behavior); + //if (activeBehavior != NULL){ + // Console.println(F("Arbitrator::monitor suppressing")); + // activeBehavior->suppress(); + //} + //nextBehavior = behavior; + //nextBehaviorIdx = idx; break; } } } +void Arbitrator::setNextBehavior(Behavior *behavior){ + //Console.print(F("Arbitrator::setNextBehavior ")); + //Console.println(behavior->name); + if (activeBehavior != NULL){ + Console.println(F("Arbitrator::monitor suppressing")); + activeBehavior->suppress(); + } + for (int idx=0; idx < behaviorCount; idx++){ + if (behaviors[idx] == behavior){ + nextBehavior = behavior; + nextBehaviorIdx = idx; + break; + } + } +} diff --git a/tests/drivecontrol/arbitrator.h b/tests/drivecontrol/arbitrator.h index 6a6eaa30c..88c0522df 100644 --- a/tests/drivecontrol/arbitrator.h +++ b/tests/drivecontrol/arbitrator.h @@ -16,6 +16,7 @@ class Arbitrator int nextBehaviorIdx; Arbitrator(); virtual void addBehavior(Behavior *behavior); + virtual void setNextBehavior(Behavior *behavior); virtual void run(); virtual void monitor(); }; diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index d5513f19c..7e60702fc 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -55,16 +55,16 @@ bool UserInteractionBehavior::takeControl(){ } void UserInteractionBehavior::action(){ - suppressed = false; - MotorCtrl.stopImmediately(); + suppressed = false; while ( !suppressed ){ int bc = Button.beepCounter; if (bc != 0){ switch (bc){ case 1: - if (Robot.modelRCBehavior.enabled) Robot.setStandbyMode(); - else if (Robot.driveForwardBehavior.enabled) Robot.setStandbyMode(); - else Robot.setAutoMode(); + if (MotorCtrl.motion == MOTION_STOP) + Robot.setAutoMode(); + else + Robot.setStandbyMode(); break; case 3: Robot.setModelRCMode(); @@ -73,6 +73,7 @@ void UserInteractionBehavior::action(){ Button.resetBeepCounter(); break; } + MotorCtrl.stopImmediately(); Robot.run(); } } @@ -204,9 +205,22 @@ void TrackingBehavior::action(){ MotorCtrl.stopImmediately(); LED.playSequence(LED_OFF); Buzzer.play(BC_LONG_LONG); + + // find perimeter wire + MotorCtrl.setSpeedRpm(+10, +10); - // wait until some other behavior was activated + while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ + //if (perimeter.isOutside){ + // MotorCtrl.stopImmediately(); + //} + Robot.run(); + } + + // track perimeter until some other behavior was activated while ( !suppressed ) { + + // TODO: add perimeter tracking code + Robot.run(); } } diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index 22d72cbb4..cf8cd1c1e 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -75,17 +75,26 @@ void RobotControl::checkKey(){ while (Console.available() > 0){ char ch = (char)Console.read(); switch (ch){ + // simulate button press case '1': Button.setBeepCount(1); break; case '2': Button.setBeepCount(2); break; case '3': Button.setBeepCount(3); break; case '4': Button.setBeepCount(4); break; case '5': Button.setBeepCount(5); break; - case 's': Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; break; - case 'e': MotorCtrl.motorLeftError = true; break; + case 's': + // simulate sonar trigger + Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; + break; + case 'e': + // simulate motor error + MotorCtrl.motorLeftError = true; + break; case 'h': + // simulate low battery voltage Battery.batVoltage = 18; break; case 'b': + // simulate charger connection if (Battery.chgVoltage > 5){ Battery.chgVoltage = 0; Battery.batVoltage = 24; @@ -94,6 +103,10 @@ void RobotControl::checkKey(){ Battery.batVoltage = 24; } break; + case 't': + // force tracking behavior + arbitrator.setNextBehavior(&trackingBehavior); + break; } } } From 92452e31282c916bb3d84c5073d1805092a48c28 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 16:22:20 +0200 Subject: [PATCH 20/78] perimeter class --- tests/drivecontrol/behavior.cpp | 58 +++++- tests/drivecontrol/behavior.h | 9 + tests/drivecontrol/config.cpp | 9 +- tests/drivecontrol/motorcontrol.cpp | 8 +- tests/drivecontrol/motorcontrol.h | 2 + tests/drivecontrol/perimeter.cpp | 269 ++++++++++++++++++++++++++++ tests/drivecontrol/perimeter.h | 89 +++++++++ tests/drivecontrol/robot.cpp | 7 +- tests/drivecontrol/robot.h | 2 + 9 files changed, 441 insertions(+), 12 deletions(-) create mode 100644 tests/drivecontrol/perimeter.cpp create mode 100644 tests/drivecontrol/perimeter.h diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 7e60702fc..d83736fe2 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -1,6 +1,7 @@ #include "behavior.h" #include "motorcontrol.h" #include "buzzer.h" +#include "perimeter.h" #include "button.h" #include "robot.h" #include "modelrc.h" @@ -94,7 +95,7 @@ void DriveForwardBehavior::action(){ LED.playSequence(LED_GREEN_ON); // forward - MotorCtrl.setSpeedRpm(+10, +10); + MotorCtrl.setSpeedRpm(MotorCtrl.motorSpeedMaxRpm, MotorCtrl.motorSpeedMaxRpm); while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ Robot.run(); @@ -119,16 +120,16 @@ void HitObstacleBehavior::action(){ if (!Buzzer.isPlaying()) Buzzer.play(BC_LONG_SHORT_SHORT); // reverse - MotorCtrl.travelLineDistance(-30, 10); + MotorCtrl.travelLineDistance(-30, MotorCtrl.motorSpeedMaxRpm); while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ) { Robot.run(); } // rotate if (rotateRight){ - MotorCtrl.rotate(-PI/2, 10); + MotorCtrl.rotate(-PI/2, MotorCtrl.motorSpeedMaxRpm/2); } else { - MotorCtrl.rotate(+PI/2, 10); + MotorCtrl.rotate(+PI/2, MotorCtrl.motorSpeedMaxRpm/2); } // wait until motion stop while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ @@ -207,12 +208,12 @@ void TrackingBehavior::action(){ Buzzer.play(BC_LONG_LONG); // find perimeter wire - MotorCtrl.setSpeedRpm(+10, +10); + MotorCtrl.setSpeedRpm(MotorCtrl.motorSpeedMaxRpm, MotorCtrl.motorSpeedMaxRpm); while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ - //if (perimeter.isOutside){ - // MotorCtrl.stopImmediately(); - //} + if (!Perimeter.isInside(0)){ + MotorCtrl.stopImmediately(); + } Robot.run(); } @@ -225,4 +226,45 @@ void TrackingBehavior::action(){ } } +// ---------------------------------------------------------- + +HitPerimeterBehavior::HitPerimeterBehavior() : Behavior(){ + name = "HitPerimeterBehavior"; +} + +bool HitPerimeterBehavior::takeControl(){ + return ( !Perimeter.isInside(0) ); +} + +void HitPerimeterBehavior::action(){ + suppressed = false; + MotorCtrl.stopImmediately(); + bool rotateRight = ((rand() % 2) == 0); + float angle = random(PI/36, PI/2); + if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT_SHORT); + + // reverse + MotorCtrl.setSpeedRpm(-MotorCtrl.motorSpeedMaxRpm, -MotorCtrl.motorSpeedMaxRpm); + while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ) { + if (Perimeter.isInside(0)) { + MotorCtrl.stopImmediately(); + break; + } + Robot.run(); + } + + // rotate + if (rotateRight){ + MotorCtrl.rotate(-angle, MotorCtrl.motorSpeedMaxRpm/2); + } else { + MotorCtrl.rotate(+angle, MotorCtrl.motorSpeedMaxRpm/2); + } + // wait until motion stop + while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ + Robot.run(); + } +} + +// ---------------------------------------------------------- + diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/behavior.h index 40138fdf7..3d34adbd3 100644 --- a/tests/drivecontrol/behavior.h +++ b/tests/drivecontrol/behavior.h @@ -77,6 +77,15 @@ class HitObstacleBehavior : public Behavior virtual void action(); }; +// robot hit perimeter +class HitPerimeterBehavior : public Behavior +{ + public: + HitPerimeterBehavior(); + virtual bool takeControl(); + virtual void action(); +}; + // robot is perimeter tracking class TrackingBehavior : public Behavior { diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index a6e3bbd60..39793f566 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -6,6 +6,7 @@ #include "modelrc.h" #include "sonar.h" #include "battery.h" +#include "perimeter.h" FactoryConfig Config; @@ -15,7 +16,7 @@ void FactoryConfig::setup(){ Console.println(F("FactoryConfig::setup")); // -------------- gear motors ------------------------------------------- - MotorCtrl.motorSpeedMaxRpm = 18; + MotorCtrl.motorSpeedMaxRpm = 10; MotorCtrl.enableStallDetection = true; MotorCtrl.motorSpeedMaxPwm = 255; MotorCtrl.motorLeftPID.Kp = 0.87; // PID speed controller @@ -37,6 +38,7 @@ void FactoryConfig::setup(){ MotorCtrl.motorSenseRightScale = 9.3; // motor right sense scale (mA=(ADC-zero) * scale) MotorCtrl.motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) MotorCtrl.motorVoltageDC = 24.0; + MotorCtrl.motorEfficiencyMin = 200; // minimum motor efficiency (stall detection) // ---------------- mower motor --------------------------------------- MotorMow.motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) @@ -45,6 +47,11 @@ void FactoryConfig::setup(){ // MC33926 current: 5V / 1024 ADC counts, 525 mV per A => 9.3 mA per ADC step MotorMow.motorSenseScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) MotorMow.motorVoltageDC = 24.0; + + // ------------------ perimeter ------------------------------------------- + Perimeter.enable = true; + Perimeter.timedOutIfBelowSmag = 300; + Perimeter.timeOutSecIfNotInside = 8; // ------------------ sonar ------------------------------------------- Sonar.sonarTriggerBelow = 900; diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 78739afb9..022163e81 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -71,6 +71,8 @@ MotorControl::MotorControl(){ motorSenseRightScale = 9.3; // motor right sense scale (mA=(ADC-zero) * scale) motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) motorVoltageDC = 24.0; + + motorEfficiencyMin = 200; } @@ -325,6 +327,8 @@ void MotorControl::setSpeedRpm(int leftRpm, int rightRpm){ motion = MOTION_SPEED; } + + void MotorControl::stopImmediately(){ setSpeedPWM(0, 0); motion = MOTION_STOP; @@ -430,7 +434,7 @@ void MotorControl::readCurrent(){ if (enableStallDetection) { if (!motorLeftStalled){ - if ( (abs(motorLeftPWMCurr) > 0) && (motorLeftSensePower > 1) && (motorLeftEfficiency < 200) ) { + if ( (abs(motorLeftPWMCurr) > 0) && (motorLeftSensePower > 1) && (motorLeftEfficiency < motorEfficiencyMin) ) { print(); Console.print(F(" LEFT STALL")); Console.println(); @@ -439,7 +443,7 @@ void MotorControl::readCurrent(){ } } if (!motorRightStalled){ - if ( (abs(motorRightPWMCurr) > 0) && (motorRightSensePower > 1) && (motorRightEfficiency < 200) ) { + if ( (abs(motorRightPWMCurr) > 0) && (motorRightSensePower > 1) && (motorRightEfficiency < motorEfficiencyMin) ) { print(); Console.print(F(" RIGHT STALL")); Console.println(); diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index ddf99a615..9193f956a 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -53,6 +53,7 @@ class MotorControl float motorRightPWMCurr ; // motor current + float motorEfficiencyMin; // minimum motor efficiency (stall detection) int motorRightSenseADC ; // ADC value int motorLeftSenseADC ; float motorLeftSenseCurrent ; // current (mA) @@ -93,6 +94,7 @@ class MotorControl virtual void stopImmediately(); virtual void travelLineSpeedRpm(int speedRpm); virtual void travelLineDistance(int distanceCm, int speedRpm); + // rotate (+counter-clock / -clock-wise) virtual void rotate(float angleRad, int speedRpm); virtual bool hasStopped(); virtual void resetStalled(); diff --git a/tests/drivecontrol/perimeter.cpp b/tests/drivecontrol/perimeter.cpp new file mode 100644 index 000000000..36c59fb5b --- /dev/null +++ b/tests/drivecontrol/perimeter.cpp @@ -0,0 +1,269 @@ +/* + Ardumower (www.ardumower.de) + Copyright (c) 2013-2014 by Alexander Grau + Copyright (c) 2013-2014 by Sven Gennat + + Private-use only! (you need to ask for a commercial-use) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + Private-use only! (you need to ask for a commercial-use) +*/ + + +#include "perimeter.h" +#include +#include +#include "adcman.h" +#include "drivers.h" +#include "config.h" + +PerimeterControl Perimeter; + +//#define pinLED 13 + + +// developer test to be activated in mower.cpp: +#ifdef USE_DEVELOPER_TEST + // more motor driver friendly signal (receiver) + int8_t sigcode_norm[] = { 1,-1,0,0,0, + 1,-1,0,0,0, + -1, 1,0,0,0, + 1,-1,0,0,0 }; +#else + // http://grauonline.de/alexwww/ardumower/filter/filter.html + // "pseudonoise4_pw" signal + // if using reconstructed sender signal, use this + int8_t sigcode_norm[] = { 1,1,-1,-1,1,-1,1,-1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,-1,1,1,-1 }; + // "pseudonoise4_pw" signal (differential) + // if using the coil differential signal, use this + int8_t sigcode_diff[] = { 1,0,-1, 0,1,-1,1,-1, 0,1,-1,1,0,-1, 0,1,-1, 0,1,-1, 0,1,0,-1 }; +#endif + + +PerimeterControl::PerimeterControl(){ + useDifferentialPerimeterSignal = true; + swapCoilPolarity = false; + timedOutIfBelowSmag = 300; + timeOutSecIfNotInside = 8; + callCounter = 0; + mag[0] = mag[1] = 0; + smoothMag[0] = smoothMag[1] = 0; + filterQuality[0] = filterQuality[1] = 0; + signalCounter[0] = signalCounter[1] = -300; + lastInsideTime[0] = lastInsideTime[1] = 0; + enable = false; +} + +void PerimeterControl::setup(){ + Console.println(F("PerimeterControl::setup")); + // perimeter + pinMode(pinPerimeterRight, INPUT); + pinMode(pinPerimeterLeft, INPUT); + setPins(pinPerimeterLeft, pinPerimeterRight); +} + +void PerimeterControl::run(){ + #ifndef SIMULATION + if (!enable) return; + if (ADCMan.isCaptureComplete(idxPin[0])) { + matchedFilter(0); + } + #endif +} + +void PerimeterControl::setPins(byte idx0Pin, byte idx1Pin){ + idxPin[0] = idx0Pin; + idxPin[1] = idx1Pin; + + switch (ADCMan.sampleRate){ + case SRATE_9615: subSample = 1; break; + case SRATE_19231: subSample = 2; break; + case SRATE_38462: subSample = 4; break; + } + + // use max. 255 samples and multiple of signalsize + int adcSampleCount = sizeof sigcode_norm * subSample; + ADCMan.setCapture(idx0Pin, ((int)255 / adcSampleCount) * adcSampleCount, true); + ADCMan.setCapture(idx1Pin, ((int)255 / adcSampleCount) * adcSampleCount, true); + // ADCMan.setCapture(idx0Pin, adcSampleCount*2, true); + // ADCMan.setCapture(idx1Pin, adcSampleCount*2, true); + + Console.print(F("matchSignal size=")); + Console.println(sizeof sigcode_norm); + Console.print(F("subSample=")); + Console.println((int)subSample); + Console.print(F("capture size=")); + Console.println(ADCMan.getCaptureSize(idx0Pin)); +} + +void PerimeterControl::speedTest(){ + int loops = 0; + unsigned long endTime = millis() + 1000; + while (millis() < endTime){ + matchedFilter(0); + loops++; + } + Console.print(F("speedTest=")); + Console.println(loops); +} + +int PerimeterControl::getMagnitude(byte idx){ + return mag[idx]; +} + +int PerimeterControl::getSmoothMagnitude(byte idx){ + return smoothMag[idx]; +} + +void PerimeterControl::printADCMinMax(int8_t *samples){ + int8_t vmax = SCHAR_MIN; + int8_t vmin = SCHAR_MAX; + for (byte i=0; i < ADCMan.getCaptureSize(idxPin[0]); i++){ + vmax = max(vmax, samples[i]); + vmin = min(vmin, samples[i]); + } + Console.print(F("perimter min,max=")); + Console.print((int)vmin); + Console.print(F(",")); + Console.println((int)vmax); +} + +// perimeter V2 uses a digital matched filter +void PerimeterControl::matchedFilter(byte idx){ + int16_t sampleCount = ADCMan.getCaptureSize(idxPin[0]); + int8_t *samples = ADCMan.getCapture(idxPin[idx]); + if (callCounter == 100) { + // statistics only + callCounter = 0; + signalMin[idx] = 9999; + signalMax[idx] = -9999; + signalAvg[idx] = 0; + for (int i=0; i < sampleCount; i++){ + int8_t v = samples[i]; + signalAvg[idx] += v; + signalMin[idx] = min(signalMin[idx], v); + signalMax[idx] = max(signalMax[idx], v); + } + signalAvg[idx] = ((double)signalAvg[idx]) / ((double)(sampleCount)); + } + // magnitude for tracking (fast but inaccurate) + int16_t sigcode_size = sizeof sigcode_norm; + int8_t *sigcode = sigcode_norm; + if (useDifferentialPerimeterSignal) sigcode = sigcode_diff; + mag[idx] = corrFilter(sigcode, subSample, sigcode_size, samples, sampleCount-sigcode_size*subSample, filterQuality[idx]); + if (swapCoilPolarity) mag[idx] *= -1; + // smoothed magnitude used for signal-off detection + smoothMag[idx] = 0.99 * smoothMag[idx] + 0.01 * ((float)abs(mag[idx])); + + // perimeter inside/outside detection + if (mag[idx] > 0){ + signalCounter[idx] = min(signalCounter[idx]+1, 3); + } else { + signalCounter[idx] = max(signalCounter[idx]-1, -3); + } + if (signalCounter[idx] < 0){ + lastInsideTime[idx] = millis(); + } + + ADCMan.restart(idxPin[idx]); + if (idx == 0) callCounter++; +} + +int16_t PerimeterControl::getSignalMin(byte idx){ + return signalMin[idx]; +} + +int16_t PerimeterControl::getSignalMax(byte idx){ + return signalMax[idx]; +} + +int16_t PerimeterControl::getSignalAvg(byte idx){ + return signalAvg[idx]; +} + + +float PerimeterControl::getFilterQuality(byte idx){ + return filterQuality[idx]; +} + +boolean PerimeterControl::isInside(byte idx){ + return (signalCounter[idx] < 0); +} + + +boolean PerimeterControl::signalTimedOut(byte idx){ + if (getSmoothMagnitude(idx) < timedOutIfBelowSmag) return true; + if (millis() - lastInsideTime[idx] > timeOutSecIfNotInside * 1000) return true; + return false; +} + + +// digital matched filter (cross correlation) +// http://en.wikipedia.org/wiki/Cross-correlation +// H[] holds the double sided filter coeffs, M = H.length (number of points in FIR) +// subsample is the number of times for each filter coeff to repeat +// ip[] holds input data (length > nPts + M ) +// nPts is the length of the required output data + +int16_t PerimeterControl::corrFilter(int8_t *H, int8_t subsample, int16_t M, int8_t *ip, int16_t nPts, float &quality){ + int16_t sumMax = 0; // max correlation sum + int16_t sumMin = 0; // min correlation sum + int16_t Ms = M * subsample; // number of filter coeffs including subsampling + + // compute sum of absolute filter coeffs + int16_t Hsum = 0; + for (int16_t i=0; i sumMax) sumMax = sum; + if (sum < sumMin) sumMin = sum; + ip++; + } + // normalize to 4095 + sumMin = ((float)sumMin) / ((float)(Hsum*127)) * 4095.0; + sumMax = ((float)sumMax) / ((float)(Hsum*127)) * 4095.0; + + // compute ratio min/max + if (sumMax > -sumMin) { + quality = ((float)sumMax) / ((float)-sumMin); + return sumMax; + } else { + quality = ((float)-sumMin) / ((float)sumMax); + return sumMin; + } +} + + + + diff --git a/tests/drivecontrol/perimeter.h b/tests/drivecontrol/perimeter.h new file mode 100644 index 000000000..704384668 --- /dev/null +++ b/tests/drivecontrol/perimeter.h @@ -0,0 +1,89 @@ +/* + Ardumower (www.ardumower.de) + Copyright (c) 2013-2014 by Alexander Grau + Copyright (c) 2013-2014 by Sven Gennat + + Private-use only! (you need to ask for a commercial-use) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + Private-use only! (you need to ask for a commercial-use) + +*/ +/* +perimeter v2 receiver for Arduino sound sensors/LM386 using digital filter: matched filter - evaluates signal polarity of 'pulse3' signal on one ADC pin (for one coil) + (for details see http://wiki.ardumower.de/index.php?title=Perimeter_wire ) + +How to use it (example): + 1. initialize ADC: ADCMan.init(); + 2. set perimeter pins: Perimeter.setPins(pinPerimeterLeft, pinPerimeterRight); + 3. read perimeter: int value = Perimeter.getMagnitude(0); + +*/ + +#ifndef PERIMETER_H +#define PERIMETER_H + +#include + + + +class PerimeterControl +{ + public: + PerimeterControl(); + bool enable; // enable ? + // set ADC pins + void setPins(byte idx0Pin, byte idx1Pin); + // get perimeter magnitude + int getMagnitude(byte idx); + int getSmoothMagnitude(byte idx); + // inside perimeter (true) or outside (false)? + boolean isInside(byte idx); + // perimeter signal timed out? (e.g. due to broken wire) + boolean signalTimedOut(byte idx); + int16_t getSignalMin(byte idx); + int16_t getSignalMax(byte idx); + int16_t getSignalAvg(byte idx); + float getFilterQuality(byte idx); + void speedTest(); + int16_t timedOutIfBelowSmag; + int16_t timeOutSecIfNotInside; + // use differential perimeter signal as input for the matched filter? + bool useDifferentialPerimeterSignal; + // swap coil polarity? + bool swapCoilPolarity; + char subSample; + void setup(); + void run(); + private: + unsigned long lastInsideTime[2]; + byte idxPin[2]; // channel for idx + int callCounter; + int16_t mag [2]; // perimeter magnitude per channel + float smoothMag[2]; + float filterQuality[2]; + int16_t signalMin[2]; + int16_t signalMax[2]; + int16_t signalAvg[2]; + int signalCounter[2]; + void matchedFilter(byte idx); + int16_t corrFilter(int8_t *H, int8_t subsample, int16_t M, int8_t *ip, int16_t nPts, float &quality); + void printADCMinMax(int8_t *samples); +}; + +extern PerimeterControl Perimeter; + +#endif + diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index cf8cd1c1e..a0ee78858 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -26,6 +26,7 @@ void RobotControl::setup(){ MotorMow.setup(); ModelRC.setup(); Sonar.setup(); + Perimeter.setup(); Config.setup(); @@ -34,6 +35,7 @@ void RobotControl::setup(){ arbitrator.addBehavior(&driveForwardBehavior); arbitrator.addBehavior(&trackingBehavior); arbitrator.addBehavior(&hitObstacleBehavior); + arbitrator.addBehavior(&hitPerimeterBehavior); arbitrator.addBehavior(&modelRCBehavior); arbitrator.addBehavior(&fatalErrorBehavior); arbitrator.addBehavior(&chargingBehavior); @@ -50,6 +52,7 @@ void RobotControl::setAutoMode(){ Console.println(F("RobotControl::setAutoMode")); Robot.driveForwardBehavior.enable(true); Robot.hitObstacleBehavior.enable(true); + Robot.hitPerimeterBehavior.enable(true); Robot.trackingBehavior.enable(true); Robot.modelRCBehavior.enable(false); } @@ -58,7 +61,8 @@ void RobotControl::setModelRCMode(){ Console.println(F("RobotControl::setModelRCMode")); Robot.modelRCBehavior.enable(true); Robot.driveForwardBehavior.enable(false); - Robot.hitObstacleBehavior.enable(false); + Robot.hitObstacleBehavior.enable(false); + Robot.hitPerimeterBehavior.enable(false); Robot.trackingBehavior.enable(false); } @@ -67,6 +71,7 @@ void RobotControl::setStandbyMode(){ Robot.modelRCBehavior.enable(false); Robot.driveForwardBehavior.enable(false); Robot.hitObstacleBehavior.enable(false); + Robot.hitPerimeterBehavior.enable(false); Robot.trackingBehavior.enable(false); } diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 681fc7992..87aa17a34 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -11,6 +11,7 @@ #include "button.h" #include "led.h" #include "sonar.h" +#include "perimeter.h" #include "timer.h" #include "battery.h" #include "motorcontrol.h" @@ -31,6 +32,7 @@ class RobotControl StandbyBehavior standbyBehavior; DriveForwardBehavior driveForwardBehavior; HitObstacleBehavior hitObstacleBehavior; + HitPerimeterBehavior hitPerimeterBehavior; ChargingBehavior chargingBehavior; FatalErrorBehavior fatalErrorBehavior; TrackingBehavior trackingBehavior; From 0422116254f6ae41b305e54a610555677b1f046d Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 17:09:35 +0200 Subject: [PATCH 21/78] console output --- tests/drivecontrol/adcman.cpp | 4 ++-- tests/drivecontrol/behavior.cpp | 4 ++-- tests/drivecontrol/motorcontrol.cpp | 11 +++++++---- tests/drivecontrol/motorcontrol.h | 1 + tests/drivecontrol/perimeter.cpp | 3 +++ tests/drivecontrol/perimeter.h | 1 + tests/drivecontrol/robot.cpp | 21 +++++++++++++++++++-- tests/drivecontrol/robot.h | 2 ++ 8 files changed, 37 insertions(+), 10 deletions(-) diff --git a/tests/drivecontrol/adcman.cpp b/tests/drivecontrol/adcman.cpp index 9078450f4..fb7358d56 100644 --- a/tests/drivecontrol/adcman.cpp +++ b/tests/drivecontrol/adcman.cpp @@ -73,8 +73,8 @@ ADCManager::ADCManager(){ // perimeter filter output (mag value) which disappears when disabling odometry interrupts. // SOLUTION: allow odometry interrupt handler nesting (see odometry interrupt function) //sampleRate = SRATE_19231; - sampleRate = SRATE_38462; - //sampleRate = SRATE_9615; + //sampleRate = SRATE_38462; + sampleRate = SRATE_9615; } void ADCManager::setup(){ diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index d83736fe2..540aafa14 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -197,7 +197,7 @@ TrackingBehavior::TrackingBehavior() : Behavior() { } bool TrackingBehavior::takeControl(){ - return ( Battery.robotShouldGoHome() ); + return ( (Perimeter.enable) && (Battery.robotShouldGoHome()) ); } void TrackingBehavior::action(){ @@ -233,7 +233,7 @@ HitPerimeterBehavior::HitPerimeterBehavior() : Behavior(){ } bool HitPerimeterBehavior::takeControl(){ - return ( !Perimeter.isInside(0) ); + return ( (Perimeter.enable) && (!Perimeter.isInside(0)) ); } void HitPerimeterBehavior::action(){ diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 022163e81..0dca33e50 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -82,7 +82,7 @@ void MotorControl::setup(){ motion = MOTION_STOP; enableSpeedControl = enableStallDetection = true; motorLeftPWMCurr = motorRightPWMCurr = 0; - lastOdometryTime = lastMotorControlTime = lastMotorCurrentTime = lastMotorRunTime = 0; + lastOdometryTime = lastMotorControlTime = lastMotorCurrentTime = lastMotorRunTime = nextMotorPrintTime = 0; odometryLeftTicksZeroCounter = odometryRightTicksZeroCounter = 0; motorLeftError = motorRightError = false; motorLeftStalled = motorRightStalled = false; @@ -202,9 +202,12 @@ void MotorControl::run(){ readCurrent(); checkFault(); if (motion != MOTION_STOP) { - print(); - Console.println(); - //printCSV(false); + if (millis() >= nextMotorPrintTime){ + nextMotorPrintTime = millis() + 500; + print(); + Console.println(); + //printCSV(false); + } } } diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index 9193f956a..6589e294e 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -103,6 +103,7 @@ class MotorControl virtual void printCSV(bool includeHeader); private: unsigned long lastMotorRunTime; + unsigned long nextMotorPrintTime; unsigned long lastMotorControlTime; unsigned long lastOdometryTime; unsigned long lastMotorCurrentTime; diff --git a/tests/drivecontrol/perimeter.cpp b/tests/drivecontrol/perimeter.cpp index 36c59fb5b..eff36c89a 100644 --- a/tests/drivecontrol/perimeter.cpp +++ b/tests/drivecontrol/perimeter.cpp @@ -53,6 +53,7 @@ PerimeterControl Perimeter; PerimeterControl::PerimeterControl(){ + nextPerimeterTime = 0; useDifferentialPerimeterSignal = true; swapCoilPolarity = false; timedOutIfBelowSmag = 300; @@ -77,6 +78,8 @@ void PerimeterControl::setup(){ void PerimeterControl::run(){ #ifndef SIMULATION if (!enable) return; + if (millis() < nextPerimeterTime) return; + nextPerimeterTime = millis() + 100; if (ADCMan.isCaptureComplete(idxPin[0])) { matchedFilter(0); } diff --git a/tests/drivecontrol/perimeter.h b/tests/drivecontrol/perimeter.h index 704384668..ddbdbbd67 100644 --- a/tests/drivecontrol/perimeter.h +++ b/tests/drivecontrol/perimeter.h @@ -68,6 +68,7 @@ class PerimeterControl void setup(); void run(); private: + unsigned long nextPerimeterTime; unsigned long lastInsideTime[2]; byte idxPin[2]; // channel for idx int callCounter; diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index a0ee78858..d724eed60 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -8,6 +8,7 @@ RobotControl Robot; RobotControl::RobotControl(){ loopCounter = 0; + nextPrintTime = 0; } @@ -116,6 +117,17 @@ void RobotControl::checkKey(){ } } + +void RobotControl::print(){ + Console.print("loopsPerSec="); + Console.print(((double)loopCounter)/10.0); + Console.print(" behavior="); + if (arbitrator.activeBehavior){ + Console.print(arbitrator.activeBehavior->name); + } + Console.println(); + loopCounter = 0; +} // call this in ANY loop! void RobotControl::run(){ @@ -133,7 +145,13 @@ void RobotControl::run(){ Sonar.run(); Timer.run(); - delay(50); + if (millis() >= nextPrintTime){ + nextPrintTime = millis() + 10000; + print(); + } + + //delay(50); + loopCounter++; } @@ -165,7 +183,6 @@ void RobotControl::loop(){ //Console.print(F("RobotControl::loop ")); //Console.println(loopCounter); arbitrator.run(); - loopCounter++; } diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 87aa17a34..2b0deec71 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -38,12 +38,14 @@ class RobotControl TrackingBehavior trackingBehavior; Arbitrator arbitrator; RobotControl(); + unsigned long nextPrintTime; virtual void setAutoMode(); // activate auto mode virtual void setModelRCMode(); // activate model R/C mode virtual void setStandbyMode(); // set robot to standby/idle mode virtual void run(); virtual void setup(); virtual void loop(); + virtual void print(); private: void checkKey(); }; From 7ab5d3521eb4452e72c6798e52350ba176b45aca Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 18:02:04 +0200 Subject: [PATCH 22/78] comments --- tests/drivecontrol/arbitrator.h | 5 ++++- tests/drivecontrol/config.cpp | 2 ++ tests/drivecontrol/drivers.h | 2 +- tests/drivecontrol/sonar.h | 3 ++- 4 files changed, 9 insertions(+), 3 deletions(-) diff --git a/tests/drivecontrol/arbitrator.h b/tests/drivecontrol/arbitrator.h index 88c0522df..ae60c6cb8 100644 --- a/tests/drivecontrol/arbitrator.h +++ b/tests/drivecontrol/arbitrator.h @@ -4,7 +4,10 @@ #include #include "behavior.h" - +/* the arbitrator decides + -if there is any behavior with higher priority requiring action (monitor) + -if so, sets next behavior (run) +*/ class Arbitrator { diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index 39793f566..98af70420 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -12,6 +12,8 @@ FactoryConfig Config; +// Ardumower factory configuration (NOTE: see 'config.h' for pin layout!) + void FactoryConfig::setup(){ Console.println(F("FactoryConfig::setup")); diff --git a/tests/drivecontrol/drivers.h b/tests/drivecontrol/drivers.h index 1b1d81304..f85f7925b 100644 --- a/tests/drivecontrol/drivers.h +++ b/tests/drivecontrol/drivers.h @@ -23,7 +23,7 @@ */ -// drivers (motor driver, sensor drivers, etc.) +// utility functions #ifndef DRIVERS_H #define DRIVERS_H diff --git a/tests/drivecontrol/sonar.h b/tests/drivecontrol/sonar.h index a68792ffd..5f3271b19 100644 --- a/tests/drivecontrol/sonar.h +++ b/tests/drivecontrol/sonar.h @@ -1,7 +1,8 @@ #ifndef SONAR_H #define SONAR_H -// Ardumower ultrasonic sensor +// Ardumower ultrasonic sensor +// requires: HCSR04 #include From f3d351b824a6e63ea96f24b608ab05c667b1e8de Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 26 May 2015 21:37:43 +0200 Subject: [PATCH 23/78] corrected sender pinout comments --- sender/sender.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sender/sender.ino b/sender/sender.ino index 034cc9d93..35a824275 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -34,8 +34,8 @@ // comment to use only +input/GND voltage for amplitude #define pinIN1 9 // M1_IN1 (if using old L298N driver, connect this pin to L298N-IN1) -#define pinIN2 2 // M1_IN2 (if using old L298N driver, leave open) -#define pinPWM 3 // M1_PWM / nD2 (if using old L298N driver, connect this pin to L298N-IN2) +#define pinIN2 2 // M1_IN2 (if using old L298N driver, connect this pin to L298N-IN2) +#define pinPWM 3 // M1_PWM / nD2 (if using old L298N driver, leave open) #define pinEnable 5 // EN (connect to motor driver enable) // motor driver fault pin From ca118ded6ac0d01a94702e01929565fc31bde994 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 28 May 2015 18:46:46 +0200 Subject: [PATCH 24/78] bugfixes --- tests/drivecontrol/behavior.cpp | 2 +- tests/drivecontrol/config.cpp | 38 ++++++++++++++++++++--------- tests/drivecontrol/config.h | 2 +- tests/drivecontrol/motorcontrol.cpp | 20 ++++++++------- tests/drivecontrol/motorcontrol.h | 1 + tests/drivecontrol/motormow.cpp | 15 ++++++++---- tests/drivecontrol/motormow.h | 2 ++ tests/drivecontrol/robot.cpp | 8 ++++++ 8 files changed, 60 insertions(+), 28 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 540aafa14..36c3b271b 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -57,7 +57,7 @@ bool UserInteractionBehavior::takeControl(){ void UserInteractionBehavior::action(){ suppressed = false; - while ( !suppressed ){ + while (( !suppressed ) && (Button.pressed)) { int bc = Button.beepCounter; if (bc != 0){ switch (bc){ diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index 98af70420..4c15bcf6c 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -18,17 +18,26 @@ void FactoryConfig::setup(){ Console.println(F("FactoryConfig::setup")); // -------------- gear motors ------------------------------------------- - MotorCtrl.motorSpeedMaxRpm = 10; - MotorCtrl.enableStallDetection = true; - MotorCtrl.motorSpeedMaxPwm = 255; - MotorCtrl.motorLeftPID.Kp = 0.87; // PID speed controller - MotorCtrl.motorLeftPID.Ki = 0.29; - MotorCtrl.motorLeftPID.Kd = 0.25; -/* MotorCtrl.odometryTicksPerRevolution = 20; // encoder ticks per one full resolution + // -- Ardumower Mini -- + MotorCtrl.motorSpeedMaxRpm = 100; + MotorCtrl.enableStallDetection = false; + MotorCtrl.enableErrorDetection = false; + MotorCtrl.motorSpeedMaxPwm = 255; + MotorCtrl.odometryTicksPerRevolution = 20; // encoder ticks per one full resolution MotorCtrl.odometryTicksPerCm = 0.5; // encoder ticks per cm MotorCtrl.odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) MotorCtrl.motorLeftSwapDir = false; - MotorCtrl.motorRightSwapDir = false;*/ + MotorCtrl.motorRightSwapDir = false; + MotorCtrl.motorLeftPID.Kp = 0.1; // PID speed controller + MotorCtrl.motorLeftPID.Ki = 0.05; + MotorCtrl.motorLeftPID.Kd = 0.05; + +/* + // -- Ardumower -- + MotorCtrl.motorSpeedMaxRpm = 10; + MotorCtrl.enableStallDetection = true; + MotorCtrl.enableErrorDetection = true; + MotorCtrl.motorSpeedMaxPwm = 255; MotorCtrl.odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution MotorCtrl.odometryTicksPerCm = 13.49; // encoder ticks per cm MotorCtrl.odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) @@ -41,8 +50,13 @@ void FactoryConfig::setup(){ MotorCtrl.motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) MotorCtrl.motorVoltageDC = 24.0; MotorCtrl.motorEfficiencyMin = 200; // minimum motor efficiency (stall detection) + MotorCtrl.motorLeftPID.Kp = 0.87; // PID speed controller + MotorCtrl.motorLeftPID.Ki = 0.29; + MotorCtrl.motorLeftPID.Kd = 0.25;*/ // ---------------- mower motor --------------------------------------- + MotorMow.enableStallDetection = false; + MotorMow.enableErrorDetection = false; MotorMow.motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) MotorMow.motorMowSpeedMaxPwm = 255; // motor mower max PWM MotorMow.motorMowPowerMax = 75.0; // motor mower max power (Watt) @@ -51,18 +65,18 @@ void FactoryConfig::setup(){ MotorMow.motorVoltageDC = 24.0; // ------------------ perimeter ------------------------------------------- - Perimeter.enable = true; + Perimeter.enable = false; Perimeter.timedOutIfBelowSmag = 300; Perimeter.timeOutSecIfNotInside = 8; // ------------------ sonar ------------------------------------------- Sonar.sonarTriggerBelow = 900; Sonar.enableCenter = false; - Sonar.enableRight = true; - Sonar.enableLeft = true; + Sonar.enableRight = false; + Sonar.enableLeft = false; // ------------------ battery ------------------------------------------ - Battery.enableMonitor = true; + Battery.enableMonitor = false; Battery.batGoHomeIfBelow = 23.7; // drive home voltage (Volt) Battery.batSwitchOffIfBelow = 21.7; // switch off battery if below voltage (Volt) Battery.batSwitchOffIfIdle = 1; // switch off battery if idle (minutes) diff --git a/tests/drivecontrol/config.h b/tests/drivecontrol/config.h index 71162aeec..c7c01b6b0 100644 --- a/tests/drivecontrol/config.h +++ b/tests/drivecontrol/config.h @@ -84,7 +84,7 @@ #define PFOD_PIN 1234 // Bluetooth pin -#define SIMULATE 1 // enable for simulation (not using hardware) +//#define SIMULATE 1 // enable for simulation (not using hardware) // ----- robot configuration ------------------------ diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 0dca33e50..6768d221a 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -80,7 +80,7 @@ void MotorControl::setup(){ Console.println(F("MotorControl::setup")); printCSV(true); motion = MOTION_STOP; - enableSpeedControl = enableStallDetection = true; + enableSpeedControl = enableStallDetection = enableErrorDetection = true; motorLeftPWMCurr = motorRightPWMCurr = 0; lastOdometryTime = lastMotorControlTime = lastMotorCurrentTime = lastMotorRunTime = nextMotorPrintTime = 0; odometryLeftTicksZeroCounter = odometryRightTicksZeroCounter = 0; @@ -145,13 +145,15 @@ void MotorControl::setMC33926(int pinDir, int pinPWM, int speed){ void MotorControl::checkFault(){ #ifndef SIMULATE - if ( (!motorLeftError) && (digitalRead(pinMotorLeftFault)==LOW) ){ - Console.println(F("ERROR: left gear motor/MC33926")); - motorLeftError = true; - } - if ( (!motorRightError) && (digitalRead(pinMotorRightFault)==LOW) ){ - Console.println(F("ERROR: right gear motor/MC33926")); - motorRightError = true; + if (enableErrorDetection){ + if ( (!motorLeftError) && (digitalRead(pinMotorLeftFault)==LOW) ){ + Console.println(F("ERROR: left gear motor/MC33926")); + motorLeftError = true; + } + if ( (!motorRightError) && (digitalRead(pinMotorRightFault)==LOW) ){ + Console.println(F("ERROR: right gear motor/MC33926")); + motorRightError = true; + } } #endif } @@ -201,7 +203,7 @@ void MotorControl::run(){ } readCurrent(); checkFault(); - if (motion != MOTION_STOP) { + if ( (motion != MOTION_STOP) || (motorLeftPWMCurr > 0) || (motorRightPWMCurr > 0) ) { if (millis() >= nextMotorPrintTime){ nextMotorPrintTime = millis() + 500; print(); diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index 6589e294e..9e4692072 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -86,6 +86,7 @@ class MotorControl bool enableSpeedControl; // enable speed controller? bool enableStallDetection; // enable stall detection? + bool enableErrorDetection; // enable error detection? MotorControl(); virtual void setup(); virtual void run(); diff --git a/tests/drivecontrol/motormow.cpp b/tests/drivecontrol/motormow.cpp index d19fc1dc2..3b2b1c08a 100644 --- a/tests/drivecontrol/motormow.cpp +++ b/tests/drivecontrol/motormow.cpp @@ -20,6 +20,7 @@ MotorMowControl::MotorMowControl(){ nextMotorMowTime = 0; lastMotorCurrentTime = 0; motorSenseCurrent = 0; + enableErrorDetection = enableStallDetection = true; } void MotorMowControl::setup(){ @@ -82,9 +83,11 @@ void MotorMowControl::resetStalled(){ void MotorMowControl::checkMotorFault(){ #ifndef SIMULATE - if ( (!motorError) && (digitalRead(pinMotorMowFault)==LOW) ){ - Console.println(F("ERROR: mower motor/MC33926")); - motorError = true; + if (enableErrorDetection){ + if ( (!motorError) && (digitalRead(pinMotorMowFault)==LOW) ){ + Console.println(F("ERROR: mower motor/MC33926")); + motorError = true; + } } #endif } @@ -117,8 +120,9 @@ void MotorMowControl::readCurrent(){ // P_output = U_Battery * pwmDuty * I_Motor smooth = 0.9; motorSensePower = motorSensePower * smooth + (1.0-smooth) * (motorSenseCurrent * motorVoltageDC * ((double)abs(motorPWMCurr)/255.0) /1000); - - if (!motorStalled){ + + if (enableStallDetection) { + if (!motorStalled){ if ( (abs(motorPWMCurr) > 0) && (motorSensePower > motorMowPowerMax) ) { print(); Console.print(F(" MOW STALL")); @@ -126,6 +130,7 @@ void MotorMowControl::readCurrent(){ motorStalled = true; stopImmediately(); } + } } #endif } diff --git a/tests/drivecontrol/motormow.h b/tests/drivecontrol/motormow.h index 17d7c5f8e..9f2d9cb8b 100644 --- a/tests/drivecontrol/motormow.h +++ b/tests/drivecontrol/motormow.h @@ -22,6 +22,8 @@ class MotorMowControl bool motorError; // motor error? bool motorStalled; // motor stalled? + bool enableErrorDetection; // enable error detection? + bool enableStallDetection; // enable stall detection? MotorMowControl(); void setup(); diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index d724eed60..d48bb76d8 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -45,6 +45,10 @@ void RobotControl::setup(){ setStandbyMode(); Console.println(F("-----SETUP completed-----")); + #ifdef SIMULATE + Console.println(F("SIMULATION active!")); + if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT_SHORT_SHORT); + #endif if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT); } @@ -87,6 +91,10 @@ void RobotControl::checkKey(){ case '3': Button.setBeepCount(3); break; case '4': Button.setBeepCount(4); break; case '5': Button.setBeepCount(5); break; + case 'm': + MotorCtrl.enableSpeedControl = false; + MotorCtrl.setSpeedPWM(127, 127); + break; case 's': // simulate sonar trigger Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; From ce7ddd812c98139a2a725ac05e80d6ce6c7f5e68 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 28 May 2015 19:40:28 +0200 Subject: [PATCH 25/78] new pid values for mini --- tests/drivecontrol/behavior.cpp | 6 +++--- tests/drivecontrol/config.cpp | 8 ++++---- tests/drivecontrol/motorcontrol.cpp | 3 ++- tests/drivecontrol/sonar.cpp | 3 ++- 4 files changed, 11 insertions(+), 9 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index 36c3b271b..f5a2bbf63 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -110,7 +110,7 @@ HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ bool HitObstacleBehavior::takeControl(){ return ( (MotorCtrl.motion != MOTION_STOP) - && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredLeft()) ); + && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredCenter()) ); } void HitObstacleBehavior::action(){ @@ -127,9 +127,9 @@ void HitObstacleBehavior::action(){ // rotate if (rotateRight){ - MotorCtrl.rotate(-PI/2, MotorCtrl.motorSpeedMaxRpm/2); + MotorCtrl.rotate(-PI/2, MotorCtrl.motorSpeedMaxRpm); } else { - MotorCtrl.rotate(+PI/2, MotorCtrl.motorSpeedMaxRpm/2); + MotorCtrl.rotate(+PI/2, MotorCtrl.motorSpeedMaxRpm); } // wait until motion stop while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/config.cpp index 4c15bcf6c..dab4ae3b4 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/config.cpp @@ -19,7 +19,7 @@ void FactoryConfig::setup(){ // -------------- gear motors ------------------------------------------- // -- Ardumower Mini -- - MotorCtrl.motorSpeedMaxRpm = 100; + MotorCtrl.motorSpeedMaxRpm = 50; MotorCtrl.enableStallDetection = false; MotorCtrl.enableErrorDetection = false; MotorCtrl.motorSpeedMaxPwm = 255; @@ -29,8 +29,8 @@ void FactoryConfig::setup(){ MotorCtrl.motorLeftSwapDir = false; MotorCtrl.motorRightSwapDir = false; MotorCtrl.motorLeftPID.Kp = 0.1; // PID speed controller - MotorCtrl.motorLeftPID.Ki = 0.05; - MotorCtrl.motorLeftPID.Kd = 0.05; + MotorCtrl.motorLeftPID.Ki = 0.01; + MotorCtrl.motorLeftPID.Kd = 0.01; /* // -- Ardumower -- @@ -71,7 +71,7 @@ void FactoryConfig::setup(){ // ------------------ sonar ------------------------------------------- Sonar.sonarTriggerBelow = 900; - Sonar.enableCenter = false; + Sonar.enableCenter = true; Sonar.enableRight = false; Sonar.enableLeft = false; diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 6768d221a..a37c7dbc1 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -192,7 +192,7 @@ void MotorControl::run(){ break; case MOTION_ROTATE_ANGLE: angleToTargetRad = abs(distancePI(odometryThetaRadCurr, odometryThetaRadSet)); - if (angleToTargetRad < PI/32){ + if (angleToTargetRad < PI/4){ Console.println(F("reached angle")); motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; @@ -336,6 +336,7 @@ void MotorControl::setSpeedRpm(int leftRpm, int rightRpm){ void MotorControl::stopImmediately(){ setSpeedPWM(0, 0); + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; } diff --git a/tests/drivecontrol/sonar.cpp b/tests/drivecontrol/sonar.cpp index 26cc899a2..f05b798b9 100644 --- a/tests/drivecontrol/sonar.cpp +++ b/tests/drivecontrol/sonar.cpp @@ -9,7 +9,8 @@ SonarControl Sonar; #define NO_ECHO 0 // ultrasonic sensor max echo time (WARNING: do not set too high, it consumes CPU time!) #define MAX_ECHO_TIME 3000 -#define MIN_ECHO_TIME 350 +//#define MIN_ECHO_TIME 350 +#define MIN_ECHO_TIME 0 SonarControl::SonarControl(){ From b515f134f1de2ba9c574b726a78e1533ab683ead Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 28 May 2015 22:16:13 +0200 Subject: [PATCH 26/78] motorcontrol stop --- tests/drivecontrol/behavior.cpp | 10 +- tests/drivecontrol/motorcontrol.cpp | 45 +++++++- tests/drivecontrol/motorcontrol.h | 1 + tests/drivecontrol/pid.cpp | 5 + tests/drivecontrol/pid.h | 1 + tests/drivecontrol/robot.cpp | 160 ++++++++++------------------ tests/drivecontrol/robot.h | 1 + 7 files changed, 113 insertions(+), 110 deletions(-) diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/behavior.cpp index f5a2bbf63..2aedaf545 100644 --- a/tests/drivecontrol/behavior.cpp +++ b/tests/drivecontrol/behavior.cpp @@ -109,8 +109,8 @@ HitObstacleBehavior::HitObstacleBehavior() : Behavior(){ } bool HitObstacleBehavior::takeControl(){ - return ( (MotorCtrl.motion != MOTION_STOP) - && (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredCenter()) ); + return ( //(MotorCtrl.motion != MOTION_STOP) && + (MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled) || (Sonar.triggeredCenter()) ); } void HitObstacleBehavior::action(){ @@ -121,7 +121,7 @@ void HitObstacleBehavior::action(){ // reverse MotorCtrl.travelLineDistance(-30, MotorCtrl.motorSpeedMaxRpm); - while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ) { + while ( (!suppressed) && (!MotorCtrl.hasStopped()) ) { Robot.run(); } @@ -132,7 +132,7 @@ void HitObstacleBehavior::action(){ MotorCtrl.rotate(+PI/2, MotorCtrl.motorSpeedMaxRpm); } // wait until motion stop - while ( (!suppressed) && (MotorCtrl.motion != MOTION_STOP) ){ + while ( (!suppressed) && (!MotorCtrl.hasStopped()) ){ Robot.run(); } } @@ -268,3 +268,5 @@ void HitPerimeterBehavior::action(){ // ---------------------------------------------------------- + + diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index a37c7dbc1..0e43a7e64 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -86,6 +86,7 @@ void MotorControl::setup(){ odometryLeftTicksZeroCounter = odometryRightTicksZeroCounter = 0; motorLeftError = motorRightError = false; motorLeftStalled = motorRightStalled = false; + leftRightCompensation = 0; TCCR3B = (TCCR3B & 0xF8) | 0x02; // set PWM frequency 3.9 Khz (pin2,3,5) @@ -270,14 +271,27 @@ void MotorControl::readOdometry(){ void MotorControl::speedControl(){ + //static float leftRightCompensationFactor = 0.001; + static float leftRightCompensationFactor = 0; + unsigned long TaC = millis() - lastMotorControlTime; // sampling time in millis if (TaC < 50) return; lastMotorControlTime = millis(); if (TaC > 500) TaC = 1; - //double TaS = ((double)TaC) / 1000.0; + //double TaS = ((double)TaC) / 1000.0; - static float leftRightCompensation = 0; - //leftRightCompensation += (motorLeftRpmCurr - motorRightRpmCurr)* 2; + switch (motion){ + case MOTION_LINE_SPEED: + case MOTION_LINE_DISTANCE: + leftRightCompensation += (motorLeftRpmCurr - motorRightRpmCurr)* leftRightCompensationFactor; + break; + case MOTION_ROTATE_ANGLE: + if (motorLeftSpeedRpmSet > motorRightSpeedRpmSet) + leftRightCompensation += (motorLeftRpmCurr + motorRightRpmCurr)* leftRightCompensationFactor; + else + leftRightCompensation -= (motorLeftRpmCurr + motorRightRpmCurr)* leftRightCompensationFactor; + break; + } motorLeftPID.x = motorLeftRpmCurr; // CURRENT motorLeftPID.w = motorLeftSpeedRpmSet; // SET @@ -330,24 +344,36 @@ void MotorControl::setSpeedRpm(int leftRpm, int rightRpm){ motorLeftSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorLeftSpeedRpmSet)); motorRightSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorRightSpeedRpmSet)); motion = MOTION_SPEED; + motorRightPID.reset(); + motorLeftPID.reset(); + leftRightCompensation = 0; } void MotorControl::stopImmediately(){ setSpeedPWM(0, 0); + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; } void MotorControl::travelLineSpeedRpm(int speedRpm){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = speedRpm; + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); motion = MOTION_LINE_SPEED; } void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ motion = MOTION_LINE_DISTANCE; odometryDistanceCmSet = odometryDistanceCmCurr + distanceCm; + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); Console.print(F("target distance=")); Console.println(odometryDistanceCmSet); if (distanceCm < 0) @@ -359,6 +385,9 @@ void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ void MotorControl::rotate(float angleRad, int speedRpm){ motion = MOTION_ROTATE_ANGLE; odometryThetaRadSet = scalePI(odometryThetaRadCurr + angleRad); + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); Console.print(F("target angle=")); Console.println(odometryThetaRadSet/PI*180.0); if (angleRad < 0){ @@ -371,7 +400,7 @@ void MotorControl::rotate(float angleRad, int speedRpm){ } bool MotorControl::hasStopped(){ - return (motorLeftPWMCurr == motorRightPWMCurr == 0); + return ( (motion == MOTION_STOP) && (abs(motorLeftPWMCurr) < 1) && (abs(motorRightPWMCurr) < 1) && (abs(motorRightRpmCurr) < 1) && (abs(motorLeftRpmCurr) < 1) ); } @@ -553,6 +582,14 @@ void MotorControl::print(){ Console.print(MotorCtrl.motorLeftEfficiency, 0); Console.print(","); Console.print(MotorCtrl.motorRightEfficiency, 0); + Console.print(F(" pid:")); + Console.print(MotorCtrl.motorLeftPID.Kp); + Console.print(F(",")); + Console.print(MotorCtrl.motorLeftPID.Ki); + Console.print(F(",")); + Console.print(MotorCtrl.motorLeftPID.Kd); + Console.print(F(" lrc:")); + Console.print(MotorCtrl.leftRightCompensation); } diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index 9e4692072..07ef68bf3 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -51,6 +51,7 @@ class MotorControl PID motorRightPID; // motor right wheel PID controll float motorLeftPWMCurr ; // current motor pwm float motorRightPWMCurr ; + float leftRightCompensation; // left-right speed compensation // motor current float motorEfficiencyMin; // minimum motor efficiency (stall detection) diff --git a/tests/drivecontrol/pid.cpp b/tests/drivecontrol/pid.cpp index 61c2786ee..b3c3cd91e 100644 --- a/tests/drivecontrol/pid.cpp +++ b/tests/drivecontrol/pid.cpp @@ -38,8 +38,13 @@ PID::PID(float Kp, float Ki, float Kd){ this->Kp = Kp; this->Ki = Ki; this->Kd = Kd; + reset(); } +void PID::reset(){ + esum = 0; + eold = 0; +} float PID::compute() { diff --git a/tests/drivecontrol/pid.h b/tests/drivecontrol/pid.h index 28823a038..c56d532b4 100644 --- a/tests/drivecontrol/pid.h +++ b/tests/drivecontrol/pid.h @@ -38,6 +38,7 @@ class PID PID(); PID(float Kp, float Ki, float Kd); float compute(); + void reset(); double Ta; // sampling time float w; // set value float x; // current value diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/robot.cpp index d48bb76d8..7c3ba5338 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/robot.cpp @@ -95,6 +95,9 @@ void RobotControl::checkKey(){ MotorCtrl.enableSpeedControl = false; MotorCtrl.setSpeedPWM(127, 127); break; + case 'p': + motorPIDTest(); + break; case 's': // simulate sonar trigger Sonar.sonarDistLeft = Sonar.sonarTriggerBelow-1; @@ -195,114 +198,67 @@ void RobotControl::loop(){ -/* -void testloop(){ - boolean useModelRC = true; +void RobotControl::motorPIDTest(){ unsigned long nextInfoTime = 0; - - - if (millis() >= nextInfoTime){ - nextInfoTime = millis() + 500; - //ModelRC.print(); - //MotorCtrl.print(); - //Console.println(); - } + unsigned long nextSpeedTime = 0; + int test = 0; - if (Console.available() > 0){ - char ch = (char)Console.read(); - if (ch == 'm') { - MotorCtrl.enableSpeedControl = true; - useModelRC = true; - Console.println(F("useModelRC")); - } - if (ch == 'o') { - MotorCtrl.enableSpeedControl = false; - useModelRC = false; - Console.println(F("pwm=127,127")); - MotorCtrl.setSpeedPWM(127, 127); - } - if (ch == 'p') { - MotorCtrl.enableSpeedControl = false; - useModelRC = false; - Console.println(F("pwm=255,255")); - MotorCtrl.setSpeedPWM(255, 255); - } - if (ch == '1') { - MotorCtrl.enableSpeedControl = true; - useModelRC = false; - Console.println(F("rpm=0,0")); - MotorCtrl.setSpeedRpm(0, 0); - MotorCtrl.resetStalled(); - } - if (ch == '2') { - MotorCtrl.enableSpeedControl = true; - useModelRC = false; - Console.println(F("rpm=5,5")); - MotorCtrl.setSpeedRpm(5, 5); - } - if (ch == '3') { - useModelRC = false; - Console.println(F("rpm=10,10")); - MotorCtrl.setSpeedRpm(10, 10); - } - if (ch == '4') { - useModelRC = false; - Console.println(F("rpm=-5,+5")); - MotorCtrl.setSpeedRpm(-5, +5); - } - if (ch == '5') { - useModelRC = false; - Console.println(F("rpm=+5,-5")); - MotorCtrl.setSpeedRpm(+5, -5); - } - if (ch == '6') { - useModelRC = false; - Console.println(F("theta=+45deg")); - MotorCtrl.rotate(PI/2, 5); - } - if (ch == '7') { - useModelRC = false; - Console.println(F("theta=-45deg")); - MotorCtrl.rotate(-PI/2, 5); - } - if (ch == '8') { - useModelRC = false; - Console.println(F("distance=+30cm")); - MotorCtrl.travelLineDistance(30, 5); - } - if (ch == '9') { - useModelRC = false; - Console.println(F("distance=-30cm")); - MotorCtrl.travelLineDistance(-30, 5); - } - } + while (true){ + if (millis() >= nextInfoTime){ + nextInfoTime = millis() + 1000; + MotorCtrl.print(); + Console.println(); + } - if ((MotorCtrl.motorRightError) || (MotorCtrl.motorLeftError)){ - Console.println(F("ERROR")); - if (!Buzzer.isPlaying()) Buzzer.play(BC_SHORT_SHORT_SHORT); - } - - ADCMan.run(); - MotorCtrl.run(); - Buzzer.run(); - LED.run(); + //if (MotorCtrl.motion == MOTION_STOP) { + if (MotorCtrl.hasStopped()) { + switch(test){ + case 0: + Console.println("=========FORWARD=========="); + MotorCtrl.travelLineDistance(200, MotorCtrl.motorSpeedMaxRpm); + //MotorCtrl.setSpeedRpm(0, 0); + break; + case 1: + Console.println("=========REVERSE=========="); + MotorCtrl.travelLineDistance(-200, MotorCtrl.motorSpeedMaxRpm); + break; + case 2: + Console.println("=========ROTATE=========="); + MotorCtrl.rotate(1.5*PI, MotorCtrl.motorSpeedMaxRpm); + break; + } + test++; + if (test >= 3) test = 0; + } + + MotorCtrl.run(); - if ((MotorCtrl.motorRightStalled) || (MotorCtrl.motorLeftStalled)){ - if (!Buzzer.isPlaying()) Buzzer.play(BC_LONG_SHORT_SHORT); - if (useModelRC) { - if ( (abs(ModelRC.remoteSpeed) < 5) && (abs(ModelRC.remoteSteer) < 5) ) { - MotorCtrl.resetStalled(); - } - } + if (Console.available() > 0){ + char ch = (char)Console.read(); + switch (ch){ + case '1': + MotorCtrl.motorLeftPID.Kp += 0.01; + break; + case 'q': + MotorCtrl.motorLeftPID.Kp -= 0.01; + break; + case '2': + MotorCtrl.motorLeftPID.Ki += 0.01; + break; + case 'w': + MotorCtrl.motorLeftPID.Ki -= 0.01; + break; + case '3': + MotorCtrl.motorLeftPID.Kd += 0.01; + break; + case 'e': + MotorCtrl.motorLeftPID.Kd -= 0.01; + break; + } + } } - - if (useModelRC) { - ModelRC.run(); - } - - delay(50); } -*/ + diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/robot.h index 2b0deec71..d2238f46c 100644 --- a/tests/drivecontrol/robot.h +++ b/tests/drivecontrol/robot.h @@ -46,6 +46,7 @@ class RobotControl virtual void setup(); virtual void loop(); virtual void print(); + virtual void motorPIDTest(); private: void checkKey(); }; From 943ecf96c03eecf7f1942a471025971465439d59 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 29 May 2015 11:24:38 +0200 Subject: [PATCH 27/78] =?UTF-8?q?initial=20stuck=20detection=20feature=20i?= =?UTF-8?q?f=20GPS=20is=20in=20use=20the=20mower=20can=20now=20detect=20if?= =?UTF-8?q?=20it=C2=B4s=20stucked=20if=20stucked=20the=20mower=20tries=20t?= =?UTF-8?q?o=20set=20free,=20if=20not=20successful=20mower=20is=20switched?= =?UTF-8?q?=20into=20ERROR?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ardumower/mower.cpp | 3 +++ ardumower/pfod.cpp | 10 ++++++-- ardumower/robot.cpp | 61 +++++++++++++++++++++++++++++++++++++++++++-- ardumower/robot.h | 6 +++++ 4 files changed, 76 insertions(+), 4 deletions(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 86d371515..e52bf03ca 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -235,6 +235,9 @@ Mower::Mower(){ odometryLeftSwapDir = 1; // inverse left encoder direction? // ----- GPS ------------------------------------------- gpsUse = 0; // use GPS? + stuckedIfGpsSpeedBelow = 0.2; // if Gps speed is below given value the mower is stucked + gpsSpeedIgnoreTime = 5000; // how long gpsSpeed is ignored when robot switches into a new STATE (in ms) + // ----- other ----------------------------------------- buttonUse = 1; // has digital ON/OFF button? // ----- user-defined switch --------------------------- diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index ce52117d1..afe38ebbb 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -254,7 +254,9 @@ void RemoteControl::sendErrorMenu(boolean update){ Bluetooth.print(F("|zz~GPS comm ")); Bluetooth.print(robot->errorCounterMax[ERR_GPS_COMM]); Bluetooth.print(F("|zz~GPS data ")); - Bluetooth.print(robot->errorCounterMax[ERR_GPS_DATA]); + Bluetooth.print(robot->errorCounterMax[ERR_GPS_DATA]); + Bluetooth.print(F("|zz~Robot stucked ")); + Bluetooth.print(robot->errorCounterMax[ERR_STUCK]); Bluetooth.print(F("|zz~EEPROM data ")); Bluetooth.print(robot->errorCounterMax[ERR_EEPROM_DATA]); Bluetooth.println("}"); @@ -560,12 +562,16 @@ void RemoteControl::processRainMenu(String pfodCmd){ void RemoteControl::sendGPSMenu(boolean update){ if (update) Bluetooth.print("{:"); else Bluetooth.print(F("{.GPS`1000")); Bluetooth.print(F("|q00~Use ")); - sendYesNo(robot->gpsUse); + sendYesNo(robot->gpsUse); + sendSlider("q01", F("Stucked if GPS speed is below"), robot->stuckedIfGpsSpeedBelow, "", 0.1, 3); + sendSlider("q02", F("GPS speed ignore time"), robot->gpsSpeedIgnoreTime, "", 1, 8000); Bluetooth.println("}"); } void RemoteControl::processGPSMenu(String pfodCmd){ if (pfodCmd == "q00") robot->gpsUse = !robot->gpsUse; + else if (pfodCmd.startsWith("q01")) processSlider(pfodCmd, robot->stuckedIfGpsSpeedBelow, 0.1); + else if (pfodCmd.startsWith("q02")) processSlider(pfodCmd, robot->gpsSpeedIgnoreTime, 1); sendGPSMenu(true); } diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 60cc0868f..b18103261 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -25,7 +25,7 @@ #include "robot.h" -#define MAGIC 46 +#define MAGIC 47 #define ADDR_USER_SETTINGS 0 @@ -91,6 +91,7 @@ Robot::Robot(){ dropLeft = dropRight = false; // Dropsensor - Absturzsensor gpsLat = gpsLon = gpsX = gpsY = 0; + robotIsStuckedCounter = 0; imuDriveHeading = 0; imuRollHeading = 0; @@ -148,6 +149,7 @@ Robot::Robot(){ nextTimeTimer = millis() + 60000; nextTimeRTC = 0; nextTimeGPS = 0; + nextTimeCheckIfStucked = 0; nextTimePfodLoop = 0; nextTimeRain = 0; lastMotorMowRpmTime = millis(); @@ -156,6 +158,7 @@ Robot::Robot(){ nextTimeErrorBeep = 0; nextTimeMotorControl = 0; nextTimeMotorMowControl = 0; + } @@ -281,6 +284,9 @@ void Robot::loadSaveUserSettings(boolean readflag){ eereadwrite(readflag, addr, timer); eereadwrite(readflag, addr, rainUse); eereadwrite(readflag, addr, gpsUse); + eereadwrite(readflag, addr, stuckedIfGpsSpeedBelow); + eereadwrite(readflag, addr, gpsSpeedIgnoreTime); + eereadwrite(readflag, addr, dropUse); Console.print(F("loadSaveUserSettings addrstop=")); Console.println(addr); @@ -552,7 +558,7 @@ void Robot::checkErrorCounter(){ if (millis() >= nextTimeErrorCounterReset){ // reset all temporary error counters after 30 seconds (maximum error counters still continue to count) for (int i=0; i < ERR_ENUM_COUNT; i++) errorCounter[i]=0; - nextTimeErrorCounterReset = millis() + 30000; // 30 sec + nextTimeErrorCounterReset = millis() + 60000; // 30 sec } if (stateCurr != STATE_OFF) { for (int i=0; i < ERR_ENUM_COUNT; i++){ @@ -2149,6 +2155,53 @@ void Robot::checkTilt(){ } } +// check if mower is stucked ToDo: take HDOP into consideration if gpsSpeed is reliable +void Robot::checkIfStucked(){ + if ((gpsUse) && (gps.hdop() < 500)) { + //float gpsSpeedRead = gps.f_speed_kmph(); + float gpsSpeed = gps.f_speed_kmph(); + // low-pass filter + // double accel = 0.1; + // float gpsSpeed = (1.0-accel) * gpsSpeed + accel * gpsSpeedRead; + // Console.println(gpsSpeed); + // Console.println(robotIsStuckedCounter); + // Console.println(errorCounter[ERR_STUCK]); + if ((stateCurr != STATE_MANUAL) && (stateCurr != STATE_REMOTE) && (gpsSpeed <= stuckedIfGpsSpeedBelow) // checks if mower is stucked and counts up + && ((motorLeftRpmCurr && motorRightRpmCurr) != 0) && (millis() > stateStartTime + gpsSpeedIgnoreTime) ){ + robotIsStuckedCounter++; + } + + else { // if mower gets unstucked itresets errorCounterMax to zero and reenabling motorMow + robotIsStuckedCounter = 0; // resets temporary counter to zero + if ( (errorCounter[ERR_STUCK] == 0) && (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION) + && (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_STATION_CHECK) + && (stateCurr != STATE_STATION_REV) && (stateCurr != STATE_STATION_ROLL) + && (stateCurr != STATE_REMOTE)) { + motorMowEnable = true; + errorCounterMax[ERR_STUCK] = 0; + } + return; + } + + if (robotIsStuckedCounter >= 5){ + motorMowEnable = false; + if (errorCounterMax[ERR_STUCK] >= 3){ // robot is definately stucked and unable to move + Console.println(F("Error: Mower is stucked")); + addErrorCounter(ERR_STUCK); + setNextState(STATE_ERROR,0); //mower is switched into ERROR + //robotIsStuckedCounter = 0; + } + else if ((stateCurr == STATE_FORWARD) && (errorCounter[ERR_STUCK] < 3)) { // mower tries 3 times to get unstucked + motorMowEnable = false; + addErrorCounter(ERR_STUCK); + setMotorPWM( 0, 0, false ); + reverseOrBidir(RIGHT); + } + } +} + } + + void Robot::processGPSData() { if (millis() < nextTimeGPS) return; @@ -2217,6 +2270,10 @@ void Robot::loop() { if (rc.readSerial()) resetIdleTime(); readSensors(); checkBattery(); + if (millis() >= nextTimeCheckIfStucked){ + nextTimeCheckIfStucked = millis() + 300; + checkIfStucked(); + } if ((odometryUse) && (millis() >= nextTimeOdometryInfo)){ nextTimeOdometryInfo = millis() + 300; diff --git a/ardumower/robot.h b/ardumower/robot.h index acbccca37..845e2bf50 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -124,6 +124,7 @@ enum { ERR_ADC_CALIB, ERR_IMU_CALIB, ERR_EEPROM_DATA, + ERR_STUCK, // <---- add new error types here (NOTE: increase MAGIC to avoid corrupt EEPROM error data!) ERR_ENUM_COUNT, }; @@ -196,6 +197,10 @@ class Robot float gpsX ; // X position (m) float gpsY ; // Y position (m) unsigned long nextTimeGPS ; + unsigned long nextTimeCheckIfStucked ; + float stuckedIfGpsSpeedBelow ; + int gpsSpeedIgnoreTime ; // how long gpsSpeed is ignored when robot switches into a new STATE (in ms) + int robotIsStuckedCounter ; // -------- odometry state -------------------------- char odometryUse ; // use odometry? char twoWayOdometrySensorUse; // use optional two-wire odometry sensor? @@ -499,6 +504,7 @@ class Robot virtual void checkRain(); virtual void checkTimeout(); virtual void checkOdometryFaults(); + virtual void checkIfStucked(); // motor controllers virtual void motorControl(); From c2d54f46b697f534f36f99e53f4271b2ca0b71d3 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 29 May 2015 12:09:28 +0200 Subject: [PATCH 28/78] bugfix for Robot::checkIfStucked() added STATE_ERROR --- ardumower/robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index b18103261..1339f22c7 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2176,7 +2176,7 @@ void Robot::checkIfStucked(){ if ( (errorCounter[ERR_STUCK] == 0) && (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION) && (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_STATION_CHECK) && (stateCurr != STATE_STATION_REV) && (stateCurr != STATE_STATION_ROLL) - && (stateCurr != STATE_REMOTE)) { + && (stateCurr != STATE_REMOTE) && (stateCurr != STATE_ERROR)) { motorMowEnable = true; errorCounterMax[ERR_STUCK] = 0; } From 6fffac6d1726bea31756619bff518e4ef2b542ab Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 31 May 2015 22:56:01 +0200 Subject: [PATCH 29/78] improved checkPerimeterBoundary behavior mower now moves back in when driven outside perimeter while driving backwards --- ardumower/robot.cpp | 49 +++++++++++++++++++++++++++++++++++++++------ ardumower/robot.h | 3 +++ 2 files changed, 46 insertions(+), 6 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 1339f22c7..40fba588b 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -32,8 +32,8 @@ #define ADDR_ERR_COUNTERS 400 char* stateNames[]={"OFF ", "RC ", "FORW", "ROLL", "REV ", "CIRC", "ERR ", "PFND", "PTRK", "PROL", "PREV", "STAT", "CHARG", "STCHK", - "CREV", "CROL", "CFOR", "MANU", "ROLW" }; - + "STREV", "STROL", "STFOR", "MANU", "ROLW", "POUTFOR", "POUTREV", "POUTROLL"}; + char *mowPatternNames[] = {"RAND", "LANE", "BIDIR"}; char* consoleModeNames[]={"sen_counters", "sen_values", "perimeter"}; @@ -1528,7 +1528,8 @@ void Robot::readSensors(){ if ( (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION) && (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_STATION_CHECK) && (stateCurr != STATE_STATION_REV) && (stateCurr != STATE_STATION_ROLL) - && (stateCurr != STATE_STATION_FORW) && (stateCurr != STATE_REMOTE)) { + && (stateCurr != STATE_STATION_FORW) && (stateCurr != STATE_REMOTE) && (stateCurr != STATE_PERI_OUT_FORW) + && (stateCurr != STATE_PERI_OUT_REV) && (stateCurr != STATE_PERI_OUT_ROLL)) { Console.println("Error: perimeter too far away"); addErrorCounter(ERR_PERIMETER_TIMEOUT); setNextState(STATE_ERROR,0); @@ -1741,6 +1742,24 @@ void Robot::setNextState(byte stateNew, byte dir){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/2; stateEndTime = millis() + perimeterTrackRevTime; } + else if (stateNew == STATE_PERI_OUT_FORW){ + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; + stateEndTime = millis() + motorReverseTime + motorZeroSettleTime + 2000; + } + else if (stateNew == STATE_PERI_OUT_REV){ + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/1.25; + stateEndTime = millis() + motorReverseTime + motorZeroSettleTime; + } + else if (stateNew == STATE_PERI_OUT_ROLL){ + stateEndTime = millis() + random(motorRollTimeMin,motorRollTimeMax) + motorZeroSettleTime; + if (dir == RIGHT){ + motorLeftSpeedRpmSet = motorSpeedMaxRpm/1.25; + motorRightSpeedRpmSet = -motorLeftSpeedRpmSet/1.25; + } else { + motorRightSpeedRpmSet = motorSpeedMaxRpm/1.25; + motorLeftSpeedRpmSet = -motorRightSpeedRpmSet/1.25; + } + } else if (stateNew == STATE_FORWARD){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; } @@ -2049,18 +2068,27 @@ void Robot::checkPerimeterBoundary(){ } } } else { - if (stateCurr == STATE_FORWARD){ + if (stateCurr == STATE_FORWARD) { if (perimeterTriggerTime != 0) { if (millis() >= perimeterTriggerTime){ perimeterTriggerTime = 0; if ((rand() % 2) == 0){ - reverseOrBidir(LEFT); + setNextState(STATE_PERI_OUT_REV, LEFT); } else { - reverseOrBidir(RIGHT); + setNextState(STATE_PERI_OUT_REV, RIGHT); } } } } + else if ((stateCurr == STATE_ROLL)) { + if (perimeterTriggerTime != 0) { + if (millis() >= perimeterTriggerTime){ + perimeterTriggerTime = 0; + setMotorPWM( 0, 0, false ); + setNextState(STATE_PERI_OUT_FORW, 0); + } + } + } } } @@ -2453,6 +2481,15 @@ void Robot::loop() { } } break; + case STATE_PERI_OUT_FORW: + if (millis() >= stateEndTime) setNextState(STATE_FORWARD,0); + break; + case STATE_PERI_OUT_REV: + if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL,0); + break; + case STATE_PERI_OUT_ROLL: + if (millis() >= stateEndTime) setNextState(STATE_FORWARD,0); + break; case STATE_STATION_CHECK: // check for charging voltage disappearing before leaving charging station diff --git a/ardumower/robot.h b/ardumower/robot.h index 845e2bf50..47e8c227a 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -151,6 +151,9 @@ enum { STATE_STATION_FORW, // charge forward STATE_MANUAL, // manual navigation STATE_ROLL_WAIT, // drive roll right/left + STATE_PERI_OUT_FORW, // outside perimeter forward driving without checkPerimeterBoundary() + STATE_PERI_OUT_REV, // outside perimeter reverse driving without checkPerimeterBoundary() + STATE_PERI_OUT_ROLL, // outside perimeter rolling driving without checkPerimeterBoundary() }; // roll types From b7500270553dc9c0e0c66e61c0bad06b851aa3a5 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 31 May 2015 23:04:33 +0200 Subject: [PATCH 30/78] improved behavior when the robot is stucked --- ardumower/pfod.cpp | 2 +- ardumower/robot.cpp | 11 ++++++++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index afe38ebbb..c47c90865 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -564,7 +564,7 @@ void RemoteControl::sendGPSMenu(boolean update){ Bluetooth.print(F("|q00~Use ")); sendYesNo(robot->gpsUse); sendSlider("q01", F("Stucked if GPS speed is below"), robot->stuckedIfGpsSpeedBelow, "", 0.1, 3); - sendSlider("q02", F("GPS speed ignore time"), robot->gpsSpeedIgnoreTime, "", 1, 8000); + sendSlider("q02", F("GPS speed ignore time"), robot->gpsSpeedIgnoreTime, "", 1, 10000, robot->motorReverseTime); Bluetooth.println("}"); } diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 40fba588b..7a657f902 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2188,6 +2188,7 @@ void Robot::checkIfStucked(){ if ((gpsUse) && (gps.hdop() < 500)) { //float gpsSpeedRead = gps.f_speed_kmph(); float gpsSpeed = gps.f_speed_kmph(); + if (gpsSpeedIgnoreTime >= motorReverseTime) gpsSpeedIgnoreTime = motorReverseTime - 500; // low-pass filter // double accel = 0.1; // float gpsSpeed = (1.0-accel) * gpsSpeed + accel * gpsSpeedRead; @@ -2219,12 +2220,20 @@ void Robot::checkIfStucked(){ setNextState(STATE_ERROR,0); //mower is switched into ERROR //robotIsStuckedCounter = 0; } - else if ((stateCurr == STATE_FORWARD) && (errorCounter[ERR_STUCK] < 3)) { // mower tries 3 times to get unstucked + else if (errorCounter[ERR_STUCK] < 3) { // mower tries 3 times to get unstucked + if (stateCurr == STATE_FORWARD){ motorMowEnable = false; addErrorCounter(ERR_STUCK); setMotorPWM( 0, 0, false ); reverseOrBidir(RIGHT); } + else if (stateCurr == STATE_ROLL){ + motorMowEnable = false; + addErrorCounter(ERR_STUCK); + setMotorPWM( 0, 0, false ); + setNextState (STATE_FORWARD,0); + } + } } } } From dc5e911d9f425b49087ff7ec4ce7b9fe714d3f13 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 31 May 2015 23:08:53 +0200 Subject: [PATCH 31/78] improved handling of sonar sensors sonar sensor readings and caused behavior should now be more reliable --- ardumower/drivers.cpp | 1 + ardumower/drivers.h | 3 ++- ardumower/robot.cpp | 15 ++++++++++----- ardumower/robot.h | 1 + 4 files changed, 14 insertions(+), 6 deletions(-) diff --git a/ardumower/drivers.cpp b/ardumower/drivers.cpp index 172796100..85c2dec3c 100644 --- a/ardumower/drivers.cpp +++ b/ardumower/drivers.cpp @@ -234,6 +234,7 @@ unsigned int readHCSR04(int triggerPin, int echoPin){ digitalWrite(triggerPin, LOW); uS = pulseIn(echoPin, HIGH, MAX_ECHO_TIME + 1000); if (uS > MAX_ECHO_TIME) uS = NO_ECHO; + else if (uS < MIN_ECHO_TIME) uS = NO_ECHO; return uS; } diff --git a/ardumower/drivers.h b/ardumower/drivers.h index e1bd77100..f6185b899 100644 --- a/ardumower/drivers.h +++ b/ardumower/drivers.h @@ -44,7 +44,8 @@ // ultrasonic sensor max echo time (WARNING: do not set too high, it consumes CPU time!) -#define MAX_ECHO_TIME 3000 +#define MAX_ECHO_TIME 3000 +#define MIN_ECHO_TIME 150 #define NO_ECHO 0 // I2C addresses diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 7a657f902..e9b9e2883 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -113,6 +113,7 @@ Robot::Robot(){ sonarLeftUse = sonarRightUse = sonarCenterUse = false; sonarDistCenter = sonarDistRight = sonarDistLeft = 0; sonarDistCounter = 0; + tempSonarDistCounter = 0; sonarObstacleTimeout = 0; batADC = 0; @@ -2138,30 +2139,34 @@ void Robot::checkSonar(){ if ( ((NO_ECHO != sonarDistCenter) && (sonarDistCenter < sonarTriggerBelow*2)) || ((NO_ECHO != sonarDistRight) && (sonarDistRight < sonarTriggerBelow*2)) || ((NO_ECHO != sonarDistLeft) && (sonarDistLeft < sonarTriggerBelow*2)) ) { - //Console.println("sonar slow down"); + tempSonarDistCounter++; + if (tempSonarDistCounter >= 50){ + // Console.println("sonar slow down"); motorLeftSpeedRpmSet /= 1.5; motorRightSpeedRpmSet /= 1.5; sonarObstacleTimeout = millis() + 7000; + } } } else if ((sonarObstacleTimeout != 0) && (millis() > sonarObstacleTimeout)) { //Console.println("no sonar"); sonarObstacleTimeout = 0; + tempSonarDistCounter = 0; motorLeftSpeedRpmSet *= 1.5; motorRightSpeedRpmSet *= 1.5; } } - if ((sonarDistCenter != NO_ECHO) && (sonarDistCenter < sonarTriggerBelow)){ - sonarDistCounter++; + if ((sonarDistCenter != NO_ECHO) && (sonarDistCenter < sonarTriggerBelow)) { + sonarDistCounter++; if (rollDir == RIGHT) reverseOrBidir(LEFT); // toggle roll dir else reverseOrBidir(RIGHT); } if ((sonarDistRight != NO_ECHO) && (sonarDistRight < sonarTriggerBelow)){ - sonarDistCounter++; + sonarDistCounter++; reverseOrBidir(LEFT); } if ((sonarDistLeft != NO_ECHO) && (sonarDistLeft < sonarTriggerBelow)){ - sonarDistCounter++; + sonarDistCounter++; reverseOrBidir(RIGHT); } } diff --git a/ardumower/robot.h b/ardumower/robot.h index 47e8c227a..85bf34e77 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -373,6 +373,7 @@ class Robot unsigned int sonarDistRight ; unsigned int sonarDistLeft ; unsigned int sonarDistCounter ; + unsigned int tempSonarDistCounter ; unsigned long sonarObstacleTimeout ; unsigned long nextTimeSonar ; // --------- pfodApp ---------------------------------- From fafa6a3581ade73be6ca76ab02664f2a4defe8ba Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 31 May 2015 23:13:30 +0200 Subject: [PATCH 32/78] corrected version number --- ardumower/robot.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.h b/ardumower/robot.h index 85bf34e77..9ce38abcb 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -56,7 +56,7 @@ */ // code version -#define VER "1.0a4-Azurit" +#define VER "1.0a4-Azurit-dev" // sensors From 1af7590e5eddb8b6e9c4a9788ce52a152935dba6 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 31 May 2015 23:30:05 +0200 Subject: [PATCH 33/78] new default: using only one channel of our motor odometry encoder solves https://github.com/Ardumower/ardumower/issues/35 --- ardumower/mower.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index e52bf03ca..740b7bac0 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -227,7 +227,7 @@ Mower::Mower(){ stationCheckTime = 2500; // charge station reverse check time (ms) // ------ odometry ------------------------------------ odometryUse = 1; // use odometry? - twoWayOdometrySensorUse = 1; // use optional two-wire odometry sensor? + twoWayOdometrySensorUse = 0; // use optional two-wire odometry sensor? odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution odometryTicksPerCm = 13.49; // encoder ticks per cm odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) From 3a7a993673257866aea04cfc85caea0edf7ddadd Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 31 May 2015 23:35:10 +0200 Subject: [PATCH 34/78] new default: motorSwapDir = 0; for both driving motors current measurements from MC are more reliable --- ardumower/mower.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 740b7bac0..a351f9261 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -151,7 +151,7 @@ Mower::Mower(){ motorLeftPID.Kd = 0.4;*/ motorRightSwapDir = 0; // inverse right motor direction? - motorLeftSwapDir = 1; // inverse left motor direction? + motorLeftSwapDir = 0; // inverse left motor direction? // ------ mower motor ------------------------------- motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) motorMowSpeedMaxPwm = 255; // motor mower max PWM From f3c2787f78aec30c30e7625fd90e931933b0e803 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 1 Jun 2015 23:00:06 +0200 Subject: [PATCH 35/78] migration simulator+mower code (not complete) --- tests/drivecontrol/common.cpp | 77 ++ tests/drivecontrol/common.h | 43 + tests/drivecontrol/config.h | 112 +-- tests/drivecontrol/drivecontrol.ino | 13 +- tests/drivecontrol/led.cpp | 73 +- tests/drivecontrol/led.h | 26 +- tests/drivecontrol/motorcontrol.cpp | 576 ++++++-------- tests/drivecontrol/motorcontrol.h | 85 +- tests/drivecontrol/mower.h | 93 +++ tests/drivecontrol/pid.cpp | 71 +- tests/drivecontrol/pid.h | 19 +- tests/drivecontrol/sim/Print.cpp | 257 ++++++ tests/drivecontrol/sim/Print.h | 84 ++ tests/drivecontrol/sim/Printable.h | 40 + tests/drivecontrol/sim/Stream.cpp | 318 ++++++++ tests/drivecontrol/sim/Stream.h | 112 +++ tests/drivecontrol/sim/WString.cpp | 748 ++++++++++++++++++ tests/drivecontrol/sim/WString.h | 224 ++++++ tests/drivecontrol/sim/avr/dtostrf.c | 29 + tests/drivecontrol/sim/avr/dtostrf.h | 29 + tests/drivecontrol/sim/avr/interrupt.h | 0 tests/drivecontrol/sim/avr/pgmspace.h | 44 ++ tests/drivecontrol/sim/itoa.c | 170 ++++ tests/drivecontrol/sim/itoa.h | 42 + tests/drivecontrol/sim/main.cpp | 59 ++ tests/drivecontrol/sim/sim.cbp | 80 ++ tests/drivecontrol/sim/sim.cpp | 86 ++ tests/drivecontrol/sim/sim.depend | 656 +++++++++++++++ tests/drivecontrol/sim/sim.h | 47 ++ tests/drivecontrol/sim/sim.layout | 129 +++ tests/drivecontrol/sim/simarduino.cpp | 23 + tests/drivecontrol/sim/simarduino.h | 50 ++ tests/drivecontrol/sim/simmower.cpp | 6 + tests/drivecontrol/sim/simmower.h | 25 + tests/drivecontrol/sim/simrobot.cpp | 120 +++ tests/drivecontrol/sim/simrobot.h | 82 ++ tests/drivecontrol/sim/world.cpp | 155 ++++ tests/drivecontrol/sim/world.h | 64 ++ tests/drivecontrol/{ => unused}/adcman.cpp | 0 tests/drivecontrol/{ => unused}/adcman.h | 0 .../drivecontrol/{ => unused}/arbitrator.cpp | 0 tests/drivecontrol/{ => unused}/arbitrator.h | 0 tests/drivecontrol/{ => unused}/battery.cpp | 0 tests/drivecontrol/{ => unused}/battery.h | 0 tests/drivecontrol/{ => unused}/behavior.cpp | 0 tests/drivecontrol/{ => unused}/behavior.h | 0 tests/drivecontrol/{ => unused}/button.cpp | 0 tests/drivecontrol/{ => unused}/button.h | 1 - tests/drivecontrol/{ => unused}/buzzer.cpp | 0 tests/drivecontrol/{ => unused}/buzzer.h | 0 tests/drivecontrol/{ => unused}/config.cpp | 7 +- tests/drivecontrol/unused/config.h | 119 +++ tests/drivecontrol/unused/drivecontrol.ino | 33 + tests/drivecontrol/{ => unused}/drivers.cpp | 0 tests/drivecontrol/{ => unused}/drivers.h | 0 tests/drivecontrol/unused/led.cpp | 62 ++ tests/drivecontrol/unused/led.h | 54 ++ tests/drivecontrol/{ => unused}/modelrc.cpp | 0 tests/drivecontrol/{ => unused}/modelrc.h | 0 tests/drivecontrol/unused/motorcontrol.cpp | 608 ++++++++++++++ tests/drivecontrol/unused/motorcontrol.h | 127 +++ tests/drivecontrol/{ => unused}/motormow.cpp | 0 tests/drivecontrol/{ => unused}/motormow.h | 0 tests/drivecontrol/{ => unused}/perimeter.cpp | 0 tests/drivecontrol/{ => unused}/perimeter.h | 0 tests/drivecontrol/unused/pid.cpp | 148 ++++ tests/drivecontrol/unused/pid.h | 83 ++ tests/drivecontrol/{ => unused}/robot.cpp | 2 +- tests/drivecontrol/{ => unused}/robot.h | 0 tests/drivecontrol/{ => unused}/sonar.cpp | 0 tests/drivecontrol/{ => unused}/sonar.h | 0 tests/drivecontrol/{ => unused}/timer.cpp | 0 tests/drivecontrol/{ => unused}/timer.h | 0 73 files changed, 5529 insertions(+), 582 deletions(-) create mode 100644 tests/drivecontrol/common.cpp create mode 100644 tests/drivecontrol/common.h create mode 100644 tests/drivecontrol/mower.h create mode 100644 tests/drivecontrol/sim/Print.cpp create mode 100644 tests/drivecontrol/sim/Print.h create mode 100644 tests/drivecontrol/sim/Printable.h create mode 100644 tests/drivecontrol/sim/Stream.cpp create mode 100644 tests/drivecontrol/sim/Stream.h create mode 100644 tests/drivecontrol/sim/WString.cpp create mode 100644 tests/drivecontrol/sim/WString.h create mode 100644 tests/drivecontrol/sim/avr/dtostrf.c create mode 100644 tests/drivecontrol/sim/avr/dtostrf.h create mode 100644 tests/drivecontrol/sim/avr/interrupt.h create mode 100644 tests/drivecontrol/sim/avr/pgmspace.h create mode 100644 tests/drivecontrol/sim/itoa.c create mode 100644 tests/drivecontrol/sim/itoa.h create mode 100644 tests/drivecontrol/sim/main.cpp create mode 100644 tests/drivecontrol/sim/sim.cbp create mode 100644 tests/drivecontrol/sim/sim.cpp create mode 100644 tests/drivecontrol/sim/sim.depend create mode 100644 tests/drivecontrol/sim/sim.h create mode 100644 tests/drivecontrol/sim/sim.layout create mode 100644 tests/drivecontrol/sim/simarduino.cpp create mode 100644 tests/drivecontrol/sim/simarduino.h create mode 100644 tests/drivecontrol/sim/simmower.cpp create mode 100644 tests/drivecontrol/sim/simmower.h create mode 100644 tests/drivecontrol/sim/simrobot.cpp create mode 100644 tests/drivecontrol/sim/simrobot.h create mode 100644 tests/drivecontrol/sim/world.cpp create mode 100644 tests/drivecontrol/sim/world.h rename tests/drivecontrol/{ => unused}/adcman.cpp (100%) rename tests/drivecontrol/{ => unused}/adcman.h (100%) rename tests/drivecontrol/{ => unused}/arbitrator.cpp (100%) rename tests/drivecontrol/{ => unused}/arbitrator.h (100%) rename tests/drivecontrol/{ => unused}/battery.cpp (100%) rename tests/drivecontrol/{ => unused}/battery.h (100%) rename tests/drivecontrol/{ => unused}/behavior.cpp (100%) rename tests/drivecontrol/{ => unused}/behavior.h (100%) rename tests/drivecontrol/{ => unused}/button.cpp (100%) rename tests/drivecontrol/{ => unused}/button.h (95%) rename tests/drivecontrol/{ => unused}/buzzer.cpp (100%) rename tests/drivecontrol/{ => unused}/buzzer.h (100%) rename tests/drivecontrol/{ => unused}/config.cpp (97%) create mode 100644 tests/drivecontrol/unused/config.h create mode 100644 tests/drivecontrol/unused/drivecontrol.ino rename tests/drivecontrol/{ => unused}/drivers.cpp (100%) rename tests/drivecontrol/{ => unused}/drivers.h (100%) create mode 100644 tests/drivecontrol/unused/led.cpp create mode 100644 tests/drivecontrol/unused/led.h rename tests/drivecontrol/{ => unused}/modelrc.cpp (100%) rename tests/drivecontrol/{ => unused}/modelrc.h (100%) create mode 100644 tests/drivecontrol/unused/motorcontrol.cpp create mode 100644 tests/drivecontrol/unused/motorcontrol.h rename tests/drivecontrol/{ => unused}/motormow.cpp (100%) rename tests/drivecontrol/{ => unused}/motormow.h (100%) rename tests/drivecontrol/{ => unused}/perimeter.cpp (100%) rename tests/drivecontrol/{ => unused}/perimeter.h (100%) create mode 100644 tests/drivecontrol/unused/pid.cpp create mode 100644 tests/drivecontrol/unused/pid.h rename tests/drivecontrol/{ => unused}/robot.cpp (98%) rename tests/drivecontrol/{ => unused}/robot.h (100%) rename tests/drivecontrol/{ => unused}/sonar.cpp (100%) rename tests/drivecontrol/{ => unused}/sonar.h (100%) rename tests/drivecontrol/{ => unused}/timer.cpp (100%) rename tests/drivecontrol/{ => unused}/timer.h (100%) diff --git a/tests/drivecontrol/common.cpp b/tests/drivecontrol/common.cpp new file mode 100644 index 000000000..86d51f465 --- /dev/null +++ b/tests/drivecontrol/common.cpp @@ -0,0 +1,77 @@ +#include "common.h" +#include +#include + + +float distance(float x1, float y1, float x2, float y2){ + return sqrtf( (x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) ); +} + +float random(){ + return (float)rand()/(float)(RAND_MAX); +} + +/* + * Returns random number in normal distribution centering on 0. + * ~95% of numbers returned should fall between -2 and 2 + */ +float gaussRandom() { + //printf("random=%3.3f\n", random()); + float u = 2*random()-1; + float v = 2*random()-1; + float r = u*u + v*v; + /*if outside interval [0,1] start over*/ + if ((r == 0) || (r > 1)) return gaussRandom(); + + float c = sqrt(-2*log(r)/r); + return u*c; + + /* todo: optimize this algorithm by caching (v*c) + * and returning next time gaussRandom() is called. + * left out for simplicity */ +} + +/* + * Returns member of set with a given mean and standard deviation + * mean: mean + * standard deviation: std_dev + */ +float gauss(float mean, float std_dev){ + return mean + (gaussRandom()*std_dev); +} + +// calculates the probability of x for 1-dim Gaussian with mean mu and var. sigma +float gaussian(float mu, float sigma, float x) +{ + return exp(- pow(mu - x, 2) / pow(sigma, 2) / 2.0 ) + / sqrt(2.0 * M_PI * pow(sigma, 2)); +} + + +// rescale to -PI..+PI +float scalePI(float v) +{ + double d = v; + while (d < 0) d+=2*M_PI; + while (d >= 2*M_PI) d-=2*M_PI; + if (d >= M_PI) return (-2*M_PI+d); + else if (d < -M_PI) return (2*M_PI+d); + else return d; +} + +// computes minimum distance between x radiant (current-value) and w radiant (set-value) +float distancePI(float x, float w) +{ + // cases: + // w=330 degree, x=350 degree => -20 degree + // w=350 degree, x=10 degree => -20 degree + // w=10 degree, x=350 degree => 20 degree + // w=0 degree, x=190 degree => 170 degree + // w=190 degree, x=0 degree => -170 degree + float d = scalePI(w - x); + if (d < -M_PI) d = d + 2*M_PI; + else if (d > M_PI) d = d - 2*M_PI; + return d; +} + + diff --git a/tests/drivecontrol/common.h b/tests/drivecontrol/common.h new file mode 100644 index 000000000..5458984e3 --- /dev/null +++ b/tests/drivecontrol/common.h @@ -0,0 +1,43 @@ +/* + Ardumower (www.ardumower.de) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef COMMON_H +#define COMMON_H + + +using namespace std; + + +struct point_t { + float x; + float y; +}; + +typedef struct point_t point_t; + + +float random(); +float gaussRandom(); +float gauss(float mean, float std_dev); +float gaussian(float mu, float sigma, float x); +float distance(float x1, float y1, float x2, float y2); +float scalePI(float v); +float distancePI(float x, float w); + + + +#endif diff --git a/tests/drivecontrol/config.h b/tests/drivecontrol/config.h index c7c01b6b0..41d436f3d 100644 --- a/tests/drivecontrol/config.h +++ b/tests/drivecontrol/config.h @@ -1,104 +1,26 @@ #ifndef CONFIG_H #define CONFIG_H - -// ------ pins--------------------------------------- -// Warning: If you change pinout, interrupt configuration (odometry, R/C, rpm) need to be changed too! - -#define pinMotorEnable 37 // EN motors enable -#define pinMotorLeftPWM 5 // M1_IN1 left motor PWM pin -#define pinMotorLeftDir 31 // M1_IN2 left motor Dir pin -#define pinMotorLeftSense A1 // M1_FB left motor current sense -#define pinMotorLeftFault 25 // M1_SF left motor fault - -#define pinMotorRightPWM 3 // M2_IN1 right motor PWM pin -#define pinMotorRightDir 33 // M2_IN2 right motor Dir pin -#define pinMotorRightSense A0 // M2_FB right motor current sense -#define pinMotorRightFault 27 // M2_SF right motor fault - -#define pinMotorMowPWM 2 // M1_IN1 mower motor PWM pin (if using MOSFET, use this pin) -#define pinMotorMowDir 29 // M1_IN2 mower motor Dir pin (if using MOSFET, keep unconnected) -#define pinMotorMowSense A3 // M1_FB mower motor current sense -#define pinMotorMowFault 26 // M1_SF mower motor fault (if using MOSFET/L298N, keep unconnected) -#define pinMotorMowEnable 28 // EN mower motor enable (if using MOSFET/L298N, keep unconnected) -#define pinMotorMowRpm A11 - -#define pinBumperLeft 39 // bumper pins -#define pinBumperRight 38 - -#define pinDropLeft 45 // drop pins Dropsensor - Absturzsensor -#define pinDropRight 23 // drop pins Dropsensor - Absturzsensor - -#define pinSonarCenterTrigger 24 // ultrasonic sensor pins -#define pinSonarCenterEcho 22 -#define pinSonarRightTrigger 30 -#define pinSonarRightEcho 32 -#define pinSonarLeftTrigger 34 -#define pinSonarLeftEcho 36 -#define pinPerimeterRight A4 // perimeter -#define pinPerimeterLeft A5 - -#define pinLED 13 // LED -#define pinLEDDuoRed 7 -#define pinLEDDuoGreen 6 -#define pinBuzzer 53 // Buzzer -#define pinTilt 35 // Tilt sensor (required for TC-G158 board) -#define pinButton 51 // digital ON/OFF button -#define pinBatteryVoltage A2 // battery voltage sensor -#define pinBatterySwitch 4 // battery-OFF switch -#define pinChargeVoltage A9 // charging voltage sensor -#define pinChargeCurrent A8 // charge current sensor -#define pinChargeRelay 50 // charge relay -#define pinRemoteMow 12 // remote control mower motor -#define pinRemoteSteer 11 // remote control steering -#define pinRemoteSpeed 10 // remote control speed -#define pinRemoteSwitch 52 // remote control switch -#define pinVoltageMeasurement A7 // test pin for your own voltage measurements #ifdef __AVR__ - #define pinOdometryLeft A12 // left odometry sensor - #define pinOdometryLeft2 A13 // left odometry sensor (optional two-wire) - #define pinOdometryRight A14 // right odometry sensor - #define pinOdometryRight2 A15 // right odometry sensor (optional two-wire) + // Arduino + #include "mower.h" #else - #define pinOdometryLeft DAC0 // left odometry sensor - #define pinOdometryLeft2 DAC1 // left odometry sensor (optional two-wire) - #define pinOdometryRight CANRX // right odometry sensor - #define pinOdometryRight2 CANTX // right odometry sensor (optional two-wire) -#endif -#define pinLawnFrontRecv 40 // lawn sensor front receive -#define pinLawnFrontSend 41 // lawn sensor front sender -#define pinLawnBackRecv 42 // lawn sensor back receive -#define pinLawnBackSend 43 // lawn sensor back sender -#define pinUserSwitch1 46 // user-defined switch 1 -#define pinUserSwitch2 47 // user-defined switch 2 -#define pinUserSwitch3 48 // user-defined switch 3 -#define pinRain 44 // rain sensor -// RTC, IMU (compass/gyro/accel): I2C (SCL, SDA) -// GPS: Serial3 (TX3, RX3) -// Bluetooth: Serial2 (TX2, RX2) -// WLAN: Serial1 (TX1, RX1) - -// ------- baudrates--------------------------------- -#define BAUDRATE 19200 // serial output baud rate -#define PFOD_BAUDRATE 19200 // pfod app serial output baud rate -#define PFOD_PIN 1234 // Bluetooth pin - - -//#define SIMULATE 1 // enable for simulation (not using hardware) - - -// ----- robot configuration ------------------------ -// see config.cpp for factory configuration! - - -class FactoryConfig -{ - public: - void setup(); -}; - + // simulator + #include "sim/simarduino.h" + #include "led.h" + #include "motorcontrol.h" + #include "sim/simmower.h" + + #include + #include + #include + #include + #include + #include + #include + +#endif // __AVR__ -extern FactoryConfig Config; #endif diff --git a/tests/drivecontrol/drivecontrol.ino b/tests/drivecontrol/drivecontrol.ino index 4c73f8c3d..aac54fc61 100644 --- a/tests/drivecontrol/drivecontrol.ino +++ b/tests/drivecontrol/drivecontrol.ino @@ -10,23 +10,20 @@ #include #else // Arduino Due - #include "due.h" +// #include "due.h" #endif -#include "robot.h" +//#include "robot.h" void setup(){ - Robot.setup(); - //Console.begin(19200); - //Console.println("setup()"); + //Robot.setup(); } void loop(){ - Robot.loop(); - //Console.println("loop()"); - //delay(1000); + //Robot.loop(); + } diff --git a/tests/drivecontrol/led.cpp b/tests/drivecontrol/led.cpp index ce2b5a61c..105e7c04a 100644 --- a/tests/drivecontrol/led.cpp +++ b/tests/drivecontrol/led.cpp @@ -1,62 +1,59 @@ #include "led.h" -#include "drivers.h" #include "config.h" -LEDControl LED; - LEDControl::LEDControl(){ nextLEDTime = 0; - ledSequenceIdx = LED_OFF; - onState = 0; + ledSequenceIdx = LED_SEQ_OFF; + onState = 0; } void LEDControl::setup(){ Console.println(F("LEDControl::setup")); - pinMode(pinLED, OUTPUT); - pinMode(pinLEDDuoRed, OUTPUT); - pinMode(pinLEDDuoGreen, OUTPUT); } void LEDControl::run(){ - if (millis() < nextLEDTime) return; - nextLEDTime = millis() + 500; + if (millis() < nextLEDTime) return; + nextLEDTime = millis() + 500; switch (ledSequenceIdx){ - case LED_OFF: - digitalWrite(pinLED, LOW); - digitalWrite(pinLEDDuoRed, LOW); - digitalWrite(pinLEDDuoGreen, LOW); + case LED_SEQ_OFF: + setDriverLED(LED_ARDUINO, LOW); + setDriverLED(LED_DUAL_RED, LOW); + setDriverLED(LED_DUAL_GREEN, LOW); + break; + case LED_SEQ_GREEN_ON: + setDriverLED(LED_ARDUINO, HIGH); + setDriverLED(LED_DUAL_RED, LOW); + setDriverLED(LED_DUAL_GREEN, HIGH); + break; + case LED_SEQ_ORANGE_ON: + setDriverLED(LED_DUAL_RED, HIGH); + setDriverLED(LED_DUAL_GREEN, HIGH); break; - case LED_GREEN_ON: - digitalWrite(pinLED, HIGH); - digitalWrite(pinLEDDuoRed, LOW); - digitalWrite(pinLEDDuoGreen, HIGH); - break; - case LED_ORANGE_ON: - digitalWrite(pinLEDDuoRed, HIGH); - digitalWrite(pinLEDDuoGreen, HIGH); - break; - case LED_ORANGE_BLINK: + case LED_SEQ_ORANGE_BLINK: onState = !onState; - digitalWrite(pinLEDDuoRed, onState); - digitalWrite(pinLEDDuoGreen, onState); - break; - case LED_RED_BLINK: + setDriverLED(LED_DUAL_RED, onState); + setDriverLED(LED_DUAL_GREEN, onState); + break; + case LED_SEQ_RED_BLINK: onState = !onState; - digitalWrite(pinLED, onState); - digitalWrite(pinLEDDuoRed, onState); - digitalWrite(pinLEDDuoGreen, LOW); - break; - case LED_RED_ON: - digitalWrite(pinLEDDuoRed, HIGH); - digitalWrite(pinLEDDuoGreen, LOW); - break; - }; + setDriverLED(LED_ARDUINO, onState); + setDriverLED(LED_DUAL_RED, onState); + setDriverLED(LED_DUAL_GREEN, LOW); + break; + case LED_SEQ_RED_ON: + setDriverLED(LED_DUAL_RED, HIGH); + setDriverLED(LED_DUAL_GREEN, LOW); + break; + }; +} + +void LEDControl::setDriverLED(int LEDidx, bool state){ } void LEDControl::playSequence(int sequenceIdx){ ledSequenceIdx = sequenceIdx; - nextLEDTime = 0; + nextLEDTime = 0; } diff --git a/tests/drivecontrol/led.h b/tests/drivecontrol/led.h index 19ae26d22..a670404db 100644 --- a/tests/drivecontrol/led.h +++ b/tests/drivecontrol/led.h @@ -3,17 +3,21 @@ // Ardumower LEDs (play LED 'sequences') -#include - - // playable LED sequences enum { - LED_OFF, - LED_GREEN_ON, - LED_ORANGE_ON, - LED_ORANGE_BLINK, - LED_RED_BLINK, - LED_RED_ON, + LED_SEQ_OFF, + LED_SEQ_GREEN_ON, + LED_SEQ_ORANGE_ON, + LED_SEQ_ORANGE_BLINK, + LED_SEQ_RED_BLINK, + LED_SEQ_RED_ON, +}; + +// LED types +enum { + LED_ARDUINO, + LED_DUAL_RED, + LED_DUAL_GREEN, }; /* @@ -29,7 +33,7 @@ Dual LED grün. Dauerlicht - Mover innerhalb Perimeter Dual LED grün+rot = Orange - Dauerlicht Mover außerhalb Perimeter Dual LED grün+rot = Orange - Blinkt Mover findet Perimeter nicht oder sucht danach Dual LED rot = Blinkt Fehler kurzseitig Überlast Antriebmotor Treibe oder Mähmotor. -Dual LED rot - Dauerlicht - Fehler muß für weiterfahren durch drücken +Dual LED rot - Dauerlicht - Fehler muß für weiterfahren durch drücken */ @@ -42,12 +46,12 @@ class LEDControl void run(); void setup(); private: + virtual void setDriverLED(int LEDidx, bool state); unsigned long nextLEDTime; int ledSequenceIdx; bool onState; }; -extern LEDControl LED; #endif diff --git a/tests/drivecontrol/motorcontrol.cpp b/tests/drivecontrol/motorcontrol.cpp index 0e43a7e64..06d91cafe 100644 --- a/tests/drivecontrol/motorcontrol.cpp +++ b/tests/drivecontrol/motorcontrol.cpp @@ -1,77 +1,37 @@ #include "motorcontrol.h" -#include "adcman.h" -#include "drivers.h" +#include "common.h" +#include +#include #include "config.h" -MotorControl MotorCtrl; - - -volatile static boolean odometryLeftLastState; -volatile static boolean odometryRightLastState; - -volatile static unsigned long odometryLeftLastHighTime = 0; -volatile static unsigned long odometryRightLastHighTime = 0; -volatile static unsigned long odometryLeftTickTime = 0; -volatile static unsigned long odometryRightTickTime = 0; - - -// odometry interrupt handler -ISR(PCINT2_vect, ISR_NOBLOCK){ -// ISR(PCINT2_vect){ - unsigned long timeMicros = micros(); - boolean odometryLeftState = digitalRead(pinOdometryLeft); - boolean odometryRightState = digitalRead(pinOdometryRight); - if (odometryLeftState != odometryLeftLastState){ - if (odometryLeftState){ // pin1 makes LOW->HIGH transition - if (timeMicros > odometryLeftLastHighTime) odometryLeftTickTime = timeMicros - odometryLeftLastHighTime; - if (MotorCtrl.motorLeftPWMCurr >=0) MotorCtrl.odometryLeftTicks ++; else MotorCtrl.odometryLeftTicks --; - odometryLeftLastHighTime = timeMicros; - } else { - //odometryLeftLowTime = timeMicros; - } - odometryLeftLastState = odometryLeftState; - } - if (odometryRightState != odometryRightLastState){ - if (odometryRightState){ // pin1 makes LOW->HIGH transition - if (timeMicros > odometryRightLastHighTime) odometryRightTickTime = timeMicros - odometryRightLastHighTime; - if (MotorCtrl.motorRightPWMCurr >=0) MotorCtrl.odometryRightTicks ++; else MotorCtrl.odometryRightTicks --; - odometryRightLastHighTime = timeMicros; - } else { - //odometryRightLowTime = timeMicros; - } - odometryRightLastState = odometryRightState; - } -} - - MotorControl::MotorControl(){ motorSpeedMaxRpm = 18; motorSpeedMaxPwm = 255; - + motorLeftPID.Kp = 0.87; // motor wheel PID controller motorLeftPID.Ki = 0.29; - motorLeftPID.Kd = 0.25; - + motorLeftPID.Kd = 0.25; + /* odometryTicksPerRevolution = 20; // encoder ticks per one full resolution odometryTicksPerCm = 0.5; // encoder ticks per cm - odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) + odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) motorLeftSwapDir = false; motorRightSwapDir = false;*/ - + odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution odometryTicksPerCm = 13.49; // encoder ticks per cm - odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) + odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) motorLeftSwapDir = true; // motorLeftSwapDir = false; motorRightSwapDir = false; -// motorRightSwapDir = true; - +// motorRightSwapDir = true; + // MC33926 current: 5V / 1024 ADC counts, 525 mV per A => 9.3 mA per ADC step motorSenseRightScale = 9.3; // motor right sense scale (mA=(ADC-zero) * scale) - motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) + motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) motorVoltageDC = 24.0; - + motorEfficiencyMin = 200; } @@ -82,171 +42,105 @@ void MotorControl::setup(){ motion = MOTION_STOP; enableSpeedControl = enableStallDetection = enableErrorDetection = true; motorLeftPWMCurr = motorRightPWMCurr = 0; - lastOdometryTime = lastMotorControlTime = lastMotorCurrentTime = lastMotorRunTime = nextMotorPrintTime = 0; + lastOdometryTime = lastMotorControlTime = lastMotorCurrentTime = lastMotorRunTime = nextMotorPrintTime = 0; odometryLeftTicksZeroCounter = odometryRightTicksZeroCounter = 0; motorLeftError = motorRightError = false; motorLeftStalled = motorRightStalled = false; - leftRightCompensation = 0; - - TCCR3B = (TCCR3B & 0xF8) | 0x02; // set PWM frequency 3.9 Khz (pin2,3,5) - - pinMode(pinMotorEnable, OUTPUT); - digitalWrite(pinMotorEnable, HIGH); - - // left wheel motor - pinMode(pinMotorLeftPWM, OUTPUT); - pinMode(pinMotorLeftDir, OUTPUT); - pinMode(pinMotorLeftSense, INPUT); - pinMode(pinMotorLeftFault, INPUT); - - // right wheel motor - pinMode(pinMotorRightPWM, OUTPUT); - pinMode(pinMotorRightDir, OUTPUT); - pinMode(pinMotorRightSense, INPUT); - pinMode(pinMotorRightFault, INPUT); - - // odometry - pinMode(pinOdometryLeft, INPUT_PULLUP); - pinMode(pinOdometryRight, INPUT_PULLUP); - - // odometry interrupt configuration - PCICR |= (1< odometryDistanceCmSet) { + /*if (odometryDistanceCmCurr > odometryDistanceCmSet) { Console.println(F("reached destination (overshoot)")); motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; - }*/ + }*/ break; - case MOTION_ROTATE_ANGLE: + case MOTION_ROTATE_ANGLE: angleToTargetRad = abs(distancePI(odometryThetaRadCurr, odometryThetaRadSet)); - if (angleToTargetRad < PI/4){ - Console.println(F("reached angle")); - motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; + if (angleToTargetRad < M_PI/4){ + Console.println(F("reached angle")); + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; motion = MOTION_STOP; } break; } speedControl(); } - readCurrent(); + readCurrent(); checkFault(); if ( (motion != MOTION_STOP) || (motorLeftPWMCurr > 0) || (motorRightPWMCurr > 0) ) { if (millis() >= nextMotorPrintTime){ nextMotorPrintTime = millis() + 500; - print(); - Console.println(); - //printCSV(false); + print(); + Console.println(""); } - } -} + } + printCSV(false); +} void MotorControl::readOdometry(){ unsigned long TaC = millis() - lastOdometryTime; // sampling time in millis - lastOdometryTime = millis(); - if (TaC > 1000) TaC = 1; + lastOdometryTime = millis(); + if (TaC > 1000) TaC = 1; static int lastOdoLeft = 0; static int lastOdoRight = 0; - #if SIMULATE - odometryLeftTicks += motorLeftPWMCurr; - odometryRightTicks += motorRightPWMCurr; - odometryLeftTickTime = 255.0 / ((double)motorLeftPWMCurr); - odometryRightTickTime = 255.0 / ((double)motorRightPWMCurr); - #endif int odoLeft = odometryLeftTicks; int odoRight = odometryRightTicks; unsigned long leftTime = odometryLeftTickTime; - unsigned long rightTime = odometryRightTickTime; + unsigned long rightTime = odometryRightTickTime; int ticksLeft = odoLeft - lastOdoLeft; int ticksRight = odoRight - lastOdoRight; lastOdoLeft = odoLeft; - lastOdoRight = odoRight; + lastOdoRight = odoRight; double left_cm = ((double)ticksLeft) / ((double)odometryTicksPerCm); - double right_cm = ((double)ticksRight) / ((double)odometryTicksPerCm); + double right_cm = ((double)ticksRight) / ((double)odometryTicksPerCm); double avg_cm = (left_cm + right_cm) / 2.0; double wheel_theta = (left_cm - right_cm) / ((double)odometryWheelBaseCm); - odometryThetaRadCurr = scalePI( odometryThetaRadCurr + wheel_theta ); + odometryThetaRadCurr = scalePI( odometryThetaRadCurr + wheel_theta ); odometryDistanceCmCurr += avg_cm; - odometryXcmCurr += avg_cm * sin(odometryThetaRadCurr); + odometryXcmCurr += avg_cm * sin(odometryThetaRadCurr); odometryYcmCurr += avg_cm * cos(odometryThetaRadCurr); - float smooth = 0.0; + float smooth = 0.0; if (ticksLeft != 0) { - motorLeftRpmCurr = motorLeftRpmCurr * smooth + (1.0-smooth) * 60.0/((double)odometryTicksPerRevolution)/ (((double)leftTime)/1000.0/1000.0); + motorLeftRpmCurr = motorLeftRpmCurr * smooth + (1.0-smooth) * 60.0/((double)odometryTicksPerRevolution)/ (((double)leftTime)/1000.0/1000.0); odometryLeftTicksZeroCounter = 0; } else { odometryLeftTicksZeroCounter++; @@ -256,69 +150,72 @@ void MotorControl::readOdometry(){ if (motorLeftPWMCurr < 0) motorLeftRpmCurr *= -1; if (ticksRight != 0) { - motorRightRpmCurr = motorRightRpmCurr * smooth + (1.0-smooth) * 60.0 / ((double)odometryTicksPerRevolution)/ (((double)rightTime)/1000.0/1000.0); + motorRightRpmCurr = motorRightRpmCurr * smooth + (1.0-smooth) * 60.0 / ((double)odometryTicksPerRevolution)/ (((double)rightTime)/1000.0/1000.0); odometryRightTicksZeroCounter = 0; } else { odometryRightTicksZeroCounter++; - //Console.println(F("RIGHT TICKS ZERO")); - if (odometryRightTicksZeroCounter > 10) motorRightRpmCurr = 0; // ensures rpm gets zero + //Console.println(F("RIGHT TICKS ZERO")); + if (odometryRightTicksZeroCounter > 10) motorRightRpmCurr = 0; // ensures rpm gets zero } - if (motorRightPWMCurr < 0) motorRightRpmCurr *= -1; - - //motorLeftRpmCurr = double ((( ((double)ticksLeft) / ((double)odometryTicksPerRevolution)) / ((double)(TaC))) * 60000.0); - //motorRightRpmCurr = double ((( ((double)ticksRight) / ((double)odometryTicksPerRevolution)) / ((double)(TaC))) * 60000.0); + if (motorRightPWMCurr < 0) motorRightRpmCurr *= -1; + + //motorLeftRpmCurr = double ((( ((double)ticksLeft) / ((double)odometryTicksPerRevolution)) / ((double)(TaC))) * 60000.0); + //motorRightRpmCurr = double ((( ((double)ticksRight) / ((double)odometryTicksPerRevolution)) / ((double)(TaC))) * 60000.0); } -void MotorControl::speedControl(){ - //static float leftRightCompensationFactor = 0.001; - static float leftRightCompensationFactor = 0; - +void MotorControl::speedControl(){ unsigned long TaC = millis() - lastMotorControlTime; // sampling time in millis if (TaC < 50) return; - lastMotorControlTime = millis(); - if (TaC > 500) TaC = 1; - //double TaS = ((double)TaC) / 1000.0; - + lastMotorControlTime = millis(); + if (TaC > 500) TaC = 1; + //double TaS = ((double)TaC) / 1000.0; + motorLeftPID.w = motorLeftSpeedRpmSet; // SET + motorRightPID.w = motorRightSpeedRpmSet; // SET + float RLdiff = (abs(motorLeftRpmCurr) - abs(motorRightRpmCurr)) / motorLeftRpmCurr; + switch (motion){ case MOTION_LINE_SPEED: case MOTION_LINE_DISTANCE: - leftRightCompensation += (motorLeftRpmCurr - motorRightRpmCurr)* leftRightCompensationFactor; + if ( RLdiff > 0.7 ) + motorLeftPID.w = motorRightRpmCurr; + else if (RLdiff < -0.7) + motorRightPID.w = motorLeftRpmCurr; break; case MOTION_ROTATE_ANGLE: - if (motorLeftSpeedRpmSet > motorRightSpeedRpmSet) - leftRightCompensation += (motorLeftRpmCurr + motorRightRpmCurr)* leftRightCompensationFactor; - else - leftRightCompensation -= (motorLeftRpmCurr + motorRightRpmCurr)* leftRightCompensationFactor; + if ( RLdiff > 0.2 ) + motorLeftPID.w = -motorRightRpmCurr; + else if (RLdiff < -0.2 ) + motorRightPID.w = -motorLeftRpmCurr; break; - } - + } + motorLeftPID.x = motorLeftRpmCurr; // CURRENT - motorLeftPID.w = motorLeftSpeedRpmSet; // SET +// motorLeftPID.w = motorLeftSpeedRpmSet; // SET motorLeftPID.y_min = -motorSpeedMaxPwm; // CONTROL-MIN motorLeftPID.y_max = motorSpeedMaxPwm; // CONTROL-MAX motorLeftPID.max_output = motorSpeedMaxPwm; // LIMIT motorLeftPID.compute(); - int leftSpeed = motorLeftPWMCurr + motorLeftPID.y - leftRightCompensation; + int leftSpeed = motorLeftPWMCurr + motorLeftPID.y; if (motorLeftSpeedRpmSet >= 0) leftSpeed = min( max(0, leftSpeed), motorSpeedMaxPwm); if (motorLeftSpeedRpmSet < 0) leftSpeed = max(-motorSpeedMaxPwm, min(0, leftSpeed)); - + motorRightPID.Kp = motorLeftPID.Kp; motorRightPID.Ki = motorLeftPID.Ki; - motorRightPID.Kd = motorLeftPID.Kd; + motorRightPID.Kd = motorLeftPID.Kd; motorRightPID.x = motorRightRpmCurr; // IST - motorRightPID.w = motorRightSpeedRpmSet; // SOLL +// motorRightPID.w = motorRightSpeedRpmSet; // SOLL motorRightPID.y_min = -motorSpeedMaxPwm; // Regel-MIN motorRightPID.y_max = motorSpeedMaxPwm; // Regel-MAX motorRightPID.max_output = motorSpeedMaxPwm; // Begrenzung - motorRightPID.compute(); - int rightSpeed = motorRightPWMCurr + motorRightPID.y + leftRightCompensation; + motorRightPID.compute(); + int rightSpeed = motorRightPWMCurr + motorRightPID.y; if (motorRightSpeedRpmSet >= 0) rightSpeed = min( max(0, rightSpeed), motorSpeedMaxPwm); if (motorRightSpeedRpmSet < 0) rightSpeed = max(-motorSpeedMaxPwm, min(0, rightSpeed)); - - if ( (abs(motorLeftPID.x) < 2) && (motorLeftPID.w == 0) ) leftSpeed = 0; // ensures PWM is really zero - if ( (abs(motorRightPID.x) < 2) && (motorRightPID.w == 0) ) rightSpeed = 0; // ensures PWM is really zero - setSpeedPWM( leftSpeed, rightSpeed ); + + if ( (abs(motorLeftPID.x) < 2) && (motorLeftPID.w == 0) ) leftSpeed = 0; // ensures PWM is really zero + if ( (abs(motorRightPID.x) < 2) && (motorRightPID.w == 0) ) rightSpeed = 0; // ensures PWM is really zero + setSpeedPWM( leftSpeed, rightSpeed ); } @@ -332,21 +229,21 @@ void MotorControl::setSpeedPWM(int leftPWM, int rightPWM){ if (rightPWM == 0) motorRightSensePower = 0; motorLeftPWMCurr = leftPWM; motorRightPWMCurr = rightPWM; - if (motorLeftSwapDir) leftPWM *= -1; + if (motorLeftSwapDir) leftPWM *= -1; if (motorRightSwapDir) rightPWM *= -1; - setMC33926(pinMotorLeftDir, pinMotorLeftPWM, max(-motorSpeedMaxPwm, min(motorSpeedMaxPwm, leftPWM))); - setMC33926(pinMotorRightDir, pinMotorRightPWM, max(-motorSpeedMaxPwm, min(motorSpeedMaxPwm, rightPWM))); + setDriverPWM( max(-motorSpeedMaxPwm, min(motorSpeedMaxPwm, leftPWM)), + max(-motorSpeedMaxPwm, min(motorSpeedMaxPwm, rightPWM)) ); } void MotorControl::setSpeedRpm(int leftRpm, int rightRpm){ motorLeftSpeedRpmSet = leftRpm; motorRightSpeedRpmSet = rightRpm; motorLeftSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorLeftSpeedRpmSet)); - motorRightSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorRightSpeedRpmSet)); - motion = MOTION_SPEED; + motorRightSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorRightSpeedRpmSet)); + motion = MOTION_SPEED; motorRightPID.reset(); motorLeftPID.reset(); - leftRightCompensation = 0; + leftRightCompensation = 0; } @@ -365,7 +262,7 @@ void MotorControl::travelLineSpeedRpm(int speedRpm){ leftRightCompensation = 0; motorRightPID.reset(); motorLeftPID.reset(); - motion = MOTION_LINE_SPEED; + motion = MOTION_LINE_SPEED; } void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ @@ -374,28 +271,28 @@ void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ leftRightCompensation = 0; motorRightPID.reset(); motorLeftPID.reset(); - Console.print(F("target distance=")); - Console.println(odometryDistanceCmSet); - if (distanceCm < 0) + Console.print(F("target distance=")); + Console.println(odometryDistanceCmSet); + if (distanceCm < 0) motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -speedRpm; - else - motorLeftSpeedRpmSet = motorRightSpeedRpmSet = speedRpm; + else + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = speedRpm; } void MotorControl::rotate(float angleRad, int speedRpm){ - motion = MOTION_ROTATE_ANGLE; + motion = MOTION_ROTATE_ANGLE; odometryThetaRadSet = scalePI(odometryThetaRadCurr + angleRad); leftRightCompensation = 0; motorRightPID.reset(); motorLeftPID.reset(); - Console.print(F("target angle=")); - Console.println(odometryThetaRadSet/PI*180.0); + Console.print(F("target angle=")); + Console.println(odometryThetaRadSet/M_PI*180.0); if (angleRad < 0){ motorLeftSpeedRpmSet = -speedRpm; motorRightSpeedRpmSet = speedRpm; } else { motorLeftSpeedRpmSet = speedRpm; - motorRightSpeedRpmSet = -speedRpm; + motorRightSpeedRpmSet = -speedRpm; } } @@ -406,190 +303,197 @@ bool MotorControl::hasStopped(){ // read motor current void MotorControl::readCurrent(){ - #ifndef SIMULATE unsigned long TaC = millis() - lastMotorCurrentTime; // sampling time in millis lastMotorCurrentTime = millis(); - if (TaC > 500) TaC = 1; + if (TaC > 500) TaC = 1; double TaS = ((double)TaC) / 1000.0; //double smooth = 0.95; //double smooth = 0.9; - - int lastMotorLeftSenseADC = motorLeftSenseADC; - int lastMotorRightSenseADC = motorRightSenseADC; + + int lastMotorLeftSenseADC = motorLeftSenseADC; + int lastMotorRightSenseADC = motorRightSenseADC; // read current - NOTE: MC33926 datasheets says: accuracy is better than 20% from 0.5 to 6.0 A - motorLeftSenseADC = ADCMan.read(pinMotorLeftSense); - motorRightSenseADC = ADCMan.read(pinMotorRightSense); - //motorLeftSenseADC = analogRead(pinMotorLeftSense); - //motorRightSenseADC = analogRead(pinMotorRightSense); - + //motorLeftSenseADC = ADCMan.read(pinMotorLeftSense); + //motorRightSenseADC = ADCMan.read(pinMotorRightSense); + /*Console.print(motorLeftSenseADC); Console.print(","); - Console.println(motorRightSenseADC);*/ - + Console.println(motorRightSenseADC);*/ + // compute gradient motorLeftSenseGradient = (((double)motorLeftSenseADC) - ((double)lastMotorLeftSenseADC)) / TaS; - motorRightSenseGradient = (((double)motorRightSenseADC) - ((double)lastMotorRightSenseADC)) / TaS; - + motorRightSenseGradient = (((double)motorRightSenseADC) - ((double)lastMotorRightSenseADC)) / TaS; + // compute motor current (mA) - //double smooth = 0.0; - double smooth = 0.5; - motorRightSenseCurrent = motorRightSenseCurrent * smooth + ((double)motorRightSenseADC) * motorSenseRightScale * (1.0-smooth); + //double smooth = 0.0; + double smooth = 0.5; + motorRightSenseCurrent = motorRightSenseCurrent * smooth + ((double)motorRightSenseADC) * motorSenseRightScale * (1.0-smooth); motorLeftSenseCurrent = motorLeftSenseCurrent * smooth + ((double)motorLeftSenseADC) * motorSenseLeftScale * (1.0-smooth); - + // obstacle detection via motor torque (output power) // NOTE: at obstacles, our motors typically do not stall - they are too powerful, and just reduce speed (rotate through the lawn) // http://wiki.ardumower.de/images/9/96/Wheel_motor_diagram.png // float lastMotorLeftSensePower = motorLeftSensePower; float lastMotorRightSensePower = motorRightSensePower; - + // compute motor output power (W) by calculating battery voltage, pwm duty cycle and motor current - // P_output = U_Battery * pwmDuty * I_Motor - smooth = 0.9; - motorRightSensePower = motorRightSensePower * smooth + (1.0-smooth) * (motorRightSenseCurrent * motorVoltageDC * ((double)abs(motorRightPWMCurr)/255.0) /1000); + // P_output = U_Battery * pwmDuty * I_Motor + smooth = 0.9; + motorRightSensePower = motorRightSensePower * smooth + (1.0-smooth) * (motorRightSenseCurrent * motorVoltageDC * ((double)abs(motorRightPWMCurr)/255.0) /1000); motorLeftSensePower = motorLeftSensePower * smooth + (1.0-smooth) * (motorLeftSenseCurrent * motorVoltageDC * ((double)abs(motorLeftPWMCurr) /255.0) /1000); - + // Ist es nicht aussagekraeftiger ueber die Beschleunigung? - // Mit der PWM und der Odometrie gibst du eine soll Drehzahl = Soll Geschwindigkeit vor. - // Wird die in einem bestimmten Rahmen nicht erreicht und dein Strom geht hoch hast du ein Hindernis. - - // compute efficiency (output rotation/input power) + // Mit der PWM und der Odometrie gibst du eine soll Drehzahl = Soll Geschwindigkeit vor. + // Wird die in einem bestimmten Rahmen nicht erreicht und dein Strom geht hoch hast du ein Hindernis. + + // compute efficiency (output rotation/input power) //smooth = 0.95; smooth = 0.9; - motorLeftEfficiency = motorLeftEfficiency * smooth + (abs(motorLeftRpmCurr) / max(0.01, abs(motorLeftSensePower)) * 100.0) * (1.0-smooth); - motorRightEfficiency = motorRightEfficiency * smooth + (abs(motorRightRpmCurr) / max(0.01, abs(motorRightSensePower)) * 100.0) * (1.0-smooth); - + motorLeftEfficiency = motorLeftEfficiency * smooth + (abs(motorLeftRpmCurr) / max(0.01f, fabs(motorLeftSensePower)) * 100.0) * (1.0-smooth); + motorRightEfficiency = motorRightEfficiency * smooth + (abs(motorRightRpmCurr) / max(0.01f, fabs(motorRightSensePower)) * 100.0) * (1.0-smooth); + // tracktion control // idea: sigma_b = (Vf - Vu) / Vf (break tracktion) // sigma_a = (Vu - Vf) / Vu (acceleration tracktion) // Vf: vehicle velocity // Vu: tire velocity - - if (enableStallDetection) { + + if (enableStallDetection) { if (!motorLeftStalled){ if ( (abs(motorLeftPWMCurr) > 0) && (motorLeftSensePower > 1) && (motorLeftEfficiency < motorEfficiencyMin) ) { - print(); - Console.print(F(" LEFT STALL")); - Console.println(); - motorLeftStalled = true; - stopImmediately(); + print(); + Console.print(F(" LEFT STALL")); + Console.println(); + motorLeftStalled = true; + stopImmediately(); } } if (!motorRightStalled){ if ( (abs(motorRightPWMCurr) > 0) && (motorRightSensePower > 1) && (motorRightEfficiency < motorEfficiencyMin) ) { - print(); - Console.print(F(" RIGHT STALL")); - Console.println(); - motorRightStalled = true; - stopImmediately(); + print(); + Console.print(F(" RIGHT STALL")); + Console.println(); + motorRightStalled = true; + stopImmediately(); } } } - #endif } void MotorControl::printCSV(bool includeHeader){ - if (includeHeader) Console.println(F("millis,tickL,tickR,th,dist,setL,setR,curL,curR,errL,errR,pwmL,pwmR,maL,maR,gmaL,gmaR,pL,pR,effL,effR")); + if (includeHeader) Console.println(F("millis,tickL,tickR,th,dist,setL,setR,curL,curR,errL,errR,pwmL,pwmR,maL,maR,gmaL,gmaR,pL,pR,effL,effR")); /*Console.print(millis()); - Console.print(","); - Console.print(MotorCtrl.odometryLeftTicks); - Console.print(","); - Console.print(MotorCtrl.odometryRightTicks); - Console.print(","); - Console.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); - Console.print(","); - Console.print(MotorCtrl.odometryDistanceCmCurr, 1); - Console.print(","); - Console.print(MotorCtrl.motorLeftSpeedRpmSet); - Console.print(","); - Console.print(MotorCtrl.motorRightSpeedRpmSet); - Console.print(","); - Console.print(MotorCtrl.motorLeftRpmCurr, 1); - Console.print(","); - Console.print(MotorCtrl.motorRightRpmCurr, 1); - Console.print(","); - Console.print(MotorCtrl.motorLeftPID.eold, 1); - Console.print(","); - Console.print(MotorCtrl.motorRightPID.eold, 1); - Console.print(","); - Console.print(MotorCtrl.motorLeftPWMCurr, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightPWMCurr, 0); - Console.print(","); - Console.print(MotorCtrl.motorLeftSenseCurrent, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightSenseCurrent, 0); - Console.print(","); - Console.print(MotorCtrl.motorLeftSenseGradient, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightSenseGradient, 0); - Console.print(","); - Console.print(MotorCtrl.motorLeftSensePower, 1); - Console.print(","); - Console.print(MotorCtrl.motorRightSensePower, 1); + Console.print(","); + Console.print(odometryLeftTicks); + Console.print(","); + Console.print(odometryRightTicks); + Console.print(","); + Console.print(odometryThetaRadCurr/PI*180.0); + Console.print(","); + Console.print(odometryDistanceCmCurr, 1); + Console.print(","); + Console.print(motorLeftSpeedRpmSet); + Console.print(","); + Console.print(motorRightSpeedRpmSet); + Console.print(","); + Console.print(motorLeftRpmCurr, 1); + Console.print(","); + Console.print(motorRightRpmCurr, 1); Console.print(","); */ - Console.print(MotorCtrl.motorLeftEfficiency, 0); + Console.print(motorLeftPID.eold, 1); + Console.print(","); + Console.print(motorRightPID.eold, 1); + Console.print(","); + Console.print(motorLeftPID.Kp); + Console.print(F(",")); + Console.print(motorLeftPID.Ki); + Console.print(F(",")); + Console.print(motorLeftPID.Kd); + Console.print(","); + Console.print(leftRightCompensation); + + /*Console.print(","); + Console.print(motorLeftPWMCurr, 0); Console.print(","); - Console.print(MotorCtrl.motorRightEfficiency, 0); + Console.print(motorRightPWMCurr, 0); + Console.print(","); + Console.print(motorLeftSenseCurrent, 0); + Console.print(","); + Console.print(motorRightSenseCurrent, 0); + Console.print(","); + Console.print(motorLeftSenseGradient, 0); + Console.print(","); + Console.print(motorRightSenseGradient, 0); + Console.print(","); + Console.print(motorLeftSensePower, 1); + Console.print(","); + Console.print(motorRightSensePower, 1); + Console.print(","); + Console.print(motorLeftEfficiency, 0); + Console.print(","); + Console.print(motorRightEfficiency, 0); */ Console.println(); } void MotorControl::print(){ - Console.print(F(" ticks:")); - Console.print(MotorCtrl.odometryLeftTicks); - Console.print(","); - Console.print(MotorCtrl.odometryRightTicks); - Console.print(F(" th,dist:")); - Console.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); - Console.print(","); - Console.print(MotorCtrl.odometryDistanceCmCurr, 1); - Console.print(F(" ## ")); - Console.print(MotorCtrl.angleToTargetRad/PI*180.0, 1); - Console.print(","); - Console.print(MotorCtrl.distanceToTargetCm, 1); - Console.print(F(" set:")); - Console.print(MotorCtrl.motorLeftSpeedRpmSet); - Console.print(","); - Console.print(MotorCtrl.motorRightSpeedRpmSet); - Console.print(F(" cur:")); - Console.print(MotorCtrl.motorLeftRpmCurr, 1); - Console.print(","); - Console.print(MotorCtrl.motorRightRpmCurr, 1); - Console.print(F(" err:")); - Console.print(MotorCtrl.motorLeftPID.eold, 1); - Console.print(","); - Console.print(MotorCtrl.motorRightPID.eold, 1); - Console.print(F(" pwm:")); - Console.print(MotorCtrl.motorLeftPWMCurr, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightPWMCurr, 0); - Console.print(F(" mA:")); - Console.print(MotorCtrl.motorLeftSenseCurrent, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightSenseCurrent, 0); - Console.print(F(" ## ")); - Console.print(MotorCtrl.motorLeftSenseGradient, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightSenseGradient, 0); - Console.print(F(" P:")); - Console.print(MotorCtrl.motorLeftSensePower, 1); - Console.print(","); - Console.print(MotorCtrl.motorRightSensePower, 1); - Console.print(F(" eff:")); - Console.print(MotorCtrl.motorLeftEfficiency, 0); - Console.print(","); - Console.print(MotorCtrl.motorRightEfficiency, 0); - Console.print(F(" pid:")); - Console.print(MotorCtrl.motorLeftPID.Kp); - Console.print(F(",")); - Console.print(MotorCtrl.motorLeftPID.Ki); - Console.print(F(",")); - Console.print(MotorCtrl.motorLeftPID.Kd); - Console.print(F(" lrc:")); - Console.print(MotorCtrl.leftRightCompensation); + return; + Console.print(F(" ticks:")); + Console.print(odometryLeftTicks); + Console.print(","); + Console.print(odometryRightTicks); + Console.print(F(" th,dist:")); + Console.print(odometryThetaRadCurr/M_PI*180.0); + Console.print(","); + Console.print(odometryDistanceCmCurr, 1); + Console.print(F(" ## ")); + Console.print(angleToTargetRad/M_PI*180.0, 1); + Console.print(","); + Console.print(distanceToTargetCm, 1); + Console.print(F(" set:")); + Console.print(motorLeftSpeedRpmSet); + Console.print(","); + Console.print(motorRightSpeedRpmSet); + Console.print(F(" cur:")); + Console.print(motorLeftRpmCurr, 1); + Console.print(","); + Console.print(motorRightRpmCurr, 1); + Console.print(F(" err:")); + Console.print(motorLeftPID.eold, 1); + Console.print(","); + Console.print(motorRightPID.eold, 1); + Console.print(F(" pwm:")); + Console.print(motorLeftPWMCurr, 0); + Console.print(","); + Console.print(motorRightPWMCurr, 0); + Console.print(F(" mA:")); + Console.print(motorLeftSenseCurrent, 0); + Console.print(","); + Console.print(motorRightSenseCurrent, 0); + Console.print(F(" ## ")); + Console.print(motorLeftSenseGradient, 0); + Console.print(","); + Console.print(motorRightSenseGradient, 0); + Console.print(F(" P:")); + Console.print(motorLeftSensePower, 1); + Console.print(","); + Console.print(motorRightSensePower, 1); + Console.print(F(" eff:")); + Console.print(motorLeftEfficiency, 0); + Console.print(","); + Console.print(motorRightEfficiency, 0); + Console.print(F(" pid:")); + Console.print(motorLeftPID.Kp); + Console.print(F(",")); + Console.print(motorLeftPID.Ki); + Console.print(F(",")); + Console.print(motorLeftPID.Kd); + Console.print(F(" lrc:")); + Console.print(leftRightCompensation); } + diff --git a/tests/drivecontrol/motorcontrol.h b/tests/drivecontrol/motorcontrol.h index 07ef68bf3..c075de048 100644 --- a/tests/drivecontrol/motorcontrol.h +++ b/tests/drivecontrol/motorcontrol.h @@ -1,11 +1,7 @@ #ifndef MOTORCONTROL_H #define MOTORCONTROL_H -// differential drive motor controller -// requires: -// - 2 brushed gear motors with 1-way encoder (odometry) -// - MC33926 motor driver -// +// differential drive motor controller - requires motors with 1-way encoder (odometry) // how to use: // // MotorCtrl.travelLineDistance(-30, 5); @@ -14,14 +10,12 @@ // } -#include #include "pid.h" -#include "config.h" enum { MOTION_SPEED, - MOTION_LINE_SPEED, + MOTION_LINE_SPEED, MOTION_LINE_DISTANCE, MOTION_ROTATE_ANGLE, MOTION_STOP, @@ -31,93 +25,94 @@ enum { class MotorControl { public: - byte motion; // motion to perform - + char motion; // motion to perform + // gear motors - bool motorRightSwapDir ; // inverse right motor direction? - bool motorLeftSwapDir ; // inverse left motor direction? + bool motorRightSwapDir ; // inverse right motor direction? + bool motorLeftSwapDir ; // inverse left motor direction? bool motorLeftError; // left motor error? bool motorRightError; // right motor error? bool motorLeftStalled; // left motor stalled? - bool motorRightStalled; // right motor stalled? + bool motorRightStalled; // right motor stalled? float motorVoltageDC; // known operating voltage (DC) int motorLeftSpeedRpmSet ; // set speed int motorRightSpeedRpmSet ; - float motorLeftRpmCurr ; // left wheel rpm - float motorRightRpmCurr ; // right wheel rpm - int motorSpeedMaxRpm ; // motor wheel max RPM - int motorSpeedMaxPwm ; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) + float motorLeftRpmCurr ; // left wheel rpm + float motorRightRpmCurr ; // right wheel rpm + int motorSpeedMaxRpm ; // motor wheel max RPM + int motorSpeedMaxPwm ; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) PID motorLeftPID; // motor left wheel PID controller - PID motorRightPID; // motor right wheel PID controll + PID motorRightPID; // motor right wheel PID controll float motorLeftPWMCurr ; // current motor pwm - float motorRightPWMCurr ; + float motorRightPWMCurr ; float leftRightCompensation; // left-right speed compensation - + // motor current - float motorEfficiencyMin; // minimum motor efficiency (stall detection) + float motorEfficiencyMin; // minimum motor efficiency (stall detection) int motorRightSenseADC ; // ADC value int motorLeftSenseADC ; float motorLeftSenseCurrent ; // current (mA) float motorRightSenseCurrent ; float motorLeftSenseGradient; // current gradient - float motorRightSenseGradient; // current gradient + float motorRightSenseGradient; // current gradient float motorLeftEfficiency; // efficiency (output rotation/input power) - float motorRightEfficiency; // efficiency (output rotation/input power) - float motorLeftSensePower ; // power (W) - float motorRightSensePower ; + float motorRightEfficiency; // efficiency (output rotation/input power) + float motorLeftSensePower ; // power (W) + float motorRightSensePower ; float motorSenseRightScale ; // motor right sense scale (mA=(ADC-zero)*scale) - float motorSenseLeftScale ; // motor left sense scale (mA=(ADC-zero)*scale) - + float motorSenseLeftScale ; // motor left sense scale (mA=(ADC-zero)*scale) + // odometry + unsigned long odometryLeftTickTime; + unsigned long odometryRightTickTime; int odometryLeftTicks ; // left wheel counter - int odometryRightTicks ; // right wheel counter + int odometryRightTicks ; // right wheel counter int odometryLeftTicksZeroCounter; // counts number of times ticks did not change - int odometryRightTicksZeroCounter; + int odometryRightTicksZeroCounter; int odometryTicksPerRevolution ; // encoder ticks per one full resolution float odometryTicksPerCm ; // encoder ticks per cm - float odometryWheelBaseCm ; // wheel-to-wheel distance (cm) + float odometryWheelBaseCm ; // wheel-to-wheel distance (cm) float odometryThetaRadCurr; // current theta angle (radiant) float odometryXcmCurr; // current X map position (cm) - float odometryYcmCurr; // current Y map position (cm) - float odometryDistanceCmCurr; // distance traveled (cm) + float odometryYcmCurr; // current Y map position (cm) + float odometryDistanceCmCurr; // distance traveled (cm) float odometryThetaRadSet; // set angle (radiant) int odometryDistanceCmSet; // set distance (cm) float distanceToTargetCm; // distance to target (cm) float angleToTargetRad; // angle to target (rad) - + bool enableSpeedControl; // enable speed controller? bool enableStallDetection; // enable stall detection? bool enableErrorDetection; // enable error detection? MotorControl(); virtual void setup(); - virtual void run(); - virtual void setSpeedRpm(int leftRpm, int rightRpm); - virtual void setSpeedPWM(int leftPWM, int rightPWM); + virtual void run(); + virtual void setSpeedRpm(int leftRpm, int rightRpm); + virtual void setSpeedPWM(int leftPWM, int rightPWM); virtual void stopImmediately(); - virtual void travelLineSpeedRpm(int speedRpm); + virtual void travelLineSpeedRpm(int speedRpm); virtual void travelLineDistance(int distanceCm, int speedRpm); // rotate (+counter-clock / -clock-wise) virtual void rotate(float angleRad, int speedRpm); - virtual bool hasStopped(); + virtual bool hasStopped(); virtual void resetStalled(); - virtual void resetFault(); + virtual void resetFault(); virtual void print(); virtual void printCSV(bool includeHeader); -private: +private: unsigned long lastMotorRunTime; - unsigned long nextMotorPrintTime; + unsigned long nextMotorPrintTime; unsigned long lastMotorControlTime; - unsigned long lastOdometryTime; - unsigned long lastMotorCurrentTime; + unsigned long lastOdometryTime; + unsigned long lastMotorCurrentTime; virtual void readOdometry(); virtual void speedControl(); - virtual void setMC33926(int pinDir, int pinPWM, int speed); + virtual void setDriverPWM(int leftMotorPWM, int rightMotorPWM); virtual void readCurrent(); virtual void checkFault(); }; -extern MotorControl MotorCtrl; diff --git a/tests/drivecontrol/mower.h b/tests/drivecontrol/mower.h new file mode 100644 index 000000000..d4702e299 --- /dev/null +++ b/tests/drivecontrol/mower.h @@ -0,0 +1,93 @@ +#include +#ifdef __AVR__ + // Arduino Mega + #include + #define Console Serial + #define Bluetooth Serial2 +#else + // Arduino Due + #include "due.h" + // Due has two serial ports: Native (SerialUSB) and Programming (Serial) - we want to use 'SerialUSB' for 'Console' + #define Console SerialUSB + #define Bluetooth Serial2 +#endif + + +// ------ pins--------------------------------------- +// Warning: If you change pinout, interrupt configuration (odometry, R/C, rpm) need to be changed too! + +#define pinMotorEnable 37 // EN motors enable +#define pinMotorLeftPWM 5 // M1_IN1 left motor PWM pin +#define pinMotorLeftDir 31 // M1_IN2 left motor Dir pin +#define pinMotorLeftSense A1 // M1_FB left motor current sense +#define pinMotorLeftFault 25 // M1_SF left motor fault + +#define pinMotorRightPWM 3 // M2_IN1 right motor PWM pin +#define pinMotorRightDir 33 // M2_IN2 right motor Dir pin +#define pinMotorRightSense A0 // M2_FB right motor current sense +#define pinMotorRightFault 27 // M2_SF right motor fault + +#define pinMotorMowPWM 2 // M1_IN1 mower motor PWM pin (if using MOSFET, use this pin) +#define pinMotorMowDir 29 // M1_IN2 mower motor Dir pin (if using MOSFET, keep unconnected) +#define pinMotorMowSense A3 // M1_FB mower motor current sense +#define pinMotorMowFault 26 // M1_SF mower motor fault (if using MOSFET/L298N, keep unconnected) +#define pinMotorMowEnable 28 // EN mower motor enable (if using MOSFET/L298N, keep unconnected) +#define pinMotorMowRpm A11 + +#define pinBumperLeft 39 // bumper pins +#define pinBumperRight 38 + +#define pinDropLeft 45 // drop pins Dropsensor - Absturzsensor +#define pinDropRight 23 // drop pins Dropsensor - Absturzsensor + +#define pinSonarCenterTrigger 24 // ultrasonic sensor pins +#define pinSonarCenterEcho 22 +#define pinSonarRightTrigger 30 +#define pinSonarRightEcho 32 +#define pinSonarLeftTrigger 34 +#define pinSonarLeftEcho 36 +#define pinPerimeterRight A4 // perimeter +#define pinPerimeterLeft A5 + +#define pinLED 13 // LED +#define pinLEDDuoRed 7 +#define pinLEDDuoGreen 6 +#define pinBuzzer 53 // Buzzer +#define pinTilt 35 // Tilt sensor (required for TC-G158 board) +#define pinButton 51 // digital ON/OFF button +#define pinBatteryVoltage A2 // battery voltage sensor +#define pinBatterySwitch 4 // battery-OFF switch +#define pinChargeVoltage A9 // charging voltage sensor +#define pinChargeCurrent A8 // charge current sensor +#define pinChargeRelay 50 // charge relay +#define pinRemoteMow 12 // remote control mower motor +#define pinRemoteSteer 11 // remote control steering +#define pinRemoteSpeed 10 // remote control speed +#define pinRemoteSwitch 52 // remote control switch +#define pinVoltageMeasurement A7 // test pin for your own voltage measurements +#ifdef __AVR__ + #define pinOdometryLeft A12 // left odometry sensor + #define pinOdometryLeft2 A13 // left odometry sensor (optional two-wire) + #define pinOdometryRight A14 // right odometry sensor + #define pinOdometryRight2 A15 // right odometry sensor (optional two-wire) +#else + #define pinOdometryLeft DAC0 // left odometry sensor + #define pinOdometryLeft2 DAC1 // left odometry sensor (optional two-wire) + #define pinOdometryRight CANRX // right odometry sensor + #define pinOdometryRight2 CANTX // right odometry sensor (optional two-wire) +#endif +#define pinLawnFrontRecv 40 // lawn sensor front receive +#define pinLawnFrontSend 41 // lawn sensor front sender +#define pinLawnBackRecv 42 // lawn sensor back receive +#define pinLawnBackSend 43 // lawn sensor back sender +#define pinUserSwitch1 46 // user-defined switch 1 +#define pinUserSwitch2 47 // user-defined switch 2 +#define pinUserSwitch3 48 // user-defined switch 3 +#define pinRain 44 // rain sensor +// RTC, IMU (compass/gyro/accel): I2C (SCL, SDA) +// GPS: Serial3 (TX3, RX3) +// Bluetooth: Serial2 (TX2, RX2) +// WLAN: Serial1 (TX1, RX1) + + + diff --git a/tests/drivecontrol/pid.cpp b/tests/drivecontrol/pid.cpp index b3c3cd91e..4e048d376 100644 --- a/tests/drivecontrol/pid.cpp +++ b/tests/drivecontrol/pid.cpp @@ -3,9 +3,9 @@ Copyright (c) 2013-2014 by Alexander Grau Copyright (c) 2013-2014 by Sven Gennat Copyright (c) 2014 by Maxime Carpentieri - + Private-use only! (you need to ask for a commercial-use) - + This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or @@ -18,22 +18,23 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + Private-use only! (you need to ask for a commercial-use) - + How to find out P,I,D: 1. Increase P until system starts to oscillate - 2. Set I =0.6 * P and D = 0.125 * P - + 2. Set I =0.6 * P and D = 0.125 * P + */ #include "pid.h" +#include "config.h" PID::PID() { } - + PID::PID(float Kp, float Ki, float Kd){ this->Kp = Kp; this->Ki = Ki; @@ -43,62 +44,62 @@ PID::PID(float Kp, float Ki, float Kd){ void PID::reset(){ esum = 0; - eold = 0; + eold = 0; } float PID::compute() -{ +{ /* unsigned long now = micros(); Ta = ((now - lastControlTime) / 1000000.0); lastControlTime = now; if (Ta > 1.0) Ta = 1.0; // should only happen for the very first call // compute error - float e = (w - x); + float e = (w - x); // integrate error esum += e; - // anti wind-up - float iTerm = Ki * Ta * esum; + // anti wind-up + float iTerm = Ki * Ta * esum; if (iTerm < -max_output) { iTerm = -max_output; esum = -max_output / Ta / Ki; } if (iTerm > max_output) { - iTerm = max_output; + iTerm = max_output; esum = max_output / Ta / Ki; } y = Kp * e + iTerm + Kd/Ta * (e - eold); - eold = e; - // restrict output to min/max + eold = e; + // restrict output to min/max if (y > y_max) y = y_max; - if (y < y_min) y = y_min; - + if (y < y_min) y = y_min; + return y;*/ - - + + unsigned long now = micros(); Ta = ((now - lastControlTime) / 1000000.0); lastControlTime = now; if (Ta > 1.0) Ta = 1.0; // should only happen for the very first call // compute error - int16_t e = (w - x); + int16_t e = (w - x); // integrate error esum += e; - // anti wind-up + // anti wind-up if (esum < -max_output) esum = -max_output; - if (esum > max_output) esum = max_output; + if (esum > max_output) esum = max_output; y = Kp * e + Ki * Ta * esum + Kd/Ta * (e - eold); - eold = e; - // restrict output to min/max + eold = e; + // restrict output to min/max if (y > y_max) y = y_max; - if (y < y_min) y = y_min; - - return y; + if (y < y_min) y = y_min; + + return y; } @@ -107,7 +108,7 @@ float PID::compute() VelocityPID::VelocityPID() { } - + VelocityPID::VelocityPID(float Kp, float Ki, float Kd){ this->Kp = Kp; this->Ki = Ki; @@ -116,7 +117,7 @@ VelocityPID::VelocityPID(float Kp, float Ki, float Kd){ float VelocityPID::compute() -{ +{ unsigned long now = micros(); Ta = ((now - lastControlTime) / 1000000.0); lastControlTime = now; @@ -127,22 +128,22 @@ float VelocityPID::compute() // compute max/min output if (w < 0) { y_min = -max_output; y_max = 0; } - if (w > 0) { y_min = 0; y_max = max_output; } + if (w > 0) { y_min = 0; y_max = max_output; } y = yold + Kp * (e - eold1) + Ki * Ta * e + Kd/Ta * (e - 2* eold1 + eold2); - - // restrict output to min/max + + // restrict output to min/max if (y > y_max) y = y_max; - if (y < y_min) y = y_min; + if (y < y_min) y = y_min; // save variable for next time eold2 = eold1; eold1 = e; - yold = y ; - + yold = y ; + return y; } diff --git a/tests/drivecontrol/pid.h b/tests/drivecontrol/pid.h index c56d532b4..08dba91b3 100644 --- a/tests/drivecontrol/pid.h +++ b/tests/drivecontrol/pid.h @@ -2,9 +2,9 @@ Ardumower (www.ardumower.de) Copyright (c) 2013-2014 by Alexander Grau Copyright (c) 2013-2014 by Sven Gennat - + Private-use only! (you need to ask for a commercial-use) - + This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or @@ -17,7 +17,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + Private-use only! (you need to ask for a commercial-use) */ @@ -25,7 +25,6 @@ #ifndef PID_H #define PID_H -#include /* @@ -39,7 +38,7 @@ class PID PID(float Kp, float Ki, float Kd); float compute(); void reset(); - double Ta; // sampling time + double Ta; // sampling time float w; // set value float x; // current value float esum; // error sum @@ -47,7 +46,7 @@ class PID float y; // control output float y_min; // minimum control output float y_max; // maximum control output - float max_output; // maximum output + float max_output; // maximum output float Kp; // proportional control float Ki; // integral control float Kd; // differential control @@ -61,16 +60,16 @@ class VelocityPID VelocityPID(); VelocityPID(float Kp, float Ki, float Kd); float compute(); - double Ta; // sampling time + double Ta; // sampling time float w; // set value float x; // current value float eold1; // last error - float eold2; // error n-2 + float eold2; // error n-2 int y; // control output - int yold; // last control output + int yold; // last control output int y_min; // minimum control output int y_max; // maximum control output - int max_output; // maximum output + int max_output; // maximum output float Kp; // proportional control float Ki; // integral control float Kd; // differential control diff --git a/tests/drivecontrol/sim/Print.cpp b/tests/drivecontrol/sim/Print.cpp new file mode 100644 index 000000000..19b73365e --- /dev/null +++ b/tests/drivecontrol/sim/Print.cpp @@ -0,0 +1,257 @@ +/* + Print.cpp - Base class that provides print() and println() + Copyright (c) 2008 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 23 November 2006 by David A. Mellis + */ + +#include +#include +#include +#include +//#include "Arduino.h" + +#include "Print.h" + +// Public Methods ////////////////////////////////////////////////////////////// + +/* default implementation: may be overridden */ +size_t Print::write(const uint8_t *buffer, size_t size) +{ + size_t n = 0; + while (size--) { + n += write(*buffer++); + } + return n; +} + +size_t Print::print(const __FlashStringHelper *ifsh) +{ + return print(reinterpret_cast(ifsh)); +} + +size_t Print::print(const String &s) +{ + return write(s.c_str(), s.length()); +} + +size_t Print::print(const char str[]) +{ + return write(str); +} + +size_t Print::print(char c) +{ + return write(c); +} + +size_t Print::print(unsigned char b, int base) +{ + return print((unsigned long) b, base); +} + +size_t Print::print(int n, int base) +{ + return print((long) n, base); +} + +size_t Print::print(unsigned int n, int base) +{ + return print((unsigned long) n, base); +} + +size_t Print::print(long n, int base) +{ + if (base == 0) { + return write(n); + } else if (base == 10) { + if (n < 0) { + int t = print('-'); + n = -n; + return printNumber(n, 10) + t; + } + return printNumber(n, 10); + } else { + return printNumber(n, base); + } +} + +size_t Print::print(unsigned long n, int base) +{ + if (base == 0) return write(n); + else return printNumber(n, base); +} + +size_t Print::print(double n, int digits) +{ + return printFloat(n, digits); +} + +size_t Print::println(const __FlashStringHelper *ifsh) +{ + size_t n = print(ifsh); + n += println(); + return n; +} + +size_t Print::print(const Printable& x) +{ + return x.printTo(*this); +} + +size_t Print::println(void) +{ + size_t n = print('\r'); + n += print('\n'); + return n; +} + +size_t Print::println(const String &s) +{ + size_t n = print(s); + n += println(); + return n; +} + +size_t Print::println(const char c[]) +{ + size_t n = print(c); + n += println(); + return n; +} + +size_t Print::println(char c) +{ + size_t n = print(c); + n += println(); + return n; +} + +size_t Print::println(unsigned char b, int base) +{ + size_t n = print(b, base); + n += println(); + return n; +} + +size_t Print::println(int num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(unsigned int num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(long num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(unsigned long num, int base) +{ + size_t n = print(num, base); + n += println(); + return n; +} + +size_t Print::println(double num, int digits) +{ + size_t n = print(num, digits); + n += println(); + return n; +} + +size_t Print::println(const Printable& x) +{ + size_t n = print(x); + n += println(); + return n; +} + +// Private Methods ///////////////////////////////////////////////////////////// + +size_t Print::printNumber(unsigned long n, uint8_t base) { + char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte. + char *str = &buf[sizeof(buf) - 1]; + + *str = '\0'; + + // prevent crash if called with base == 1 + if (base < 2) base = 10; + + do { + unsigned long m = n; + n /= base; + char c = m - base * n; + *--str = c < 10 ? c + '0' : c + 'A' - 10; + } while(n); + + return write(str); +} + +size_t Print::printFloat(double number, uint8_t digits) +{ + size_t n = 0; + + if (isnan(number)) return print("nan"); + if (isinf(number)) return print("inf"); + if (number > 4294967040.0) return print ("ovf"); // constant determined empirically + if (number <-4294967040.0) return print ("ovf"); // constant determined empirically + + // Handle negative numbers + if (number < 0.0) + { + n += print('-'); + number = -number; + } + + // Round correctly so that print(1.999, 2) prints as "2.00" + double rounding = 0.5; + for (uint8_t i=0; i 0) { + n += print("."); + } + + // Extract digits from the remainder one at a time + while (digits-- > 0) + { + remainder *= 10.0; + int toPrint = int(remainder); + n += print(toPrint); + remainder -= toPrint; + } + + return n; +} diff --git a/tests/drivecontrol/sim/Print.h b/tests/drivecontrol/sim/Print.h new file mode 100644 index 000000000..7b53aa4d1 --- /dev/null +++ b/tests/drivecontrol/sim/Print.h @@ -0,0 +1,84 @@ +/* + Print.h - Base class that provides print() and println() + Copyright (c) 2008 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef Print_h +#define Print_h + +#include +#include // for size_t + +#include "WString.h" +#include "Printable.h" + +#define DEC 10 +#define HEX 16 +#define OCT 8 +#define BIN 2 + +class Print +{ + private: + int write_error; + size_t printNumber(unsigned long, uint8_t); + size_t printFloat(double, uint8_t); + protected: + void setWriteError(int err = 1) { write_error = err; } + public: + Print() : write_error(0) {} + + int getWriteError() { return write_error; } + void clearWriteError() { setWriteError(0); } + + virtual size_t write(uint8_t) = 0; + size_t write(const char *str) { + if (str == NULL) return 0; + return write((const uint8_t *)str, strlen(str)); + } + virtual size_t write(const uint8_t *buffer, size_t size); + size_t write(const char *buffer, size_t size) { + return write((const uint8_t *)buffer, size); + } + + size_t print(const __FlashStringHelper *); + size_t print(const String &); + size_t print(const char[]); + size_t print(char); + size_t print(unsigned char, int = DEC); + size_t print(int, int = DEC); + size_t print(unsigned int, int = DEC); + size_t print(long, int = DEC); + size_t print(unsigned long, int = DEC); + size_t print(double, int = 2); + size_t print(const Printable&); + + size_t println(const __FlashStringHelper *); + size_t println(const String &s); + size_t println(const char[]); + size_t println(char); + size_t println(unsigned char, int = DEC); + size_t println(int, int = DEC); + size_t println(unsigned int, int = DEC); + size_t println(long, int = DEC); + size_t println(unsigned long, int = DEC); + size_t println(double, int = 2); + size_t println(const Printable&); + size_t println(void); +}; + +#endif diff --git a/tests/drivecontrol/sim/Printable.h b/tests/drivecontrol/sim/Printable.h new file mode 100644 index 000000000..2a1b2e9f2 --- /dev/null +++ b/tests/drivecontrol/sim/Printable.h @@ -0,0 +1,40 @@ +/* + Printable.h - Interface class that allows printing of complex types + Copyright (c) 2011 Adrian McEwen. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef Printable_h +#define Printable_h + +#include + +class Print; + +/** The Printable class provides a way for new classes to allow themselves to be printed. + By deriving from Printable and implementing the printTo method, it will then be possible + for users to print out instances of this class by passing them into the usual + Print::print and Print::println methods. +*/ + +class Printable +{ + public: + virtual size_t printTo(Print& p) const = 0; +}; + +#endif + diff --git a/tests/drivecontrol/sim/Stream.cpp b/tests/drivecontrol/sim/Stream.cpp new file mode 100644 index 000000000..17d432015 --- /dev/null +++ b/tests/drivecontrol/sim/Stream.cpp @@ -0,0 +1,318 @@ +/* + Stream.cpp - adds parsing methods to Stream class + Copyright (c) 2008 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Created July 2011 + parsing functions based on TextFinder library by Michael Margolis + + findMulti/findUntil routines written by Jim Leonard/Xuth + */ + +//#include "Arduino.h" +#include "simarduino.h" +#include "Stream.h" + +#define PARSE_TIMEOUT 1000 // default number of milli-seconds to wait +#define NO_SKIP_CHAR 1 // a magic char not found in a valid ASCII numeric field + +// private method to read stream with timeout +int Stream::timedRead() +{ + int c; + _startMillis = millis(); + do { + c = read(); + if (c >= 0) return c; + } while(millis() - _startMillis < _timeout); + return -1; // -1 indicates timeout +} + +// private method to peek stream with timeout +int Stream::timedPeek() +{ + int c; + _startMillis = millis(); + do { + c = peek(); + if (c >= 0) return c; + } while(millis() - _startMillis < _timeout); + return -1; // -1 indicates timeout +} + +// returns peek of the next digit in the stream or -1 if timeout +// discards non-numeric characters +int Stream::peekNextDigit() +{ + int c; + while (1) { + c = timedPeek(); + if (c < 0) return c; // timeout + if (c == '-') return c; + if (c >= '0' && c <= '9') return c; + read(); // discard non-numeric + } +} + +// Public Methods +////////////////////////////////////////////////////////////// + +void Stream::setTimeout(unsigned long timeout) // sets the maximum number of milliseconds to wait +{ + _timeout = timeout; +} + + // find returns true if the target string is found +bool Stream::find(char *target) +{ + return findUntil(target, strlen(target), NULL, 0); +} + +// reads data from the stream until the target string of given length is found +// returns true if target string is found, false if timed out +bool Stream::find(char *target, size_t length) +{ + return findUntil(target, length, NULL, 0); +} + +// as find but search ends if the terminator string is found +bool Stream::findUntil(char *target, char *terminator) +{ + return findUntil(target, strlen(target), terminator, strlen(terminator)); +} + +// reads data from the stream until the target string of the given length is found +// search terminated if the terminator string is found +// returns true if target string is found, false if terminated or timed out +bool Stream::findUntil(char *target, size_t targetLen, char *terminator, size_t termLen) +{ + if (terminator == NULL) { + MultiTarget t[1] = {{target, targetLen, 0}}; + return findMulti(t, 1) == 0 ? true : false; + } else { + MultiTarget t[2] = {{target, targetLen, 0}, {terminator, termLen, 0}}; + return findMulti(t, 2) == 0 ? true : false; + } +} + + +// returns the first valid (long) integer value from the current position. +// initial characters that are not digits (or the minus sign) are skipped +// function is terminated by the first character that is not a digit. +long Stream::parseInt() +{ + return parseInt(NO_SKIP_CHAR); // terminate on first non-digit character (or timeout) +} + +// as above but a given skipChar is ignored +// this allows format characters (typically commas) in values to be ignored +long Stream::parseInt(char skipChar) +{ + bool isNegative = false; + long value = 0; + int c; + + c = peekNextDigit(); + // ignore non numeric leading characters + if(c < 0) + return 0; // zero returned if timeout + + do{ + if(c == skipChar) + ; // ignore this charactor + else if(c == '-') + isNegative = true; + else if(c >= '0' && c <= '9') // is c a digit? + value = value * 10 + c - '0'; + read(); // consume the character we got with peek + c = timedPeek(); + } + while( (c >= '0' && c <= '9') || c == skipChar ); + + if(isNegative) + value = -value; + return value; +} + + +// as parseInt but returns a floating point value +float Stream::parseFloat() +{ + return parseFloat(NO_SKIP_CHAR); +} + +// as above but the given skipChar is ignored +// this allows format characters (typically commas) in values to be ignored +float Stream::parseFloat(char skipChar){ + bool isNegative = false; + bool isFraction = false; + long value = 0; + char c; + float fraction = 1.0; + + c = peekNextDigit(); + // ignore non numeric leading characters + if(c < 0) + return 0; // zero returned if timeout + + do{ + if(c == skipChar) + ; // ignore + else if(c == '-') + isNegative = true; + else if (c == '.') + isFraction = true; + else if(c >= '0' && c <= '9') { // is c a digit? + value = value * 10 + c - '0'; + if(isFraction) + fraction *= 0.1; + } + read(); // consume the character we got with peek + c = timedPeek(); + } + while( (c >= '0' && c <= '9') || c == '.' || c == skipChar ); + + if(isNegative) + value = -value; + if(isFraction) + return value * fraction; + else + return value; +} + +// read characters from stream into buffer +// terminates if length characters have been read, or timeout (see setTimeout) +// returns the number of characters placed in the buffer +// the buffer is NOT null terminated. +// +size_t Stream::readBytes(char *buffer, size_t length) +{ + size_t count = 0; + while (count < length) { + int c = timedRead(); + if (c < 0) break; + *buffer++ = (char)c; + count++; + } + return count; +} + + +// as readBytes with terminator character +// terminates if length characters have been read, timeout, or if the terminator character detected +// returns the number of characters placed in the buffer (0 means no valid data found) + +size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length) +{ + if (length < 1) return 0; + size_t index = 0; + while (index < length) { + int c = timedRead(); + if (c < 0 || c == terminator) break; + *buffer++ = (char)c; + index++; + } + return index; // return number of characters, not including null terminator +} + +String Stream::readString() +{ + String ret; + int c = timedRead(); + while (c >= 0) + { + ret += (char)c; + c = timedRead(); + } + return ret; +} + +String Stream::readStringUntil(char terminator) +{ + String ret; + int c = timedRead(); + while (c >= 0 && c != terminator) + { + ret += (char)c; + c = timedRead(); + } + return ret; +} + +int Stream::findMulti( struct Stream::MultiTarget *targets, int tCount) { + // any zero length target string automatically matches and would make + // a mess of the rest of the algorithm. + for (struct MultiTarget *t = targets; t < targets+tCount; ++t) { + if (t->len <= 0) + return t - targets; + } + + while (1) { + int c = timedRead(); + if (c < 0) + return -1; + + for (struct MultiTarget *t = targets; t < targets+tCount; ++t) { + // the simple case is if we match, deal with that first. + if (c == t->str[t->index]) { + if (++t->index == t->len) + return t - targets; + else + continue; + } + + // if not we need to walk back and see if we could have matched further + // down the stream (ie '1112' doesn't match the first position in '11112' + // but it will match the second position so we can't just reset the current + // index to 0 when we find a mismatch. + if (t->index == 0) + continue; + + int origIndex = t->index; + do { + --t->index; + // first check if current char works against the new current index + if (c != t->str[t->index]) + continue; + + // if it's the only char then we're good, nothing more to check + if (t->index == 0) { + t->index++; + break; + } + + // otherwise we need to check the rest of the found string + int diff = origIndex - t->index; + size_t i; + for (i = 0; i < t->index; ++i) { + if (t->str[i] != t->str[i + diff]) + break; + } + + // if we successfully got through the previous loop then our current + // index is good. + if (i == t->index) { + t->index++; + break; + } + + // otherwise we just try the next index + } while (t->index); + } + } + // unreachable + return -1; +} diff --git a/tests/drivecontrol/sim/Stream.h b/tests/drivecontrol/sim/Stream.h new file mode 100644 index 000000000..0d9a49aca --- /dev/null +++ b/tests/drivecontrol/sim/Stream.h @@ -0,0 +1,112 @@ +/* + Stream.h - base class for character-based streams. + Copyright (c) 2010 David A. Mellis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + parsing functions based on TextFinder library by Michael Margolis +*/ + +#ifndef Stream_h +#define Stream_h + +#include +#include "Print.h" + +// compatability macros for testing +/* +#define getInt() parseInt() +#define getInt(skipChar) parseInt(skipchar) +#define getFloat() parseFloat() +#define getFloat(skipChar) parseFloat(skipChar) +#define getString( pre_string, post_string, buffer, length) +readBytesBetween( pre_string, terminator, buffer, length) +*/ + +class Stream : public Print +{ + protected: + unsigned long _timeout; // number of milliseconds to wait for the next char before aborting timed read + unsigned long _startMillis; // used for timeout measurement + int timedRead(); // private method to read stream with timeout + int timedPeek(); // private method to peek stream with timeout + int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout + + public: + virtual int available() = 0; + virtual int read() = 0; + virtual int peek() = 0; + virtual void flush() = 0; + + Stream() {_timeout=1000;} + +// parsing methods + + void setTimeout(unsigned long timeout); // sets maximum milliseconds to wait for stream data, default is 1 second + + bool find(char *target); // reads data from the stream until the target string is found + bool find(uint8_t *target) { return find ((char *)target); } + // returns true if target string is found, false if timed out (see setTimeout) + + bool find(char *target, size_t length); // reads data from the stream until the target string of given length is found + bool find(uint8_t *target, size_t length) { return find ((char *)target, length); } + // returns true if target string is found, false if timed out + + bool findUntil(char *target, char *terminator); // as find but search ends if the terminator string is found + bool findUntil(uint8_t *target, char *terminator) { return findUntil((char *)target, terminator); } + + bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen); // as above but search ends if the terminate string is found + bool findUntil(uint8_t *target, size_t targetLen, char *terminate, size_t termLen) {return findUntil((char *)target, targetLen, terminate, termLen); } + + + long parseInt(); // returns the first valid (long) integer value from the current position. + // initial characters that are not digits (or the minus sign) are skipped + // integer is terminated by the first character that is not a digit. + + float parseFloat(); // float version of parseInt + + size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer + size_t readBytes( uint8_t *buffer, size_t length) { return readBytes((char *)buffer, length); } + // terminates if length characters have been read or timeout (see setTimeout) + // returns the number of characters placed in the buffer (0 means no valid data found) + + size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character + size_t readBytesUntil( char terminator, uint8_t *buffer, size_t length) { return readBytesUntil(terminator, (char *)buffer, length); } + // terminates if length characters have been read, timeout, or if the terminator character detected + // returns the number of characters placed in the buffer (0 means no valid data found) + + // Arduino String functions to be added here + String readString(); + String readStringUntil(char terminator); + + protected: + long parseInt(char skipChar); // as above but the given skipChar is ignored + // as above but the given skipChar is ignored + // this allows format characters (typically commas) in values to be ignored + + float parseFloat(char skipChar); // as above but the given skipChar is ignored + + struct MultiTarget { + const char *str; // string you're searching for + size_t len; // length of string you're searching for + size_t index; // index used by the search routine. + }; + + // This allows you to search for an arbitrary number of strings. + // Returns index of the target that is found first or -1 if timeout occurs. + int findMulti(struct MultiTarget *targets, int tCount); +}; + +#endif diff --git a/tests/drivecontrol/sim/WString.cpp b/tests/drivecontrol/sim/WString.cpp new file mode 100644 index 000000000..158900207 --- /dev/null +++ b/tests/drivecontrol/sim/WString.cpp @@ -0,0 +1,748 @@ +/* + WString.cpp - String library for Wiring & Arduino + ...mostly rewritten by Paul Stoffregen... + Copyright (c) 2009-10 Hernando Barragan. All rights reserved. + Copyright 2011, Paul Stoffregen, paul@pjrc.com + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include "WString.h" +#include "itoa.h" +#include "avr/dtostrf.h" +#include "avr/pgmspace.h" + +/*********************************************/ +/* Constructors */ +/*********************************************/ + +String::String(const char *cstr) +{ + init(); + if (cstr) copy(cstr, strlen(cstr)); +} + +String::String(const String &value) +{ + init(); + *this = value; +} + +String::String(const __FlashStringHelper *pstr) +{ + init(); + *this = pstr; +} + +#ifdef __GXX_EXPERIMENTAL_CXX0X__ +String::String(String &&rval) +{ + init(); + move(rval); +} +String::String(StringSumHelper &&rval) +{ + init(); + move(rval); +} +#endif + +String::String(char c) +{ + init(); + char buf[2]; + buf[0] = c; + buf[1] = 0; + *this = buf; +} + +String::String(unsigned char value, unsigned char base) +{ + init(); + char buf[1 + 8 * sizeof(unsigned char)]; + utoa(value, buf, base); + *this = buf; +} + +String::String(int value, unsigned char base) +{ + init(); + char buf[2 + 8 * sizeof(int)]; + itoa(value, buf, base); + *this = buf; +} + +String::String(unsigned int value, unsigned char base) +{ + init(); + char buf[1 + 8 * sizeof(unsigned int)]; + utoa(value, buf, base); + *this = buf; +} + +String::String(long value, unsigned char base) +{ + init(); + char buf[2 + 8 * sizeof(long)]; + ltoa(value, buf, base); + *this = buf; +} + +String::String(unsigned long value, unsigned char base) +{ + init(); + char buf[1 + 8 * sizeof(unsigned long)]; + ultoa(value, buf, base); + *this = buf; +} + +String::String(float value, unsigned char decimalPlaces) +{ + init(); + char buf[33]; + *this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf); +} + +String::String(double value, unsigned char decimalPlaces) +{ + init(); + char buf[33]; + *this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf); +} + +String::~String() +{ + free(buffer); +} + +/*********************************************/ +/* Memory Management */ +/*********************************************/ + +inline void String::init(void) +{ + buffer = NULL; + capacity = 0; + len = 0; +} + +void String::invalidate(void) +{ + if (buffer) free(buffer); + buffer = NULL; + capacity = len = 0; +} + +unsigned char String::reserve(unsigned int size) +{ + if (buffer && capacity >= size) return 1; + if (changeBuffer(size)) { + if (len == 0) buffer[0] = 0; + return 1; + } + return 0; +} + +unsigned char String::changeBuffer(unsigned int maxStrLen) +{ + char *newbuffer = (char *)realloc(buffer, maxStrLen + 1); + if (newbuffer) { + buffer = newbuffer; + capacity = maxStrLen; + return 1; + } + return 0; +} + +/*********************************************/ +/* Copy and Move */ +/*********************************************/ + +String & String::copy(const char *cstr, unsigned int length) +{ + if (!reserve(length)) { + invalidate(); + return *this; + } + len = length; + strcpy(buffer, cstr); + return *this; +} + +String & String::copy(const __FlashStringHelper *pstr, unsigned int length) +{ + if (!reserve(length)) { + invalidate(); + return *this; + } + len = length; + strcpy_P(buffer, (PGM_P)pstr); + return *this; +} + +#ifdef __GXX_EXPERIMENTAL_CXX0X__ +void String::move(String &rhs) +{ + if (buffer) { + if (capacity >= rhs.len) { + strcpy(buffer, rhs.buffer); + len = rhs.len; + rhs.len = 0; + return; + } else { + free(buffer); + } + } + buffer = rhs.buffer; + capacity = rhs.capacity; + len = rhs.len; + rhs.buffer = NULL; + rhs.capacity = 0; + rhs.len = 0; +} +#endif + +String & String::operator = (const String &rhs) +{ + if (this == &rhs) return *this; + + if (rhs.buffer) copy(rhs.buffer, rhs.len); + else invalidate(); + + return *this; +} + +#ifdef __GXX_EXPERIMENTAL_CXX0X__ +String & String::operator = (String &&rval) +{ + if (this != &rval) move(rval); + return *this; +} + +String & String::operator = (StringSumHelper &&rval) +{ + if (this != &rval) move(rval); + return *this; +} +#endif + +String & String::operator = (const char *cstr) +{ + if (cstr) copy(cstr, strlen(cstr)); + else invalidate(); + + return *this; +} + +String & String::operator = (const __FlashStringHelper *pstr) +{ + if (pstr) copy(pstr, strlen_P((PGM_P)pstr)); + else invalidate(); + + return *this; +} + +/*********************************************/ +/* concat */ +/*********************************************/ + +unsigned char String::concat(const String &s) +{ + return concat(s.buffer, s.len); +} + +unsigned char String::concat(const char *cstr, unsigned int length) +{ + unsigned int newlen = len + length; + if (!cstr) return 0; + if (length == 0) return 1; + if (!reserve(newlen)) return 0; + strcpy(buffer + len, cstr); + len = newlen; + return 1; +} + +unsigned char String::concat(const char *cstr) +{ + if (!cstr) return 0; + return concat(cstr, strlen(cstr)); +} + +unsigned char String::concat(char c) +{ + char buf[2]; + buf[0] = c; + buf[1] = 0; + return concat(buf, 1); +} + +unsigned char String::concat(unsigned char num) +{ + char buf[1 + 3 * sizeof(unsigned char)]; + itoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(int num) +{ + char buf[2 + 3 * sizeof(int)]; + itoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(unsigned int num) +{ + char buf[1 + 3 * sizeof(unsigned int)]; + utoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(long num) +{ + char buf[2 + 3 * sizeof(long)]; + ltoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(unsigned long num) +{ + char buf[1 + 3 * sizeof(unsigned long)]; + ultoa(num, buf, 10); + return concat(buf, strlen(buf)); +} + +unsigned char String::concat(float num) +{ + char buf[20]; + char* string = dtostrf(num, 4, 2, buf); + return concat(string, strlen(string)); +} + +unsigned char String::concat(double num) +{ + char buf[20]; + char* string = dtostrf(num, 4, 2, buf); + return concat(string, strlen(string)); +} + +unsigned char String::concat(const __FlashStringHelper * str) +{ + if (!str) return 0; + int length = strlen_P((const char *) str); + if (length == 0) return 1; + unsigned int newlen = len + length; + if (!reserve(newlen)) return 0; + strcpy_P(buffer + len, (const char *) str); + len = newlen; + return 1; +} + +/*********************************************/ +/* Concatenate */ +/*********************************************/ + +StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(rhs.buffer, rhs.len)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr) +{ + StringSumHelper &a = const_cast(lhs); + if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, char c) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(c)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, int num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, long num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, float num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, double num) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(num)) a.invalidate(); + return a; +} + +StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs) +{ + StringSumHelper &a = const_cast(lhs); + if (!a.concat(rhs)) a.invalidate(); + return a; +} + +/*********************************************/ +/* Comparison */ +/*********************************************/ + +int String::compareTo(const String &s) const +{ + if (!buffer || !s.buffer) { + if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer; + if (buffer && len > 0) return *(unsigned char *)buffer; + return 0; + } + return strcmp(buffer, s.buffer); +} + +unsigned char String::equals(const String &s2) const +{ + return (len == s2.len && compareTo(s2) == 0); +} + +unsigned char String::equals(const char *cstr) const +{ + if (len == 0) return (cstr == NULL || *cstr == 0); + if (cstr == NULL) return buffer[0] == 0; + return strcmp(buffer, cstr) == 0; +} + +unsigned char String::operator<(const String &rhs) const +{ + return compareTo(rhs) < 0; +} + +unsigned char String::operator>(const String &rhs) const +{ + return compareTo(rhs) > 0; +} + +unsigned char String::operator<=(const String &rhs) const +{ + return compareTo(rhs) <= 0; +} + +unsigned char String::operator>=(const String &rhs) const +{ + return compareTo(rhs) >= 0; +} + +unsigned char String::equalsIgnoreCase( const String &s2 ) const +{ + if (this == &s2) return 1; + if (len != s2.len) return 0; + if (len == 0) return 1; + const char *p1 = buffer; + const char *p2 = s2.buffer; + while (*p1) { + if (tolower(*p1++) != tolower(*p2++)) return 0; + } + return 1; +} + +unsigned char String::startsWith( const String &s2 ) const +{ + if (len < s2.len) return 0; + return startsWith(s2, 0); +} + +unsigned char String::startsWith( const String &s2, unsigned int offset ) const +{ + if (offset > len - s2.len || !buffer || !s2.buffer) return 0; + return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0; +} + +unsigned char String::endsWith( const String &s2 ) const +{ + if ( len < s2.len || !buffer || !s2.buffer) return 0; + return strcmp(&buffer[len - s2.len], s2.buffer) == 0; +} + +/*********************************************/ +/* Character Access */ +/*********************************************/ + +char String::charAt(unsigned int loc) const +{ + return operator[](loc); +} + +void String::setCharAt(unsigned int loc, char c) +{ + if (loc < len) buffer[loc] = c; +} + +char & String::operator[](unsigned int index) +{ + static char dummy_writable_char; + if (index >= len || !buffer) { + dummy_writable_char = 0; + return dummy_writable_char; + } + return buffer[index]; +} + +char String::operator[]( unsigned int index ) const +{ + if (index >= len || !buffer) return 0; + return buffer[index]; +} + +void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const +{ + if (!bufsize || !buf) return; + if (index >= len) { + buf[0] = 0; + return; + } + unsigned int n = bufsize - 1; + if (n > len - index) n = len - index; + strncpy((char *)buf, buffer + index, n); + buf[n] = 0; +} + +/*********************************************/ +/* Search */ +/*********************************************/ + +int String::indexOf(char c) const +{ + return indexOf(c, 0); +} + +int String::indexOf( char ch, unsigned int fromIndex ) const +{ + if (fromIndex >= len) return -1; + const char* temp = strchr(buffer + fromIndex, ch); + if (temp == NULL) return -1; + return temp - buffer; +} + +int String::indexOf(const String &s2) const +{ + return indexOf(s2, 0); +} + +int String::indexOf(const String &s2, unsigned int fromIndex) const +{ + if (fromIndex >= len) return -1; + const char *found = strstr(buffer + fromIndex, s2.buffer); + if (found == NULL) return -1; + return found - buffer; +} + +int String::lastIndexOf( char theChar ) const +{ + return lastIndexOf(theChar, len - 1); +} + +int String::lastIndexOf(char ch, unsigned int fromIndex) const +{ + if (fromIndex >= len) return -1; + char tempchar = buffer[fromIndex + 1]; + buffer[fromIndex + 1] = '\0'; + char* temp = strrchr( buffer, ch ); + buffer[fromIndex + 1] = tempchar; + if (temp == NULL) return -1; + return temp - buffer; +} + +int String::lastIndexOf(const String &s2) const +{ + return lastIndexOf(s2, len - s2.len); +} + +int String::lastIndexOf(const String &s2, unsigned int fromIndex) const +{ + if (s2.len == 0 || len == 0 || s2.len > len) return -1; + if (fromIndex >= len) fromIndex = len - 1; + int found = -1; + for (char *p = buffer; p <= buffer + fromIndex; p++) { + p = strstr(p, s2.buffer); + if (!p) break; + if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer; + } + return found; +} + +String String::substring(unsigned int left, unsigned int right) const +{ + if (left > right) { + unsigned int temp = right; + right = left; + left = temp; + } + String out; + if (left >= len) return out; + if (right > len) right = len; + char temp = buffer[right]; // save the replaced character + buffer[right] = '\0'; + out = buffer + left; // pointer arithmetic + buffer[right] = temp; //restore character + return out; +} + +/*********************************************/ +/* Modification */ +/*********************************************/ + +void String::replace(char find, char replace) +{ + if (!buffer) return; + for (char *p = buffer; *p; p++) { + if (*p == find) *p = replace; + } +} + +void String::replace(const String& find, const String& replace) +{ + if (len == 0 || find.len == 0) return; + int diff = replace.len - find.len; + char *readFrom = buffer; + char *foundAt; + if (diff == 0) { + while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { + memcpy(foundAt, replace.buffer, replace.len); + readFrom = foundAt + replace.len; + } + } else if (diff < 0) { + char *writeTo = buffer; + while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { + unsigned int n = foundAt - readFrom; + memcpy(writeTo, readFrom, n); + writeTo += n; + memcpy(writeTo, replace.buffer, replace.len); + writeTo += replace.len; + readFrom = foundAt + find.len; + len += diff; + } + strcpy(writeTo, readFrom); + } else { + unsigned int size = len; // compute size needed for result + while ((foundAt = strstr(readFrom, find.buffer)) != NULL) { + readFrom = foundAt + find.len; + size += diff; + } + if (size == len) return; + if (size > capacity && !changeBuffer(size)) return; // XXX: tell user! + int index = len - 1; + while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) { + readFrom = buffer + index + find.len; + memmove(readFrom + diff, readFrom, len - (readFrom - buffer)); + len += diff; + buffer[len] = 0; + memcpy(buffer + index, replace.buffer, replace.len); + index--; + } + } +} + +void String::remove(unsigned int index){ + // Pass the biggest integer as the count. The remove method + // below will take care of truncating it at the end of the + // string. + remove(index, (unsigned int)-1); +} + +void String::remove(unsigned int index, unsigned int count){ + if (index >= len) { return; } + if (count <= 0) { return; } + if (count > len - index) { count = len - index; } + char *writeTo = buffer + index; + len = len - count; + strncpy(writeTo, buffer + index + count,len - index); + buffer[len] = 0; +} + +void String::toLowerCase(void) +{ + if (!buffer) return; + for (char *p = buffer; *p; p++) { + *p = tolower(*p); + } +} + +void String::toUpperCase(void) +{ + if (!buffer) return; + for (char *p = buffer; *p; p++) { + *p = toupper(*p); + } +} + +void String::trim(void) +{ + if (!buffer || len == 0) return; + char *begin = buffer; + while (isspace(*begin)) begin++; + char *end = buffer + len - 1; + while (isspace(*end) && end >= begin) end--; + len = end + 1 - begin; + if (begin > buffer) memcpy(buffer, begin, len); + buffer[len] = 0; +} + +/*********************************************/ +/* Parsing / Conversion */ +/*********************************************/ + +long String::toInt(void) const +{ + if (buffer) return atol(buffer); + return 0; +} + +float String::toFloat(void) const +{ + if (buffer) return float(atof(buffer)); + return 0; +} diff --git a/tests/drivecontrol/sim/WString.h b/tests/drivecontrol/sim/WString.h new file mode 100644 index 000000000..6da78a2eb --- /dev/null +++ b/tests/drivecontrol/sim/WString.h @@ -0,0 +1,224 @@ +/* + WString.h - String library for Wiring & Arduino + ...mostly rewritten by Paul Stoffregen... + Copyright (c) 2009-10 Hernando Barragan. All right reserved. + Copyright 2011, Paul Stoffregen, paul@pjrc.com + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef String_class_h +#define String_class_h +#ifdef __cplusplus + +#include +#include +#include +//#include + +// When compiling programs with this class, the following gcc parameters +// dramatically increase performance and memory (RAM) efficiency, typically +// with little or no increase in code size. +// -felide-constructors +// -std=c++0x + +class __FlashStringHelper; +#define F(string_literal) (reinterpret_cast(PSTR(string_literal))) + +// An inherited class for holding the result of a concatenation. These +// result objects are assumed to be writable by subsequent concatenations. +class StringSumHelper; + +// The string class +class String +{ + // use a function pointer to allow for "if (s)" without the + // complications of an operator bool(). for more information, see: + // http://www.artima.com/cppsource/safebool.html + typedef void (String::*StringIfHelperType)() const; + void StringIfHelper() const {} + +public: + // constructors + // creates a copy of the initial value. + // if the initial value is null or invalid, or if memory allocation + // fails, the string will be marked as invalid (i.e. "if (s)" will + // be false). + String(const char *cstr = ""); + String(const String &str); + String(const __FlashStringHelper *str); + #ifdef __GXX_EXPERIMENTAL_CXX0X__ + String(String &&rval); + String(StringSumHelper &&rval); + #endif + explicit String(char c); + explicit String(unsigned char, unsigned char base=10); + explicit String(int, unsigned char base=10); + explicit String(unsigned int, unsigned char base=10); + explicit String(long, unsigned char base=10); + explicit String(unsigned long, unsigned char base=10); + explicit String(float, unsigned char decimalPlaces=2); + explicit String(double, unsigned char decimalPlaces=2); + ~String(void); + + // memory management + // return true on success, false on failure (in which case, the string + // is left unchanged). reserve(0), if successful, will validate an + // invalid string (i.e., "if (s)" will be true afterwards) + unsigned char reserve(unsigned int size); + inline unsigned int length(void) const {return len;} + + // creates a copy of the assigned value. if the value is null or + // invalid, or if the memory allocation fails, the string will be + // marked as invalid ("if (s)" will be false). + String & operator = (const String &rhs); + String & operator = (const char *cstr); + String & operator = (const __FlashStringHelper *str); + #ifdef __GXX_EXPERIMENTAL_CXX0X__ + String & operator = (String &&rval); + String & operator = (StringSumHelper &&rval); + #endif + + // concatenate (works w/ built-in types) + + // returns true on success, false on failure (in which case, the string + // is left unchanged). if the argument is null or invalid, the + // concatenation is considered unsucessful. + unsigned char concat(const String &str); + unsigned char concat(const char *cstr); + unsigned char concat(char c); + unsigned char concat(unsigned char c); + unsigned char concat(int num); + unsigned char concat(unsigned int num); + unsigned char concat(long num); + unsigned char concat(unsigned long num); + unsigned char concat(float num); + unsigned char concat(double num); + unsigned char concat(const __FlashStringHelper * str); + + // if there's not enough memory for the concatenated value, the string + // will be left unchanged (but this isn't signalled in any way) + String & operator += (const String &rhs) {concat(rhs); return (*this);} + String & operator += (const char *cstr) {concat(cstr); return (*this);} + String & operator += (char c) {concat(c); return (*this);} + String & operator += (unsigned char num) {concat(num); return (*this);} + String & operator += (int num) {concat(num); return (*this);} + String & operator += (unsigned int num) {concat(num); return (*this);} + String & operator += (long num) {concat(num); return (*this);} + String & operator += (unsigned long num) {concat(num); return (*this);} + String & operator += (float num) {concat(num); return (*this);} + String & operator += (double num) {concat(num); return (*this);} + String & operator += (const __FlashStringHelper *str){concat(str); return (*this);} + + friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs); + friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr); + friend StringSumHelper & operator + (const StringSumHelper &lhs, char c); + friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, int num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, long num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, float num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, double num); + friend StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs); + + // comparison (only works w/ Strings and "strings") + operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; } + int compareTo(const String &s) const; + unsigned char equals(const String &s) const; + unsigned char equals(const char *cstr) const; + unsigned char operator == (const String &rhs) const {return equals(rhs);} + unsigned char operator == (const char *cstr) const {return equals(cstr);} + unsigned char operator != (const String &rhs) const {return !equals(rhs);} + unsigned char operator != (const char *cstr) const {return !equals(cstr);} + unsigned char operator < (const String &rhs) const; + unsigned char operator > (const String &rhs) const; + unsigned char operator <= (const String &rhs) const; + unsigned char operator >= (const String &rhs) const; + unsigned char equalsIgnoreCase(const String &s) const; + unsigned char startsWith( const String &prefix) const; + unsigned char startsWith(const String &prefix, unsigned int offset) const; + unsigned char endsWith(const String &suffix) const; + + // character acccess + char charAt(unsigned int index) const; + void setCharAt(unsigned int index, char c); + char operator [] (unsigned int index) const; + char& operator [] (unsigned int index); + void getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index=0) const; + void toCharArray(char *buf, unsigned int bufsize, unsigned int index=0) const + {getBytes((unsigned char *)buf, bufsize, index);} + const char * c_str() const { return buffer; } + + // search + int indexOf( char ch ) const; + int indexOf( char ch, unsigned int fromIndex ) const; + int indexOf( const String &str ) const; + int indexOf( const String &str, unsigned int fromIndex ) const; + int lastIndexOf( char ch ) const; + int lastIndexOf( char ch, unsigned int fromIndex ) const; + int lastIndexOf( const String &str ) const; + int lastIndexOf( const String &str, unsigned int fromIndex ) const; + String substring( unsigned int beginIndex ) const { return substring(beginIndex, len); }; + String substring( unsigned int beginIndex, unsigned int endIndex ) const; + + // modification + void replace(char find, char replace); + void replace(const String& find, const String& replace); + void remove(unsigned int index); + void remove(unsigned int index, unsigned int count); + void toLowerCase(void); + void toUpperCase(void); + void trim(void); + + // parsing/conversion + long toInt(void) const; + float toFloat(void) const; + +protected: + char *buffer; // the actual char array + unsigned int capacity; // the array length minus one (for the '\0') + unsigned int len; // the String length (not counting the '\0') +protected: + void init(void); + void invalidate(void); + unsigned char changeBuffer(unsigned int maxStrLen); + unsigned char concat(const char *cstr, unsigned int length); + + // copy and move + String & copy(const char *cstr, unsigned int length); + String & copy(const __FlashStringHelper *pstr, unsigned int length); + #ifdef __GXX_EXPERIMENTAL_CXX0X__ + void move(String &rhs); + #endif +}; + +class StringSumHelper : public String +{ +public: + StringSumHelper(const String &s) : String(s) {} + StringSumHelper(const char *p) : String(p) {} + StringSumHelper(char c) : String(c) {} + StringSumHelper(unsigned char num) : String(num) {} + StringSumHelper(int num) : String(num) {} + StringSumHelper(unsigned int num) : String(num) {} + StringSumHelper(long num) : String(num) {} + StringSumHelper(unsigned long num) : String(num) {} + StringSumHelper(float num) : String(num) {} + StringSumHelper(double num) : String(num) {} +}; + +#endif // __cplusplus +#endif // String_class_h diff --git a/tests/drivecontrol/sim/avr/dtostrf.c b/tests/drivecontrol/sim/avr/dtostrf.c new file mode 100644 index 000000000..4459eca2b --- /dev/null +++ b/tests/drivecontrol/sim/avr/dtostrf.c @@ -0,0 +1,29 @@ +/* + dtostrf - Emulation for dtostrf function from avr-libc + Copyright (c) 2013 Arduino. All rights reserved. + Written by Cristian Maglie + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include + +char *dtostrf (double val, signed char width, unsigned char prec, char *sout) { + char fmt[20]; + sprintf(fmt, "%%%d.%df", width, prec); + sprintf(sout, fmt, val); + return sout; +} + diff --git a/tests/drivecontrol/sim/avr/dtostrf.h b/tests/drivecontrol/sim/avr/dtostrf.h new file mode 100644 index 000000000..e4317c1a9 --- /dev/null +++ b/tests/drivecontrol/sim/avr/dtostrf.h @@ -0,0 +1,29 @@ +/* + dtostrf - Emulation for dtostrf function from avr-libc + Copyright (c) 2013 Arduino. All rights reserved. + Written by Cristian Maglie + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifdef __cplusplus +extern "C" { +#endif + +char *dtostrf (double val, signed char width, unsigned char prec, char *sout); + +#ifdef __cplusplus +} +#endif diff --git a/tests/drivecontrol/sim/avr/interrupt.h b/tests/drivecontrol/sim/avr/interrupt.h new file mode 100644 index 000000000..e69de29bb diff --git a/tests/drivecontrol/sim/avr/pgmspace.h b/tests/drivecontrol/sim/avr/pgmspace.h new file mode 100644 index 000000000..9b344c9b8 --- /dev/null +++ b/tests/drivecontrol/sim/avr/pgmspace.h @@ -0,0 +1,44 @@ +#ifndef __PGMSPACE_H_ +#define __PGMSPACE_H_ 1 + +#include + +#define PROGMEM +#define PGM_P const char * +#define PSTR(str) (str) + +#define _SFR_BYTE(n) (n) + +typedef void prog_void; +typedef char prog_char; +typedef unsigned char prog_uchar; +typedef int8_t prog_int8_t; +typedef uint8_t prog_uint8_t; +typedef int16_t prog_int16_t; +typedef uint16_t prog_uint16_t; +typedef int32_t prog_int32_t; +typedef uint32_t prog_uint32_t; + +#define memcpy_P(dest, src, num) memcpy((dest), (src), (num)) +#define strcpy_P(dest, src) strcpy((dest), (src)) +#define strcat_P(dest, src) strcat((dest), (src)) +#define strcmp_P(a, b) strcmp((a), (b)) +#define strstr_P(a, b) strstr((a), (b)) +#define strlen_P(a) strlen((a)) +#define sprintf_P(s, f, ...) sprintf((s), (f), __VA_ARGS__) + +#define pgm_read_byte(addr) (*(const unsigned char *)(addr)) +#define pgm_read_word(addr) (*(const unsigned short *)(addr)) +#define pgm_read_dword(addr) (*(const unsigned long *)(addr)) +#define pgm_read_float(addr) (*(const float *)(addr)) + +#define pgm_read_byte_near(addr) pgm_read_byte(addr) +#define pgm_read_word_near(addr) pgm_read_word(addr) +#define pgm_read_dword_near(addr) pgm_read_dword(addr) +#define pgm_read_float_near(addr) pgm_read_float(addr) +#define pgm_read_byte_far(addr) pgm_read_byte(addr) +#define pgm_read_word_far(addr) pgm_read_word(addr) +#define pgm_read_dword_far(addr) pgm_read_dword(addr) +#define pgm_read_float_far(addr) pgm_read_float(addr) + +#endif diff --git a/tests/drivecontrol/sim/itoa.c b/tests/drivecontrol/sim/itoa.c new file mode 100644 index 000000000..fc3576602 --- /dev/null +++ b/tests/drivecontrol/sim/itoa.c @@ -0,0 +1,170 @@ +/* + Copyright (c) 2011 Arduino. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + See the GNU Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include "itoa.h" +#include + +#ifdef __cplusplus +extern "C"{ +#endif // __cplusplus + +#if 0 +/* reverse: reverse string s in place */ +static void reverse( char s[] ) +{ + int i, j ; + char c ; + + for ( i = 0, j = strlen(s)-1 ; i < j ; i++, j-- ) + { + c = s[i] ; + s[i] = s[j] ; + s[j] = c ; + } +} + +/* itoa: convert n to characters in s */ +extern void itoa( int n, char s[] ) +{ + int i, sign ; + + if ( (sign = n) < 0 ) /* record sign */ + { + n = -n; /* make n positive */ + } + + i = 0; + do + { /* generate digits in reverse order */ + s[i++] = n % 10 + '0'; /* get next digit */ + } while ((n /= 10) > 0) ; /* delete it */ + + if (sign < 0 ) + { + s[i++] = '-'; + } + + s[i] = '\0'; + + reverse( s ) ; +} + +#else + +extern char* itoa( int value, char *string, int radix ) +{ + return ltoa( value, string, radix ) ; +} + +extern char* ltoa( long value, char *string, int radix ) +{ + char tmp[33]; + char *tp = tmp; + long i; + unsigned long v; + int sign; + char *sp; + + if ( string == NULL ) + { + return 0 ; + } + + if (radix > 36 || radix <= 1) + { + return 0 ; + } + + sign = (radix == 10 && value < 0); + if (sign) + { + v = -value; + } + else + { + v = (unsigned long)value; + } + + while (v || tp == tmp) + { + i = v % radix; + v = v / radix; + if (i < 10) + *tp++ = i+'0'; + else + *tp++ = i + 'a' - 10; + } + + sp = string; + + if (sign) + *sp++ = '-'; + while (tp > tmp) + *sp++ = *--tp; + *sp = 0; + + return string; +} + +extern char* utoa( unsigned long value, char *string, int radix ) +{ + return ultoa( value, string, radix ) ; +} + +extern char* ultoa( unsigned long value, char *string, int radix ) +{ + char tmp[33]; + char *tp = tmp; + long i; + unsigned long v = value; + char *sp; + + if ( string == NULL ) + { + return 0; + } + + if (radix > 36 || radix <= 1) + { + return 0; + } + + while (v || tp == tmp) + { + i = v % radix; + v = v / radix; + if (i < 10) + *tp++ = i+'0'; + else + *tp++ = i + 'a' - 10; + } + + sp = string; + + + while (tp > tmp) + *sp++ = *--tp; + *sp = 0; + + return string; +} +#endif /* 0 */ + +#ifdef __cplusplus +} // extern "C" +#endif // __cplusplus diff --git a/tests/drivecontrol/sim/itoa.h b/tests/drivecontrol/sim/itoa.h new file mode 100644 index 000000000..59af10947 --- /dev/null +++ b/tests/drivecontrol/sim/itoa.h @@ -0,0 +1,42 @@ +/* + Copyright (c) 2011 Arduino. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + See the GNU Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef _ITOA_ +#define _ITOA_ + +#ifdef __cplusplus +extern "C"{ +#endif // __cplusplus + +#if 0 + +extern void itoa( int n, char s[] ) ; + +#else + +extern char* itoa( int value, char *string, int radix ) ; +extern char* ltoa( long value, char *string, int radix ) ; +extern char* utoa( unsigned long value, char *string, int radix ) ; +extern char* ultoa( unsigned long value, char *string, int radix ) ; +#endif /* 0 */ + +#ifdef __cplusplus +} // extern "C" +#endif // __cplusplus + +#endif // _ITOA_ diff --git a/tests/drivecontrol/sim/main.cpp b/tests/drivecontrol/sim/main.cpp new file mode 100644 index 000000000..a573efc0a --- /dev/null +++ b/tests/drivecontrol/sim/main.cpp @@ -0,0 +1,59 @@ + +#include +#include +#include +#include "sim.h" +#include "simrobot.h" +#include "world.h" +#include "../config.h" + + + +// Sim -- simulator environment (simulation time step, speed etc.) +// World -- simulator world (garden with perimeter loop etc.) +// Robot -- simulator robot + + + +int main() +{ + //MotorCtrl.setup(); + //Console.println("START"); + + printf("press...\n"); + printf("l - toggle mowed lawn drawing\n"); + printf("+ - increase step wait\n"); + printf("- - decrease step wait\n"); + printf("s - skip tracking\n"); + printf("ESC - exit\n"); + + int stepWait = 10; + while( 1 ){ + // Exit on esc key + char key = cvWaitKey( stepWait ); + switch (key){ + case 27: + return 0; + case '+': + stepWait = min(20, stepWait +1); + printf("stepWait=%d\n", stepWait); + break; + case '-': + stepWait = max(5, stepWait -1); + printf("stepWait=%d\n", stepWait); + break; + case 'l': + World.drawMowedLawn = !World.drawMowedLawn; + printf("toggled draw mowed lawn\n"); + break; + case 's': + Robot.x = Robot.y = 100; + break; + } + Sim.step(); + Sim.draw(); + } + + return 0; +} + diff --git a/tests/drivecontrol/sim/sim.cbp b/tests/drivecontrol/sim/sim.cbp new file mode 100644 index 000000000..c28d0199c --- /dev/null +++ b/tests/drivecontrol/sim/sim.cbp @@ -0,0 +1,80 @@ + + + + + + diff --git a/tests/drivecontrol/sim/sim.cpp b/tests/drivecontrol/sim/sim.cpp new file mode 100644 index 000000000..c2edce1ee --- /dev/null +++ b/tests/drivecontrol/sim/sim.cpp @@ -0,0 +1,86 @@ +#include "sim.h" +#include +#include "simrobot.h" +#include "world.h" + + +Simulator Sim; + +// simulation initialization +Simulator::Simulator(){ + stepCounter = 0; + plotIdx = 0; + imgBfieldRobot = cv::Mat(140, 500, CV_8UC3, cv::Scalar(0,0,0)); + timeStep = 0.01; // one simulation step (seconds) + simTime = 0; + // start random generator + time_t t; + time(&t); + srand((unsigned int)t); + // place robot onto world + Robot.orientation = 0; + Robot.x = World.chgStationX+5; //+ 10; + Robot.y = World.chgStationY-5; // + 10; + //robot.x = 100; + //robot.y = 100; + float steering_noise = 0.01; + float distance_noise = 0.2; + float measurement_noise = 0.5; + Robot.set_noise(steering_noise, distance_noise, measurement_noise); +} + + +// simulation step +void Simulator::step(){ + //printf("stateTime=%1.4f\n", stateTime); + + // simulate robot movement + Robot.move(0, 0); + //filter.move(*this, robot.orientation, robot.speed*10 * timeStep); + World.setLawnMowed(Robot.x, Robot.y); + + Robot.sense(); + //filter.sense(*this, robot.bfieldStrength); + + // run robot controller + Robot.control(timeStep); + + // simulation time + simTime += timeStep; + + if ((stepCounter % 100) == 0){ + printf("time=%5.1fs orient=%3.1f distChg=%3.1fm totalDist=%3.1fm\n", + simTime, + Robot.orientation/M_PI*180.0, + Robot.distanceToChgStation/10, + Robot.totalDistance); + } + stepCounter++; +} + + +// draw world, robot, particles etc. +void Simulator::draw(){ + World.draw(); + + float x,y,theta; + //filter.get_position(x,y,theta); + //filter.drawCenter(world.imgWorld, x,y,theta); + + Robot.draw(World.imgWorld); + + // plot robot bfield sensor + //float bfieldStrength = max(-2.0f, min(24.0f, robot.bfieldStrength)); + //plotXY(imgBfieldRobot, plotIdx % imgBfieldRobot.cols, 15+bfieldStrength*5, 255,255,255, true); + imshow("bfieldrobot", imgBfieldRobot); + plotIdx++; +} + + +void Simulator::plotXY(cv::Mat &image, int x, int y, int r, int g, int b, bool clearplot){ + if (clearplot) for (int y=0; y < image.rows; y++) image.at >(y, x) = cv::Point3_(0,0,0); + if ( (x< 0) || (y < 0) || (x >= image.cols) || (y >= image.rows)) return; + image.at >(image.rows-y-1, x) = cv::Point3_(r,g,b); + //line( image, Point( x, image.rows ), Point( x, image.rows-y-1), Scalar( r, g, b), 1, 8 ); +} + diff --git a/tests/drivecontrol/sim/sim.depend b/tests/drivecontrol/sim/sim.depend new file mode 100644 index 000000000..4131a8959 --- /dev/null +++ b/tests/drivecontrol/sim/sim.depend @@ -0,0 +1,656 @@ +# depslib dependency file v1.0 +1413906344 source:c:\codeblocks\examples\test_opencv\main.cpp + + + + + + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\core\core.hpp + "opencv2/core/types_c.h" + "opencv2/core/version.hpp" + + + + + + + + + "opencv2/core/operations.hpp" + "opencv2/core/mat.hpp" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\core\types_c.h + + + + + + + + + + + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\core\version.hpp + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\core\operations.hpp + + + + + "windows.h" + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\core\mat.hpp + + + +1410185482 c:\codeblocks\opencv-2.2.0\build\include\opencv2\highgui\highgui.hpp + "opencv2/core/core.hpp" + "opencv2/highgui/highgui_c.h" + +1410185482 c:\codeblocks\opencv-2.2.0\build\include\opencv2\highgui\highgui_c.h + "opencv2/core/core_c.h" + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\core\core_c.h + "opencv2/core/types_c.h" + +1410185484 c:\codeblocks\opencv-2.2.0\build\include\opencv2\imgproc\imgproc.hpp + "opencv2/core/core.hpp" + "opencv2/imgproc/types_c.h" + +1410185484 c:\codeblocks\opencv-2.2.0\build\include\opencv2\imgproc\types_c.h + "opencv2/core/core_c.h" + "opencv2/imgproc/types_c.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\features2d\features2d.hpp + "opencv2/core/core.hpp" + "opencv2/flann/flann.hpp" + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\flann.hpp + "opencv2/flann/flann_base.hpp" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\flann_base.hpp + + + + + "opencv2/flann/general.h" + "opencv2/flann/matrix.h" + "opencv2/flann/result_set.h" + "opencv2/flann/index_testing.h" + "opencv2/flann/object_factory.h" + "opencv2/flann/saving.h" + "opencv2/flann/all_indices.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\general.h + + + "opencv2/flann/object_factory.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\object_factory.h + "opencv2/core/types_c.h" + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\matrix.h + + "opencv2/flann/general.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\result_set.h + + + + "opencv2/flann/dist.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\dist.h + + "opencv2/flann/general.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\index_testing.h + + + "opencv2/flann/matrix.h" + "opencv2/flann/nn_index.h" + "opencv2/flann/result_set.h" + "opencv2/flann/logger.h" + "opencv2/flann/timer.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\nn_index.h + + "opencv2/flann/general.h" + "opencv2/flann/matrix.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\logger.h + + + "opencv2/flann/general.h" + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\timer.h + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\saving.h + "opencv2/flann/general.h" + "opencv2/flann/nn_index.h" + + + +1410185481 c:\codeblocks\opencv-2.2.0\build\include\opencv2\flann\all_indices.h + "opencv2/flann/general.h" + "opencv2/flann/nn_index.h" + "opencv2/flann/kdtree_index.h" + "opencv2/flann/kmeans_index.h" + "opencv2/flann/composite_index.h" + "opencv2/flann/linear_index.h" + "opencv2/flann/autotuned_index.h" + 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source:d:\projects\robomower\ardumower\github\tests\drivecontrol\motorcontrol.cpp + "motorcontrol.h" + "common.h" + + + "config.h" + +1433180487 d:\projects\robomower\ardumower\github\tests\drivecontrol\motorcontrol.h + "pid.h" + +1433148002 d:\projects\robomower\ardumower\github\tests\drivecontrol\pid.h + +1433150208 source:d:\projects\robomower\ardumower\github\tests\drivecontrol\sim\print.cpp + + + + + "Print.h" + +1433150233 source:d:\projects\robomower\ardumower\github\tests\drivecontrol\sim\stream.cpp + "simarduino.h" + "Stream.h" + +1433150344 source:d:\projects\robomower\ardumower\github\tests\drivecontrol\pid.cpp + "pid.h" + "config.h" + +1433179965 source:d:\projects\robomower\ardumower\github\tests\drivecontrol\sim\simmower.cpp + "simmower.h" + +1433180590 d:\projects\robomower\ardumower\github\tests\drivecontrol\sim\simmower.h + "../config.h" + diff --git a/tests/drivecontrol/sim/sim.h b/tests/drivecontrol/sim/sim.h new file mode 100644 index 000000000..e68d354fe --- /dev/null +++ b/tests/drivecontrol/sim/sim.h @@ -0,0 +1,47 @@ +/* + Ardumower (www.ardumower.de) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + +#ifndef SIM_H +#define SIM_H + +#include +#include + + + +// simulation +class Simulator +{ + public: + int plotIdx; + cv::Mat imgBfieldRobot; + float simTime; // seconds + float timeStep; // seconds + int stepCounter; + Simulator(); + void step(); + void draw(); + void plotXY(cv::Mat &image, int x, int y, int r, int g, int b, bool clearplot); +}; + + +extern Simulator Sim; + +#endif + + diff --git a/tests/drivecontrol/sim/sim.layout b/tests/drivecontrol/sim/sim.layout new file mode 100644 index 000000000..190edf0b3 --- /dev/null +++ b/tests/drivecontrol/sim/sim.layout @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tests/drivecontrol/sim/simarduino.cpp b/tests/drivecontrol/sim/simarduino.cpp new file mode 100644 index 000000000..39dd31234 --- /dev/null +++ b/tests/drivecontrol/sim/simarduino.cpp @@ -0,0 +1,23 @@ +#include "simarduino.h" + + +AConsole Console; + + +void pinMode(uint8_t pin, uint8_t mode){ +} + +// return simulation millis +unsigned long millis(void){ + return 1; +} + + +// return simulation micros +unsigned long micros(void){ + return 1; +} + +void digitalWrite(uint8_t, uint8_t){ +} + diff --git a/tests/drivecontrol/sim/simarduino.h b/tests/drivecontrol/sim/simarduino.h new file mode 100644 index 000000000..81d94be46 --- /dev/null +++ b/tests/drivecontrol/sim/simarduino.h @@ -0,0 +1,50 @@ +// Arduino simulator + +#ifndef SIMARDUINO_H +#define SIMARDUINO_H + + +#include +#include // for size_t +#include +#include "Stream.h" + + + +// flash string macro +#define F(x) x + +// pin modes +enum { + OUTPUT, + INPUT, +}; + +// digital pin states +enum { + LOW, + HIGH, +}; + +class AConsole : public Stream +{ + public: + virtual int available(){ return 0; } + virtual int read(){ return 0; } + virtual int peek(){ return 0; } + virtual void flush(){} + virtual size_t write(const uint8_t c){ + std::cout << c; + } + using Print::write; // pull in write(str) and write(buf, size) from Print +}; + +extern AConsole Console; + + +extern unsigned long millis(void); +extern unsigned long micros(void); +extern void pinMode(uint8_t pin, uint8_t mode); +extern void digitalWrite(uint8_t, uint8_t); + +#endif diff --git a/tests/drivecontrol/sim/simmower.cpp b/tests/drivecontrol/sim/simmower.cpp new file mode 100644 index 000000000..c1f7ee1fc --- /dev/null +++ b/tests/drivecontrol/sim/simmower.cpp @@ -0,0 +1,6 @@ +#include "simmower.h" + + +SimLED LED; +SimMotor MotorCtrl; + diff --git a/tests/drivecontrol/sim/simmower.h b/tests/drivecontrol/sim/simmower.h new file mode 100644 index 000000000..85703d5e3 --- /dev/null +++ b/tests/drivecontrol/sim/simmower.h @@ -0,0 +1,25 @@ +#ifndef SIMMOWER_H +#define SIMMOWER_H + +#include "../config.h" + +// Ardumower simulator classes + +class SimLED : public LEDControl +{ + private: + virtual void setDriverLED(int LEDidx, bool state){}; +}; + +class SimMotor : public MotorControl +{ + private: + virtual void setDriverPWM(int leftMotorPWM, int rightMotorPWM){}; +}; + +extern SimLED LED; +extern SimMotor MotorCtrl; + +#endif + + diff --git a/tests/drivecontrol/sim/simrobot.cpp b/tests/drivecontrol/sim/simrobot.cpp new file mode 100644 index 000000000..ff04e2aae --- /dev/null +++ b/tests/drivecontrol/sim/simrobot.cpp @@ -0,0 +1,120 @@ +#include "simrobot.h" +#include "world.h" +#include "sim.h" + + +SimRobot Robot; + + +SimRobot::SimRobot(){ + // creates robot and initializes location/orientation to 0, 0, 0 + //memset(robotMap, 0, sizeof robotMap); + distanceToChgStation = 0; + totalDistance = 0; + + x = y = orientation = 0; + odometryTicksPerRevolution = 1060; + odometryTicksPerCm = 13.49; + odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) + leftMotorSpeed = 30; + rightMotorSpeed = 5; + + steering_noise = 0.0; + distance_noise = 0.0; + measurement_noise = 0.0; + motor_noise = 10; +} + +//sets a robot coordinate +void SimRobot::set(float new_x, float new_y, float new_orientation){ + x = new_x; + y = new_y; + orientation = new_orientation; +} + +// sets the noise parameters +void SimRobot::set_noise(float new_s_noise, float new_d_noise, float new_m_noise){ + // makes it possible to change the noise parameters + // this is often useful in particle filters + steering_noise = new_s_noise; + distance_noise = new_d_noise; + measurement_noise = new_m_noise; +} + + +// steering = front wheel steering angle (rad), limited by max_steering_angle +// distance = total distance driven (cm), most be non-negative +void SimRobot::move(float course, float distance, + float tolerance, float max_steering_angle){ + /*if (steering > max_steering_angle) + steering = max_steering_angle; + if (steering < -max_steering_angle) + steering = -max_steering_angle;*/ + + float cmPerRound = odometryTicksPerRevolution / odometryTicksPerCm; + + // apply noise + // gauss(mean, std) + float leftSpeedNoise = leftMotorSpeed; + float rightSpeedNoise = rightMotorSpeed; + + rightSpeedNoise = gauss(rightMotorSpeed, motor_noise); + leftSpeedNoise = gauss(leftMotorSpeed, motor_noise); + + float left_cm = leftSpeedNoise * cmPerRound/60.0 * Sim.timeStep; + float right_cm = rightSpeedNoise * cmPerRound/60.0 * Sim.timeStep; + + double avg_cm = (left_cm + right_cm) / 2.0; + double wheel_theta = (left_cm - right_cm) / odometryWheelBaseCm; + orientation = scalePI( orientation + wheel_theta ); + x = x + (avg_cm * cos(orientation)) ; + y = y + (avg_cm * sin(orientation)) ; + + totalDistance += fabs(avg_cm/100.0); + +} + + +// measures magnetic field +void SimRobot::sense(){ + //bfieldStrength = sim.world.getBfield(x, y, 1); + //bfieldStrength += gauss(0.0, measurement_noise); + //printf("b=%3.4f\n", b); +} + +// computes the probability of a measurement +float SimRobot::measurement_prob(float measurement){ + float prob = 1.0; + + // calculate Gaussian + // gaussian(mu, sigma, x) + prob *= gaussian(World.getBfield(x, y), measurement_noise, measurement); + + return prob; +} + + +// run robot controller +void SimRobot::control(float timeStep){ + + float deltaDistance = totalDistance - lastTotalDistance; + distanceToChgStation = distance(x,y, World.chgStationX, World.chgStationY); + +} + + +void SimRobot::draw(cv::Mat &img, bool drawAsFilter){ + float r = odometryWheelBaseCm/2; + if (drawAsFilter) { + circle( img, cv::Point( x, y), r, cv::Scalar( 255, 255, 255), 2, 8 ); + line( img, cv::Point(x, y), cv::Point(x + r * cos(orientation), y + r * sin(orientation)), cv::Scalar(255,255,255), 2, 8); + } else { + circle( img, cv::Point( x, y), r, cv::Scalar( 0, 0, 0 ), 2, 8 ); + line( img, cv::Point(x, y), cv::Point(x + r * cos(orientation), y + r * sin(orientation)), cv::Scalar(0,0,0), 2, 8); + } +} + + + + + diff --git a/tests/drivecontrol/sim/simrobot.h b/tests/drivecontrol/sim/simrobot.h new file mode 100644 index 000000000..6c0639e51 --- /dev/null +++ b/tests/drivecontrol/sim/simrobot.h @@ -0,0 +1,82 @@ +/* + Ardumower (www.ardumower.de) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + + +#ifndef SIMROBOT_H +#define SIMROBOT_H + +#include +//#include "common.h" + + + +// states +enum { + STATE_OFF, + STATE_TRACK, + STATE_LANE_FORW, + STATE_LANE_REV, + STATE_LANE_ROLL, + STATE_GOAL, +}; + + +// simulated robot +class SimRobot +{ + public: + int odometryTicksPerRevolution; + float odometryTicksPerCm; + float odometryWheelBaseCm; + float distanceToChgStation; + float leftMotorSpeed; // meter/sec + float rightMotorSpeed; + float totalDistance; // meters + float lastTotalDistance; + float x; // cm + float y; + float orientation; // rad + float motor_noise; // motor speed 'noise' + float steering_noise; + float distance_noise; + float measurement_noise; + int num_collision; + int num_steps; + // initializes robot + SimRobot(); + // sets a robot coordinate + void set(float new_x, float new_y, float new_orientation); + // sets the noise parameters + void set_noise(float new_s_noise, float new_d_noise, float new_m_noise); + // move: + // steering = front wheel steering angle, limited by max_steering_angle + // distance = total distance driven, most be non-negative + void move(float course, float distance, + float tolerance = 0.001, float max_steering_angle = M_PI / 4.0); + // measurement_prob + // computes the probability of a measurement + float measurement_prob(float measurement); + // draw robot on surface + void draw(cv::Mat &img, bool drawAsFilter = false); + // run robot controller + void control(float timeStep); + void sense(); +}; + +extern SimRobot Robot; + +#endif diff --git a/tests/drivecontrol/sim/world.cpp b/tests/drivecontrol/sim/world.cpp new file mode 100644 index 000000000..1b9b011e9 --- /dev/null +++ b/tests/drivecontrol/sim/world.cpp @@ -0,0 +1,155 @@ +#include "world.h" + +SimWorld World; + +SimWorld::SimWorld(){ + drawMowedLawn = true; + memset(lawnMowStatus, 0, sizeof lawnMowStatus); + //printf("%d\n", sizeof bfield); + memset(bfield, 0, sizeof bfield); + imgBfield = cv::Mat(WORLD_SIZE_Y, WORLD_SIZE_X, CV_8UC3, cv::Scalar(0,0,0)); + imgWorld = cv::Mat(WORLD_SIZE_Y, WORLD_SIZE_X, CV_8UC3, cv::Scalar(0,0,0)); + + // perimeter lines coordinates (cm) + std::vector list; + list.push_back( (point_t) {30, 35 } ); + list.push_back( (point_t) {50, 15 } ); + list.push_back( (point_t) {400, 40 } ); + list.push_back( (point_t) {410, 50 } ); + list.push_back( (point_t) {420, 90 } ); + list.push_back( (point_t) {350, 160 } ); + list.push_back( (point_t) {320, 190 } ); + list.push_back( (point_t) {210, 250 } ); + list.push_back( (point_t) {40, 300 } ); + list.push_back( (point_t) {20, 290 } ); + list.push_back( (point_t) {30, 230 } ); + + chgStationX = 35; + chgStationY = 150; + + // compute magnetic field (compute distance to perimeter lines) + int x1 = list[list.size()-1].x; + int y1 = list[list.size()-1].y; + // for each perimeter line + for (int i=0; i < list.size(); i++){ + int x2 = list[i].x; + int y2 = list[i].y; + int dx = (x2-x1); + int dy = (y2-y1); + int len=(sqrt( dx*dx + dy*dy )); // line length + float phi = atan2(dy,dx); // line angle + // compute magnetic field for points (x,y) around perimeter line + for (int y=-200; y < 200; y++){ + for (int x=-100; x < len*2+100-1; x++){ + int px= x1 + cos(phi)*x/2 - sin(phi)*y; + int py= y1 + sin(phi)*x/2 + cos(phi)*y; + int xend = max(0, min(len, x/2)); // restrict to line ends + int cx = x1 + cos(phi)*xend; // cx on line + int cy = y1 + sin(phi)*xend; // cy on line + if ((py >= 0) && (py < WORLD_SIZE_Y) + && (px >=0) && (px < WORLD_SIZE_X)) { + float r = max(0.000001, sqrt( (cx-px)*(cx-px) + (cy-py)*(cy-py) ) ) / 10; // distance to line (meter) + float b=100.0/(2.0*M_PI*r); // field strength + int c = pnpoly(list, px, py); + //if ((y<=0) || (bfield[py][px] < 0)){ + if (c == 0){ + b=b*-1.0; + bfield[py][px] = min(bfield[py][px], b); + } else bfield[py][px] = max(bfield[py][px], b); + } + } + } + x1=x2; + y1=y2; + } + + // draw magnetic field onto image + for (int y=0; y < WORLD_SIZE_Y; y++){ + for (int x=0; x < WORLD_SIZE_X; x++) { + float b=30 + 30*sqrt( abs(getBfield(x,y)) ); + //b:=10 + bfield[y][x]; + int v = min(255, max(0, (int)b)); + cv::Vec3b intensity; + if (bfield[y][x] > 0){ + intensity.val[0]=255-v; + intensity.val[1]=255-v; + intensity.val[2]=255; + } else { + intensity.val[0]=255; + intensity.val[1]=255-v; + intensity.val[2]=255-v; + } + imgBfield.at(y, x) = intensity; + } + } +} + +// x,y: cm +float SimWorld::getBfield(int x, int y, int resolution){ + float res = 0; + if ((x >= 0) && (x < WORLD_SIZE_X) && (y >= 0) && (y < WORLD_SIZE_Y)){ + int xd = ((int)((x+resolution/2)/resolution))*resolution; + int yd = ((int)((y+resolution/2)/resolution))*resolution; + res = bfield[yd][xd]; + } + //float measurement_noise = 0.5; + //res += gauss(0.0, measurement_noise); + return res; +} + +void SimWorld::draw(){ + char buf[64]; + sprintf(buf, " (%dcm x %dcm)", WORLD_SIZE_X, WORLD_SIZE_Y); + imshow("world " + std::string(buf), imgWorld); + imgBfield.copyTo(imgWorld); + // draw lawn mowed status + if (drawMowedLawn){ + cv::Vec3b intensity; + intensity.val[0]=0; + intensity.val[1]=255; + intensity.val[2]=0; + for (int y=0; y < WORLD_SIZE_Y; y++){ + for (int x=0; x < WORLD_SIZE_X; x++){ + if (lawnMowStatus[y][x] > 0) imgWorld.at(y, x) = intensity; + } + } + } + // draw charging station + circle( imgWorld, cv::Point( chgStationX, chgStationY), 10, cv::Scalar( 0, 255, 255 ), -1, 8 ); +} + +// approximate circle pattern +// 010 +// 111 +// 010 +// x,y: cm +void SimWorld::setLawnMowed(int x, int y){ + if ( (x <= 5) || (x >= WORLD_SIZE_X-5 ) || (y <= 5) || (y >= WORLD_SIZE_Y-5 ) )return; + for (int i=-2; i <= 2; i++){ + for (int j=-2; j <= 2; j++){ + lawnMowStatus[y+i][x+j] = 1.0; + } + } +} + + +// checks if point is inside polygon +// The algorithm is ray-casting to the right. Each iteration of the loop, the test point is checked against +// one of the polygon's edges. The first line of the if-test succeeds if the point's y-coord is within the +// edge's scope. The second line checks whether the test point is to the left of the line +// If that is true the line drawn rightwards from the test point crosses that edge. +// By repeatedly inverting the value of c, the algorithm counts how many times the rightward line crosses the +// polygon. If it crosses an odd number of times, then the point is inside; if an even number, the point is outside. + +int SimWorld::pnpoly(std::vector &vertices, float testx, float testy) +{ + int i, j, c = 0; + int nvert = vertices.size(); + for (i = 0, j = nvert-1; i < nvert; j = i++) { + if ( ((vertices[i].y>testy) != (vertices[j].y>testy)) && + (testx < (vertices[j].x-vertices[i].x) * (testy-vertices[i].y) / (vertices[j].y-vertices[i].y) + vertices[i].x) ) + c = !c; + } + return c; +} + diff --git a/tests/drivecontrol/sim/world.h b/tests/drivecontrol/sim/world.h new file mode 100644 index 000000000..4742617d3 --- /dev/null +++ b/tests/drivecontrol/sim/world.h @@ -0,0 +1,64 @@ +/* + Ardumower (www.ardumower.de) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef WORLD_H +#define WORLD_H + +#include "../common.h" +#include +#include +#include +#include +#include +#include +#include +#include + + + + +// world size (cm) +#define WORLD_SIZE_X 500 +#define WORLD_SIZE_Y 350 + + +// world (perimeter wire etc.) +class SimWorld +{ + // magnetic field + float bfield[WORLD_SIZE_Y][WORLD_SIZE_X]; + // lawn mow status + float lawnMowStatus[WORLD_SIZE_Y][WORLD_SIZE_X]; + int pnpoly(std::vector &vertices, float testx, float testy); + public: + int chgStationX, chgStationY; // cm + cv::Mat imgBfield; + cv::Mat imgWorld; + bool drawMowedLawn; + SimWorld(); + // return world size (cm) + int sizeX(){ return WORLD_SIZE_X; }; + int sizeY(){ return WORLD_SIZE_Y; }; + // return magnetic field strength at world position + float getBfield(int x, int y, int resolution=1); + void setLawnMowed(int x, int y); + void draw(); +}; + +extern SimWorld World; + +#endif diff --git a/tests/drivecontrol/adcman.cpp b/tests/drivecontrol/unused/adcman.cpp similarity index 100% rename from tests/drivecontrol/adcman.cpp rename to tests/drivecontrol/unused/adcman.cpp diff --git a/tests/drivecontrol/adcman.h b/tests/drivecontrol/unused/adcman.h similarity index 100% rename from tests/drivecontrol/adcman.h rename to tests/drivecontrol/unused/adcman.h diff --git a/tests/drivecontrol/arbitrator.cpp b/tests/drivecontrol/unused/arbitrator.cpp similarity index 100% rename from tests/drivecontrol/arbitrator.cpp rename to tests/drivecontrol/unused/arbitrator.cpp diff --git a/tests/drivecontrol/arbitrator.h b/tests/drivecontrol/unused/arbitrator.h similarity index 100% rename from tests/drivecontrol/arbitrator.h rename to tests/drivecontrol/unused/arbitrator.h diff --git a/tests/drivecontrol/battery.cpp b/tests/drivecontrol/unused/battery.cpp similarity index 100% rename from tests/drivecontrol/battery.cpp rename to tests/drivecontrol/unused/battery.cpp diff --git a/tests/drivecontrol/battery.h b/tests/drivecontrol/unused/battery.h similarity index 100% rename from tests/drivecontrol/battery.h rename to tests/drivecontrol/unused/battery.h diff --git a/tests/drivecontrol/behavior.cpp b/tests/drivecontrol/unused/behavior.cpp similarity index 100% rename from tests/drivecontrol/behavior.cpp rename to tests/drivecontrol/unused/behavior.cpp diff --git a/tests/drivecontrol/behavior.h b/tests/drivecontrol/unused/behavior.h similarity index 100% rename from tests/drivecontrol/behavior.h rename to tests/drivecontrol/unused/behavior.h diff --git a/tests/drivecontrol/button.cpp b/tests/drivecontrol/unused/button.cpp similarity index 100% rename from tests/drivecontrol/button.cpp rename to tests/drivecontrol/unused/button.cpp diff --git a/tests/drivecontrol/button.h b/tests/drivecontrol/unused/button.h similarity index 95% rename from tests/drivecontrol/button.h rename to tests/drivecontrol/unused/button.h index fd3f706dc..d350e30cf 100644 --- a/tests/drivecontrol/button.h +++ b/tests/drivecontrol/unused/button.h @@ -3,7 +3,6 @@ // Ardumower ON/start button -#include class ButtonControl diff --git a/tests/drivecontrol/buzzer.cpp b/tests/drivecontrol/unused/buzzer.cpp similarity index 100% rename from tests/drivecontrol/buzzer.cpp rename to tests/drivecontrol/unused/buzzer.cpp diff --git a/tests/drivecontrol/buzzer.h b/tests/drivecontrol/unused/buzzer.h similarity index 100% rename from tests/drivecontrol/buzzer.h rename to tests/drivecontrol/unused/buzzer.h diff --git a/tests/drivecontrol/config.cpp b/tests/drivecontrol/unused/config.cpp similarity index 97% rename from tests/drivecontrol/config.cpp rename to tests/drivecontrol/unused/config.cpp index dab4ae3b4..3b951fe1f 100644 --- a/tests/drivecontrol/config.cpp +++ b/tests/drivecontrol/unused/config.cpp @@ -1,4 +1,4 @@ -#include "config.h" +#include "mower.h" #include "drivers.h" #include "motorcontrol.h" #include "motormow.h" @@ -9,6 +9,8 @@ #include "perimeter.h" +// instances +AMotorControl MotorCtrl; FactoryConfig Config; @@ -19,7 +21,8 @@ void FactoryConfig::setup(){ // -------------- gear motors ------------------------------------------- // -- Ardumower Mini -- - MotorCtrl.motorSpeedMaxRpm = 50; + //MotorCtrl.motorSpeedMaxRpm = 50; + MotorCtrl.motorSpeedMaxRpm = 30; MotorCtrl.enableStallDetection = false; MotorCtrl.enableErrorDetection = false; MotorCtrl.motorSpeedMaxPwm = 255; diff --git a/tests/drivecontrol/unused/config.h b/tests/drivecontrol/unused/config.h new file mode 100644 index 000000000..e32438115 --- /dev/null +++ b/tests/drivecontrol/unused/config.h @@ -0,0 +1,119 @@ + +// Ardumower configuration + +#ifndef CONFIG_H +#define CONFIG_H + + +// ------ pins--------------------------------------- +// Warning: If you change pinout, interrupt configuration (odometry, R/C, rpm) need to be changed too! + +#define pinMotorEnable 37 // EN motors enable +#define pinMotorLeftPWM 5 // M1_IN1 left motor PWM pin +#define pinMotorLeftDir 31 // M1_IN2 left motor Dir pin +#define pinMotorLeftSense A1 // M1_FB left motor current sense +#define pinMotorLeftFault 25 // M1_SF left motor fault + +#define pinMotorRightPWM 3 // M2_IN1 right motor PWM pin +#define pinMotorRightDir 33 // M2_IN2 right motor Dir pin +#define pinMotorRightSense A0 // M2_FB right motor current sense +#define pinMotorRightFault 27 // M2_SF right motor fault + +#define pinMotorMowPWM 2 // M1_IN1 mower motor PWM pin (if using MOSFET, use this pin) +#define pinMotorMowDir 29 // M1_IN2 mower motor Dir pin (if using MOSFET, keep unconnected) +#define pinMotorMowSense A3 // M1_FB mower motor current sense +#define pinMotorMowFault 26 // M1_SF mower motor fault (if using MOSFET/L298N, keep unconnected) +#define pinMotorMowEnable 28 // EN mower motor enable (if using MOSFET/L298N, keep unconnected) +#define pinMotorMowRpm A11 + +#define pinBumperLeft 39 // bumper pins +#define pinBumperRight 38 + +#define pinDropLeft 45 // drop pins Dropsensor - Absturzsensor +#define pinDropRight 23 // drop pins Dropsensor - Absturzsensor + +#define pinSonarCenterTrigger 24 // ultrasonic sensor pins +#define pinSonarCenterEcho 22 +#define pinSonarRightTrigger 30 +#define pinSonarRightEcho 32 +#define pinSonarLeftTrigger 34 +#define pinSonarLeftEcho 36 +#define pinPerimeterRight A4 // perimeter +#define pinPerimeterLeft A5 + +#define pinLED 13 // LED +#define pinLEDDuoRed 7 +#define pinLEDDuoGreen 6 +#define pinBuzzer 53 // Buzzer +#define pinTilt 35 // Tilt sensor (required for TC-G158 board) +#define pinButton 51 // digital ON/OFF button +#define pinBatteryVoltage A2 // battery voltage sensor +#define pinBatterySwitch 4 // battery-OFF switch +#define pinChargeVoltage A9 // charging voltage sensor +#define pinChargeCurrent A8 // charge current sensor +#define pinChargeRelay 50 // charge relay +#define pinRemoteMow 12 // remote control mower motor +#define pinRemoteSteer 11 // remote control steering +#define pinRemoteSpeed 10 // remote control speed +#define pinRemoteSwitch 52 // remote control switch +#define pinVoltageMeasurement A7 // test pin for your own voltage measurements +#ifdef __AVR__ + #define pinOdometryLeft A12 // left odometry sensor + #define pinOdometryLeft2 A13 // left odometry sensor (optional two-wire) + #define pinOdometryRight A14 // right odometry sensor + #define pinOdometryRight2 A15 // right odometry sensor (optional two-wire) +#else + #define pinOdometryLeft DAC0 // left odometry sensor + #define pinOdometryLeft2 DAC1 // left odometry sensor (optional two-wire) + #define pinOdometryRight CANRX // right odometry sensor + #define pinOdometryRight2 CANTX // right odometry sensor (optional two-wire) +#endif +#define pinLawnFrontRecv 40 // lawn sensor front receive +#define pinLawnFrontSend 41 // lawn sensor front sender +#define pinLawnBackRecv 42 // lawn sensor back receive +#define pinLawnBackSend 43 // lawn sensor back sender +#define pinUserSwitch1 46 // user-defined switch 1 +#define pinUserSwitch2 47 // user-defined switch 2 +#define pinUserSwitch3 48 // user-defined switch 3 +#define pinRain 44 // rain sensor +// RTC, IMU (compass/gyro/accel): I2C (SCL, SDA) +// GPS: Serial3 (TX3, RX3) +// Bluetooth: Serial2 (TX2, RX2) +// WLAN: Serial1 (TX1, RX1) + +// ------- baudrates--------------------------------- +#define BAUDRATE 19200 // serial output baud rate +#define PFOD_BAUDRATE 19200 // pfod app serial output baud rate +#define PFOD_PIN 1234 // Bluetooth pin + + +//#define SIMULATE 1 // enable for simulation (not using hardware) + + +// ----- robot configuration ------------------------ +// see config.cpp for factory configuration! + + +// Ardumower factory config +class FactoryConfig +{ + public: + void setup(); +}; + +// Ardumower motor control +class AMotorControl : public MotorControl +{ + public: + virtual setup(); +}; + + +// instances +extern FactoryConfig Config; +extern AMotorControl MotorCtrl; + +#endif + + + diff --git a/tests/drivecontrol/unused/drivecontrol.ino b/tests/drivecontrol/unused/drivecontrol.ino new file mode 100644 index 000000000..4c73f8c3d --- /dev/null +++ b/tests/drivecontrol/unused/drivecontrol.ino @@ -0,0 +1,33 @@ + +// differential wheels drive controller experiments +// Requires: Ardumower Mini, Arduino Mega + + +#include +#include +#ifdef __AVR__ + // Arduino Mega + #include +#else + // Arduino Due + #include "due.h" +#endif + +#include "robot.h" + + +void setup(){ + Robot.setup(); + //Console.begin(19200); + //Console.println("setup()"); +} + + +void loop(){ + Robot.loop(); + //Console.println("loop()"); + //delay(1000); +} + + + diff --git a/tests/drivecontrol/drivers.cpp b/tests/drivecontrol/unused/drivers.cpp similarity index 100% rename from tests/drivecontrol/drivers.cpp rename to tests/drivecontrol/unused/drivers.cpp diff --git a/tests/drivecontrol/drivers.h b/tests/drivecontrol/unused/drivers.h similarity index 100% rename from tests/drivecontrol/drivers.h rename to tests/drivecontrol/unused/drivers.h diff --git a/tests/drivecontrol/unused/led.cpp b/tests/drivecontrol/unused/led.cpp new file mode 100644 index 000000000..ce2b5a61c --- /dev/null +++ b/tests/drivecontrol/unused/led.cpp @@ -0,0 +1,62 @@ +#include "led.h" +#include "drivers.h" +#include "config.h" + +LEDControl LED; + + +LEDControl::LEDControl(){ + nextLEDTime = 0; + ledSequenceIdx = LED_OFF; + onState = 0; +} + +void LEDControl::setup(){ + Console.println(F("LEDControl::setup")); + pinMode(pinLED, OUTPUT); + pinMode(pinLEDDuoRed, OUTPUT); + pinMode(pinLEDDuoGreen, OUTPUT); +} + +void LEDControl::run(){ + if (millis() < nextLEDTime) return; + nextLEDTime = millis() + 500; + switch (ledSequenceIdx){ + case LED_OFF: + digitalWrite(pinLED, LOW); + digitalWrite(pinLEDDuoRed, LOW); + digitalWrite(pinLEDDuoGreen, LOW); + break; + case LED_GREEN_ON: + digitalWrite(pinLED, HIGH); + digitalWrite(pinLEDDuoRed, LOW); + digitalWrite(pinLEDDuoGreen, HIGH); + break; + case LED_ORANGE_ON: + digitalWrite(pinLEDDuoRed, HIGH); + digitalWrite(pinLEDDuoGreen, HIGH); + break; + case LED_ORANGE_BLINK: + onState = !onState; + digitalWrite(pinLEDDuoRed, onState); + digitalWrite(pinLEDDuoGreen, onState); + break; + case LED_RED_BLINK: + onState = !onState; + digitalWrite(pinLED, onState); + digitalWrite(pinLEDDuoRed, onState); + digitalWrite(pinLEDDuoGreen, LOW); + break; + case LED_RED_ON: + digitalWrite(pinLEDDuoRed, HIGH); + digitalWrite(pinLEDDuoGreen, LOW); + break; + }; +} + +void LEDControl::playSequence(int sequenceIdx){ + ledSequenceIdx = sequenceIdx; + nextLEDTime = 0; +} + + diff --git a/tests/drivecontrol/unused/led.h b/tests/drivecontrol/unused/led.h new file mode 100644 index 000000000..19ae26d22 --- /dev/null +++ b/tests/drivecontrol/unused/led.h @@ -0,0 +1,54 @@ +#ifndef LED_H +#define LED_H + +// Ardumower LEDs (play LED 'sequences') + +#include + + +// playable LED sequences +enum { + LED_OFF, + LED_GREEN_ON, + LED_ORANGE_ON, + LED_ORANGE_BLINK, + LED_RED_BLINK, + LED_RED_ON, +}; + +/* +LED Anzeigen - Hardware: +Led 3V grün - Betriebsanzeige Versorgungsspannung +LED 24V grün - Betriebsanzeige Versorgungsspannung R2 für 12 V anpassen +LED 5V grün - Betriebsanzeige Versorgungsspannung +LED Station - gelb - Statusanzeige ob Mover in Ladestation + +LED Anzeigen - Software: +Dual LED z.B: +Dual LED grün. Dauerlicht - Mover innerhalb Perimeter +Dual LED grün+rot = Orange - Dauerlicht Mover außerhalb Perimeter +Dual LED grün+rot = Orange - Blinkt Mover findet Perimeter nicht oder sucht danach +Dual LED rot = Blinkt Fehler kurzseitig Überlast Antriebmotor Treibe oder Mähmotor. +Dual LED rot - Dauerlicht - Fehler muß für weiterfahren durch drücken +*/ + + + +class LEDControl +{ + public: + LEDControl(); + void playSequence(int sequenceIdx); + void run(); + void setup(); + private: + unsigned long nextLEDTime; + int ledSequenceIdx; + bool onState; +}; + +extern LEDControl LED; + +#endif + + diff --git a/tests/drivecontrol/modelrc.cpp b/tests/drivecontrol/unused/modelrc.cpp similarity index 100% rename from tests/drivecontrol/modelrc.cpp rename to tests/drivecontrol/unused/modelrc.cpp diff --git a/tests/drivecontrol/modelrc.h b/tests/drivecontrol/unused/modelrc.h similarity index 100% rename from tests/drivecontrol/modelrc.h rename to tests/drivecontrol/unused/modelrc.h diff --git a/tests/drivecontrol/unused/motorcontrol.cpp b/tests/drivecontrol/unused/motorcontrol.cpp new file mode 100644 index 000000000..07b6477c8 --- /dev/null +++ b/tests/drivecontrol/unused/motorcontrol.cpp @@ -0,0 +1,608 @@ +#include "motorcontrol.h" +#include "adcman.h" +#include "drivers.h" +#include "config.h" + + +MotorControl MotorCtrl; + + +volatile static boolean odometryLeftLastState; +volatile static boolean odometryRightLastState; + +volatile static unsigned long odometryLeftLastHighTime = 0; +volatile static unsigned long odometryRightLastHighTime = 0; +volatile static unsigned long odometryLeftTickTime = 0; +volatile static unsigned long odometryRightTickTime = 0; + + +// odometry interrupt handler +ISR(PCINT2_vect, ISR_NOBLOCK){ +// ISR(PCINT2_vect){ + unsigned long timeMicros = micros(); + boolean odometryLeftState = digitalRead(pinOdometryLeft); + boolean odometryRightState = digitalRead(pinOdometryRight); + if (odometryLeftState != odometryLeftLastState){ + if (odometryLeftState){ // pin1 makes LOW->HIGH transition + if (timeMicros > odometryLeftLastHighTime) odometryLeftTickTime = timeMicros - odometryLeftLastHighTime; + if (MotorCtrl.motorLeftPWMCurr >=0) MotorCtrl.odometryLeftTicks ++; else MotorCtrl.odometryLeftTicks --; + odometryLeftLastHighTime = timeMicros; + } else { + //odometryLeftLowTime = timeMicros; + } + odometryLeftLastState = odometryLeftState; + } + if (odometryRightState != odometryRightLastState){ + if (odometryRightState){ // pin1 makes LOW->HIGH transition + if (timeMicros > odometryRightLastHighTime) odometryRightTickTime = timeMicros - odometryRightLastHighTime; + if (MotorCtrl.motorRightPWMCurr >=0) MotorCtrl.odometryRightTicks ++; else MotorCtrl.odometryRightTicks --; + odometryRightLastHighTime = timeMicros; + } else { + //odometryRightLowTime = timeMicros; + } + odometryRightLastState = odometryRightState; + } +} + + +MotorControl::MotorControl(){ + motorSpeedMaxRpm = 18; + motorSpeedMaxPwm = 255; + + motorLeftPID.Kp = 0.87; // motor wheel PID controller + motorLeftPID.Ki = 0.29; + motorLeftPID.Kd = 0.25; + +/* odometryTicksPerRevolution = 20; // encoder ticks per one full resolution + odometryTicksPerCm = 0.5; // encoder ticks per cm + odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) + motorLeftSwapDir = false; + motorRightSwapDir = false;*/ + + odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution + odometryTicksPerCm = 13.49; // encoder ticks per cm + odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) + motorLeftSwapDir = true; +// motorLeftSwapDir = false; + motorRightSwapDir = false; +// motorRightSwapDir = true; + + // MC33926 current: 5V / 1024 ADC counts, 525 mV per A => 9.3 mA per ADC step + motorSenseRightScale = 9.3; // motor right sense scale (mA=(ADC-zero) * scale) + motorSenseLeftScale = 9.3; // motor left sense scale (mA=(ADC-zero) * scale) + motorVoltageDC = 24.0; + + motorEfficiencyMin = 200; +} + + +void MotorControl::setup(){ + Console.println(F("MotorControl::setup")); + printCSV(true); + motion = MOTION_STOP; + enableSpeedControl = enableStallDetection = enableErrorDetection = true; + motorLeftPWMCurr = motorRightPWMCurr = 0; + lastOdometryTime = lastMotorControlTime = lastMotorCurrentTime = lastMotorRunTime = nextMotorPrintTime = 0; + odometryLeftTicksZeroCounter = odometryRightTicksZeroCounter = 0; + motorLeftError = motorRightError = false; + motorLeftStalled = motorRightStalled = false; + leftRightCompensation = 0; + + TCCR3B = (TCCR3B & 0xF8) | 0x02; // set PWM frequency 3.9 Khz (pin2,3,5) + + pinMode(pinMotorEnable, OUTPUT); + digitalWrite(pinMotorEnable, HIGH); + + // left wheel motor + pinMode(pinMotorLeftPWM, OUTPUT); + pinMode(pinMotorLeftDir, OUTPUT); + pinMode(pinMotorLeftSense, INPUT); + pinMode(pinMotorLeftFault, INPUT); + + // right wheel motor + pinMode(pinMotorRightPWM, OUTPUT); + pinMode(pinMotorRightDir, OUTPUT); + pinMode(pinMotorRightSense, INPUT); + pinMode(pinMotorRightFault, INPUT); + + // odometry + pinMode(pinOdometryLeft, INPUT_PULLUP); + pinMode(pinOdometryRight, INPUT_PULLUP); + + // odometry interrupt configuration + PCICR |= (1< odometryDistanceCmSet) { + Console.println(F("reached destination (overshoot)")); + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; + motion = MOTION_STOP; + }*/ + break; + case MOTION_ROTATE_ANGLE: + angleToTargetRad = abs(distancePI(odometryThetaRadCurr, odometryThetaRadSet)); + if (angleToTargetRad < PI/4){ + Console.println(F("reached angle")); + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; + motion = MOTION_STOP; + } + break; + } + speedControl(); + } + readCurrent(); + checkFault(); + if ( (motion != MOTION_STOP) || (motorLeftPWMCurr > 0) || (motorRightPWMCurr > 0) ) { + if (millis() >= nextMotorPrintTime){ + nextMotorPrintTime = millis() + 500; + print(); + Console.println(); + } + } + printCSV(false); +} + + +void MotorControl::readOdometry(){ + unsigned long TaC = millis() - lastOdometryTime; // sampling time in millis + lastOdometryTime = millis(); + if (TaC > 1000) TaC = 1; + static int lastOdoLeft = 0; + static int lastOdoRight = 0; + #if SIMULATE + odometryLeftTicks += motorLeftPWMCurr; + odometryRightTicks += motorRightPWMCurr; + odometryLeftTickTime = 255.0 / ((double)motorLeftPWMCurr); + odometryRightTickTime = 255.0 / ((double)motorRightPWMCurr); + #endif + int odoLeft = odometryLeftTicks; + int odoRight = odometryRightTicks; + unsigned long leftTime = odometryLeftTickTime; + unsigned long rightTime = odometryRightTickTime; + int ticksLeft = odoLeft - lastOdoLeft; + int ticksRight = odoRight - lastOdoRight; + lastOdoLeft = odoLeft; + lastOdoRight = odoRight; + double left_cm = ((double)ticksLeft) / ((double)odometryTicksPerCm); + double right_cm = ((double)ticksRight) / ((double)odometryTicksPerCm); + double avg_cm = (left_cm + right_cm) / 2.0; + double wheel_theta = (left_cm - right_cm) / ((double)odometryWheelBaseCm); + odometryThetaRadCurr = scalePI( odometryThetaRadCurr + wheel_theta ); + odometryDistanceCmCurr += avg_cm; + odometryXcmCurr += avg_cm * sin(odometryThetaRadCurr); + odometryYcmCurr += avg_cm * cos(odometryThetaRadCurr); + + float smooth = 0.0; + if (ticksLeft != 0) { + motorLeftRpmCurr = motorLeftRpmCurr * smooth + (1.0-smooth) * 60.0/((double)odometryTicksPerRevolution)/ (((double)leftTime)/1000.0/1000.0); + odometryLeftTicksZeroCounter = 0; + } else { + odometryLeftTicksZeroCounter++; + //Console.println(F("LEFT TICKS ZERO")); + if (odometryLeftTicksZeroCounter > 10) motorLeftRpmCurr = 0; // ensures rpm gets zero + } + if (motorLeftPWMCurr < 0) motorLeftRpmCurr *= -1; + + if (ticksRight != 0) { + motorRightRpmCurr = motorRightRpmCurr * smooth + (1.0-smooth) * 60.0 / ((double)odometryTicksPerRevolution)/ (((double)rightTime)/1000.0/1000.0); + odometryRightTicksZeroCounter = 0; + } else { + odometryRightTicksZeroCounter++; + //Console.println(F("RIGHT TICKS ZERO")); + if (odometryRightTicksZeroCounter > 10) motorRightRpmCurr = 0; // ensures rpm gets zero + } + if (motorRightPWMCurr < 0) motorRightRpmCurr *= -1; + + //motorLeftRpmCurr = double ((( ((double)ticksLeft) / ((double)odometryTicksPerRevolution)) / ((double)(TaC))) * 60000.0); + //motorRightRpmCurr = double ((( ((double)ticksRight) / ((double)odometryTicksPerRevolution)) / ((double)(TaC))) * 60000.0); +} + + +void MotorControl::speedControl(){ + unsigned long TaC = millis() - lastMotorControlTime; // sampling time in millis + if (TaC < 50) return; + lastMotorControlTime = millis(); + if (TaC > 500) TaC = 1; + //double TaS = ((double)TaC) / 1000.0; + motorLeftPID.w = motorLeftSpeedRpmSet; // SET + motorRightPID.w = motorRightSpeedRpmSet; // SET + float RLdiff = (abs(motorLeftRpmCurr) - abs(motorRightRpmCurr)) / motorLeftRpmCurr; + + switch (motion){ + case MOTION_LINE_SPEED: + case MOTION_LINE_DISTANCE: + if ( RLdiff > 0.7 ) + motorLeftPID.w = motorRightRpmCurr; + else if (RLdiff < -0.7) + motorRightPID.w = motorLeftRpmCurr; + break; + case MOTION_ROTATE_ANGLE: + if ( RLdiff > 0.2 ) + motorLeftPID.w = -motorRightRpmCurr; + else if (RLdiff < -0.2 ) + motorRightPID.w = -motorLeftRpmCurr; + break; + } + + motorLeftPID.x = motorLeftRpmCurr; // CURRENT +// motorLeftPID.w = motorLeftSpeedRpmSet; // SET + motorLeftPID.y_min = -motorSpeedMaxPwm; // CONTROL-MIN + motorLeftPID.y_max = motorSpeedMaxPwm; // CONTROL-MAX + motorLeftPID.max_output = motorSpeedMaxPwm; // LIMIT + motorLeftPID.compute(); + int leftSpeed = motorLeftPWMCurr + motorLeftPID.y; + if (motorLeftSpeedRpmSet >= 0) leftSpeed = min( max(0, leftSpeed), motorSpeedMaxPwm); + if (motorLeftSpeedRpmSet < 0) leftSpeed = max(-motorSpeedMaxPwm, min(0, leftSpeed)); + + motorRightPID.Kp = motorLeftPID.Kp; + motorRightPID.Ki = motorLeftPID.Ki; + motorRightPID.Kd = motorLeftPID.Kd; + motorRightPID.x = motorRightRpmCurr; // IST +// motorRightPID.w = motorRightSpeedRpmSet; // SOLL + motorRightPID.y_min = -motorSpeedMaxPwm; // Regel-MIN + motorRightPID.y_max = motorSpeedMaxPwm; // Regel-MAX + motorRightPID.max_output = motorSpeedMaxPwm; // Begrenzung + motorRightPID.compute(); + int rightSpeed = motorRightPWMCurr + motorRightPID.y; + if (motorRightSpeedRpmSet >= 0) rightSpeed = min( max(0, rightSpeed), motorSpeedMaxPwm); + if (motorRightSpeedRpmSet < 0) rightSpeed = max(-motorSpeedMaxPwm, min(0, rightSpeed)); + + if ( (abs(motorLeftPID.x) < 2) && (motorLeftPID.w == 0) ) leftSpeed = 0; // ensures PWM is really zero + if ( (abs(motorRightPID.x) < 2) && (motorRightPID.w == 0) ) rightSpeed = 0; // ensures PWM is really zero + setSpeedPWM( leftSpeed, rightSpeed ); +} + + +// forward speed: 0..+255 +// reverse speed: 0..-255 +void MotorControl::setSpeedPWM(int leftPWM, int rightPWM){ + if ((motorLeftStalled) || (motorRightStalled)){ + if ((leftPWM != 0) || (rightPWM != 0)) return; + } + if (leftPWM == 0) motorLeftSensePower = 0; + if (rightPWM == 0) motorRightSensePower = 0; + motorLeftPWMCurr = leftPWM; + motorRightPWMCurr = rightPWM; + if (motorLeftSwapDir) leftPWM *= -1; + if (motorRightSwapDir) rightPWM *= -1; + setMC33926(pinMotorLeftDir, pinMotorLeftPWM, max(-motorSpeedMaxPwm, min(motorSpeedMaxPwm, leftPWM))); + setMC33926(pinMotorRightDir, pinMotorRightPWM, max(-motorSpeedMaxPwm, min(motorSpeedMaxPwm, rightPWM))); +} + +void MotorControl::setSpeedRpm(int leftRpm, int rightRpm){ + motorLeftSpeedRpmSet = leftRpm; + motorRightSpeedRpmSet = rightRpm; + motorLeftSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorLeftSpeedRpmSet)); + motorRightSpeedRpmSet = max(-motorSpeedMaxRpm, min(motorSpeedMaxRpm, motorRightSpeedRpmSet)); + motion = MOTION_SPEED; + motorRightPID.reset(); + motorLeftPID.reset(); + leftRightCompensation = 0; +} + + + +void MotorControl::stopImmediately(){ + setSpeedPWM(0, 0); + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; + motion = MOTION_STOP; +} + +void MotorControl::travelLineSpeedRpm(int speedRpm){ + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = speedRpm; + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); + motion = MOTION_LINE_SPEED; +} + +void MotorControl::travelLineDistance(int distanceCm, int speedRpm){ + motion = MOTION_LINE_DISTANCE; + odometryDistanceCmSet = odometryDistanceCmCurr + distanceCm; + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); + Console.print(F("target distance=")); + Console.println(odometryDistanceCmSet); + if (distanceCm < 0) + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -speedRpm; + else + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = speedRpm; +} + +void MotorControl::rotate(float angleRad, int speedRpm){ + motion = MOTION_ROTATE_ANGLE; + odometryThetaRadSet = scalePI(odometryThetaRadCurr + angleRad); + leftRightCompensation = 0; + motorRightPID.reset(); + motorLeftPID.reset(); + Console.print(F("target angle=")); + Console.println(odometryThetaRadSet/PI*180.0); + if (angleRad < 0){ + motorLeftSpeedRpmSet = -speedRpm; + motorRightSpeedRpmSet = speedRpm; + } else { + motorLeftSpeedRpmSet = speedRpm; + motorRightSpeedRpmSet = -speedRpm; + } +} + +bool MotorControl::hasStopped(){ + return ( (motion == MOTION_STOP) && (abs(motorLeftPWMCurr) < 1) && (abs(motorRightPWMCurr) < 1) && (abs(motorRightRpmCurr) < 1) && (abs(motorLeftRpmCurr) < 1) ); +} + + +// read motor current +void MotorControl::readCurrent(){ + #ifndef SIMULATE + unsigned long TaC = millis() - lastMotorCurrentTime; // sampling time in millis + lastMotorCurrentTime = millis(); + if (TaC > 500) TaC = 1; + double TaS = ((double)TaC) / 1000.0; + + //double smooth = 0.95; + //double smooth = 0.9; + + int lastMotorLeftSenseADC = motorLeftSenseADC; + int lastMotorRightSenseADC = motorRightSenseADC; + + // read current - NOTE: MC33926 datasheets says: accuracy is better than 20% from 0.5 to 6.0 A + motorLeftSenseADC = ADCMan.read(pinMotorLeftSense); + motorRightSenseADC = ADCMan.read(pinMotorRightSense); + //motorLeftSenseADC = analogRead(pinMotorLeftSense); + //motorRightSenseADC = analogRead(pinMotorRightSense); + + /*Console.print(motorLeftSenseADC); + Console.print(","); + Console.println(motorRightSenseADC);*/ + + // compute gradient + motorLeftSenseGradient = (((double)motorLeftSenseADC) - ((double)lastMotorLeftSenseADC)) / TaS; + motorRightSenseGradient = (((double)motorRightSenseADC) - ((double)lastMotorRightSenseADC)) / TaS; + + // compute motor current (mA) + //double smooth = 0.0; + double smooth = 0.5; + motorRightSenseCurrent = motorRightSenseCurrent * smooth + ((double)motorRightSenseADC) * motorSenseRightScale * (1.0-smooth); + motorLeftSenseCurrent = motorLeftSenseCurrent * smooth + ((double)motorLeftSenseADC) * motorSenseLeftScale * (1.0-smooth); + + // obstacle detection via motor torque (output power) + // NOTE: at obstacles, our motors typically do not stall - they are too powerful, and just reduce speed (rotate through the lawn) + // http://wiki.ardumower.de/images/9/96/Wheel_motor_diagram.png + // + float lastMotorLeftSensePower = motorLeftSensePower; + float lastMotorRightSensePower = motorRightSensePower; + + // compute motor output power (W) by calculating battery voltage, pwm duty cycle and motor current + // P_output = U_Battery * pwmDuty * I_Motor + smooth = 0.9; + motorRightSensePower = motorRightSensePower * smooth + (1.0-smooth) * (motorRightSenseCurrent * motorVoltageDC * ((double)abs(motorRightPWMCurr)/255.0) /1000); + motorLeftSensePower = motorLeftSensePower * smooth + (1.0-smooth) * (motorLeftSenseCurrent * motorVoltageDC * ((double)abs(motorLeftPWMCurr) /255.0) /1000); + + // Ist es nicht aussagekraeftiger ueber die Beschleunigung? + // Mit der PWM und der Odometrie gibst du eine soll Drehzahl = Soll Geschwindigkeit vor. + // Wird die in einem bestimmten Rahmen nicht erreicht und dein Strom geht hoch hast du ein Hindernis. + + // compute efficiency (output rotation/input power) + //smooth = 0.95; + smooth = 0.9; + motorLeftEfficiency = motorLeftEfficiency * smooth + (abs(motorLeftRpmCurr) / max(0.01, abs(motorLeftSensePower)) * 100.0) * (1.0-smooth); + motorRightEfficiency = motorRightEfficiency * smooth + (abs(motorRightRpmCurr) / max(0.01, abs(motorRightSensePower)) * 100.0) * (1.0-smooth); + + // tracktion control + // idea: sigma_b = (Vf - Vu) / Vf (break tracktion) + // sigma_a = (Vu - Vf) / Vu (acceleration tracktion) + // Vf: vehicle velocity + // Vu: tire velocity + + if (enableStallDetection) { + if (!motorLeftStalled){ + if ( (abs(motorLeftPWMCurr) > 0) && (motorLeftSensePower > 1) && (motorLeftEfficiency < motorEfficiencyMin) ) { + print(); + Console.print(F(" LEFT STALL")); + Console.println(); + motorLeftStalled = true; + stopImmediately(); + } + } + if (!motorRightStalled){ + if ( (abs(motorRightPWMCurr) > 0) && (motorRightSensePower > 1) && (motorRightEfficiency < motorEfficiencyMin) ) { + print(); + Console.print(F(" RIGHT STALL")); + Console.println(); + motorRightStalled = true; + stopImmediately(); + } + } + } + #endif +} + +void MotorControl::printCSV(bool includeHeader){ + if (includeHeader) Console.println(F("millis,tickL,tickR,th,dist,setL,setR,curL,curR,errL,errR,pwmL,pwmR,maL,maR,gmaL,gmaR,pL,pR,effL,effR")); + /*Console.print(millis()); + Console.print(","); + Console.print(MotorCtrl.odometryLeftTicks); + Console.print(","); + Console.print(MotorCtrl.odometryRightTicks); + Console.print(","); + Console.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); + Console.print(","); + Console.print(MotorCtrl.odometryDistanceCmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorLeftSpeedRpmSet); + Console.print(","); + Console.print(MotorCtrl.motorRightSpeedRpmSet); + Console.print(","); + Console.print(MotorCtrl.motorLeftRpmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightRpmCurr, 1); + Console.print(","); */ + Console.print(MotorCtrl.motorLeftPID.eold, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightPID.eold, 1); + Console.print(","); + Console.print(MotorCtrl.motorLeftPID.Kp); + Console.print(F(",")); + Console.print(MotorCtrl.motorLeftPID.Ki); + Console.print(F(",")); + Console.print (MotorCtrl.motorLeftPID.Kd); + Console.print(","); + Console.print(leftRightCompensation); + + /*Console.print(","); + Console.print(MotorCtrl.motorLeftPWMCurr, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightPWMCurr, 0); + Console.print(","); + Console.print(MotorCtrl.motorLeftSenseCurrent, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseCurrent, 0); + Console.print(","); + Console.print(MotorCtrl.motorLeftSenseGradient, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseGradient, 0); + Console.print(","); + Console.print(MotorCtrl.motorLeftSensePower, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightSensePower, 1); + Console.print(","); + Console.print(MotorCtrl.motorLeftEfficiency, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightEfficiency, 0); */ + Console.println(); +} + + +void MotorControl::print(){ + return; + Console.print(F(" ticks:")); + Console.print(MotorCtrl.odometryLeftTicks); + Console.print(","); + Console.print(MotorCtrl.odometryRightTicks); + Console.print(F(" th,dist:")); + Console.print(MotorCtrl.odometryThetaRadCurr/PI*180.0); + Console.print(","); + Console.print(MotorCtrl.odometryDistanceCmCurr, 1); + Console.print(F(" ## ")); + Console.print(MotorCtrl.angleToTargetRad/PI*180.0, 1); + Console.print(","); + Console.print(MotorCtrl.distanceToTargetCm, 1); + Console.print(F(" set:")); + Console.print(MotorCtrl.motorLeftSpeedRpmSet); + Console.print(","); + Console.print(MotorCtrl.motorRightSpeedRpmSet); + Console.print(F(" cur:")); + Console.print(MotorCtrl.motorLeftRpmCurr, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightRpmCurr, 1); + Console.print(F(" err:")); + Console.print(MotorCtrl.motorLeftPID.eold, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightPID.eold, 1); + Console.print(F(" pwm:")); + Console.print(MotorCtrl.motorLeftPWMCurr, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightPWMCurr, 0); + Console.print(F(" mA:")); + Console.print(MotorCtrl.motorLeftSenseCurrent, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseCurrent, 0); + Console.print(F(" ## ")); + Console.print(MotorCtrl.motorLeftSenseGradient, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightSenseGradient, 0); + Console.print(F(" P:")); + Console.print(MotorCtrl.motorLeftSensePower, 1); + Console.print(","); + Console.print(MotorCtrl.motorRightSensePower, 1); + Console.print(F(" eff:")); + Console.print(MotorCtrl.motorLeftEfficiency, 0); + Console.print(","); + Console.print(MotorCtrl.motorRightEfficiency, 0); + Console.print(F(" pid:")); + Console.print(MotorCtrl.motorLeftPID.Kp); + Console.print(F(",")); + Console.print(MotorCtrl.motorLeftPID.Ki); + Console.print(F(",")); + Console.print(MotorCtrl.motorLeftPID.Kd); + Console.print(F(" lrc:")); + Console.print(MotorCtrl.leftRightCompensation); +} + + diff --git a/tests/drivecontrol/unused/motorcontrol.h b/tests/drivecontrol/unused/motorcontrol.h new file mode 100644 index 000000000..a51218d6c --- /dev/null +++ b/tests/drivecontrol/unused/motorcontrol.h @@ -0,0 +1,127 @@ +#ifndef MOTORCONTROL_H +#define MOTORCONTROL_H + +// differential drive motor controller +// requires: +// - 2 brushed gear motors with 1-way encoder (odometry) +// - MC33926 motor driver +// +// how to use: +// +// MotorCtrl.travelLineDistance(-30, 5); +// void loop(){ +// MotorCtrl.run(); +// } + + +#include +#include "pid.h" +#include "config.h" + + +enum { + MOTION_SPEED, + MOTION_LINE_SPEED, + MOTION_LINE_DISTANCE, + MOTION_ROTATE_ANGLE, + MOTION_STOP, +}; + + +class MotorControl +{ + public: + byte motion; // motion to perform + + // gear motors + bool motorRightSwapDir ; // inverse right motor direction? + bool motorLeftSwapDir ; // inverse left motor direction? + bool motorLeftError; // left motor error? + bool motorRightError; // right motor error? + bool motorLeftStalled; // left motor stalled? + bool motorRightStalled; // right motor stalled? + float motorVoltageDC; // known operating voltage (DC) + int motorLeftSpeedRpmSet ; // set speed + int motorRightSpeedRpmSet ; + float motorLeftRpmCurr ; // left wheel rpm + float motorRightRpmCurr ; // right wheel rpm + int motorSpeedMaxRpm ; // motor wheel max RPM + int motorSpeedMaxPwm ; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) + PID motorLeftPID; // motor left wheel PID controller + PID motorRightPID; // motor right wheel PID controll + float motorLeftPWMCurr ; // current motor pwm + float motorRightPWMCurr ; + float leftRightCompensation; // left-right speed compensation + + // motor current + float motorEfficiencyMin; // minimum motor efficiency (stall detection) + int motorRightSenseADC ; // ADC value + int motorLeftSenseADC ; + float motorLeftSenseCurrent ; // current (mA) + float motorRightSenseCurrent ; + float motorLeftSenseGradient; // current gradient + float motorRightSenseGradient; // current gradient + float motorLeftEfficiency; // efficiency (output rotation/input power) + float motorRightEfficiency; // efficiency (output rotation/input power) + float motorLeftSensePower ; // power (W) + float motorRightSensePower ; + float motorSenseRightScale ; // motor right sense scale (mA=(ADC-zero)*scale) + float motorSenseLeftScale ; // motor left sense scale (mA=(ADC-zero)*scale) + + // odometry + int odometryLeftTicks ; // left wheel counter + int odometryRightTicks ; // right wheel counter + int odometryLeftTicksZeroCounter; // counts number of times ticks did not change + int odometryRightTicksZeroCounter; + int odometryTicksPerRevolution ; // encoder ticks per one full resolution + float odometryTicksPerCm ; // encoder ticks per cm + float odometryWheelBaseCm ; // wheel-to-wheel distance (cm) + float odometryThetaRadCurr; // current theta angle (radiant) + float odometryXcmCurr; // current X map position (cm) + float odometryYcmCurr; // current Y map position (cm) + float odometryDistanceCmCurr; // distance traveled (cm) + float odometryThetaRadSet; // set angle (radiant) + int odometryDistanceCmSet; // set distance (cm) + float distanceToTargetCm; // distance to target (cm) + float angleToTargetRad; // angle to target (rad) + + bool enableSpeedControl; // enable speed controller? + bool enableStallDetection; // enable stall detection? + bool enableErrorDetection; // enable error detection? + MotorControl(); + virtual void setup(); + virtual void run(); + virtual void setSpeedRpm(int leftRpm, int rightRpm); + virtual void setSpeedPWM(int leftPWM, int rightPWM); + virtual void stopImmediately(); + virtual void travelLineSpeedRpm(int speedRpm); + virtual void travelLineDistance(int distanceCm, int speedRpm); + // rotate (+counter-clock / -clock-wise) + virtual void rotate(float angleRad, int speedRpm); + virtual bool hasStopped(); + virtual void resetStalled(); + virtual void resetFault(); + virtual void print(); + virtual void printCSV(bool includeHeader); +private: + unsigned long lastMotorRunTime; + unsigned long nextMotorPrintTime; + unsigned long lastMotorControlTime; + unsigned long lastOdometryTime; + unsigned long lastMotorCurrentTime; + virtual void readOdometry(); + virtual void speedControl(); + virtual void setMC33926(int pinDir, int pinPWM, int speed); + virtual void readCurrent(); + virtual void checkFault(); +}; + + +//extern MotorControl MotorCtrl; + + + +#endif + + + diff --git a/tests/drivecontrol/motormow.cpp b/tests/drivecontrol/unused/motormow.cpp similarity index 100% rename from tests/drivecontrol/motormow.cpp rename to tests/drivecontrol/unused/motormow.cpp diff --git a/tests/drivecontrol/motormow.h b/tests/drivecontrol/unused/motormow.h similarity index 100% rename from tests/drivecontrol/motormow.h rename to tests/drivecontrol/unused/motormow.h diff --git a/tests/drivecontrol/perimeter.cpp b/tests/drivecontrol/unused/perimeter.cpp similarity index 100% rename from tests/drivecontrol/perimeter.cpp rename to tests/drivecontrol/unused/perimeter.cpp diff --git a/tests/drivecontrol/perimeter.h b/tests/drivecontrol/unused/perimeter.h similarity index 100% rename from tests/drivecontrol/perimeter.h rename to tests/drivecontrol/unused/perimeter.h diff --git a/tests/drivecontrol/unused/pid.cpp b/tests/drivecontrol/unused/pid.cpp new file mode 100644 index 000000000..b3c3cd91e --- /dev/null +++ b/tests/drivecontrol/unused/pid.cpp @@ -0,0 +1,148 @@ +/* + Ardumower (www.ardumower.de) + Copyright (c) 2013-2014 by Alexander Grau + Copyright (c) 2013-2014 by Sven Gennat + Copyright (c) 2014 by Maxime Carpentieri + + Private-use only! (you need to ask for a commercial-use) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + Private-use only! (you need to ask for a commercial-use) + + How to find out P,I,D: + 1. Increase P until system starts to oscillate + 2. Set I =0.6 * P and D = 0.125 * P + +*/ + +#include "pid.h" + + +PID::PID() +{ +} + +PID::PID(float Kp, float Ki, float Kd){ + this->Kp = Kp; + this->Ki = Ki; + this->Kd = Kd; + reset(); +} + +void PID::reset(){ + esum = 0; + eold = 0; +} + +float PID::compute() +{ +/* unsigned long now = micros(); + Ta = ((now - lastControlTime) / 1000000.0); + lastControlTime = now; + if (Ta > 1.0) Ta = 1.0; // should only happen for the very first call + + // compute error + float e = (w - x); + // integrate error + esum += e; + // anti wind-up + float iTerm = Ki * Ta * esum; + if (iTerm < -max_output) { + iTerm = -max_output; + esum = -max_output / Ta / Ki; + } + if (iTerm > max_output) { + iTerm = max_output; + esum = max_output / Ta / Ki; + } + y = Kp * e + + iTerm + + Kd/Ta * (e - eold); + eold = e; + // restrict output to min/max + if (y > y_max) y = y_max; + if (y < y_min) y = y_min; + + return y;*/ + + + unsigned long now = micros(); + Ta = ((now - lastControlTime) / 1000000.0); + lastControlTime = now; + if (Ta > 1.0) Ta = 1.0; // should only happen for the very first call + + // compute error + int16_t e = (w - x); + // integrate error + esum += e; + // anti wind-up + if (esum < -max_output) esum = -max_output; + if (esum > max_output) esum = max_output; + y = Kp * e + + Ki * Ta * esum + + Kd/Ta * (e - eold); + eold = e; + // restrict output to min/max + if (y > y_max) y = y_max; + if (y < y_min) y = y_min; + + return y; +} + + +// --------------------------------- + +VelocityPID::VelocityPID() +{ +} + +VelocityPID::VelocityPID(float Kp, float Ki, float Kd){ + this->Kp = Kp; + this->Ki = Ki; + this->Kd = Kd; +} + + +float VelocityPID::compute() +{ + unsigned long now = micros(); + Ta = ((now - lastControlTime) / 1000000.0); + lastControlTime = now; + if (Ta > 1.0) Ta = 1.0; // should only happen for the very first call + + // compute error + int16_t e = (w - x); + + // compute max/min output + if (w < 0) { y_min = -max_output; y_max = 0; } + if (w > 0) { y_min = 0; y_max = max_output; } + + y = yold + + Kp * (e - eold1) + + Ki * Ta * e + + Kd/Ta * (e - 2* eold1 + eold2); + + // restrict output to min/max + if (y > y_max) y = y_max; + if (y < y_min) y = y_min; + + // save variable for next time + eold2 = eold1; + eold1 = e; + yold = y ; + + return y; +} + diff --git a/tests/drivecontrol/unused/pid.h b/tests/drivecontrol/unused/pid.h new file mode 100644 index 000000000..c56d532b4 --- /dev/null +++ b/tests/drivecontrol/unused/pid.h @@ -0,0 +1,83 @@ +/* + Ardumower (www.ardumower.de) + Copyright (c) 2013-2014 by Alexander Grau + Copyright (c) 2013-2014 by Sven Gennat + + Private-use only! (you need to ask for a commercial-use) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + Private-use only! (you need to ask for a commercial-use) + +*/ + +#ifndef PID_H +#define PID_H + +#include + + +/* + digital PID controller +*/ + +class PID +{ + public: + PID(); + PID(float Kp, float Ki, float Kd); + float compute(); + void reset(); + double Ta; // sampling time + float w; // set value + float x; // current value + float esum; // error sum + float eold; // last error + float y; // control output + float y_min; // minimum control output + float y_max; // maximum control output + float max_output; // maximum output + float Kp; // proportional control + float Ki; // integral control + float Kd; // differential control + unsigned long lastControlTime; +}; + + +class VelocityPID +{ + public: + VelocityPID(); + VelocityPID(float Kp, float Ki, float Kd); + float compute(); + double Ta; // sampling time + float w; // set value + float x; // current value + float eold1; // last error + float eold2; // error n-2 + int y; // control output + int yold; // last control output + int y_min; // minimum control output + int y_max; // maximum control output + int max_output; // maximum output + float Kp; // proportional control + float Ki; // integral control + float Kd; // differential control + unsigned long lastControlTime; +}; + + + +#endif + diff --git a/tests/drivecontrol/robot.cpp b/tests/drivecontrol/unused/robot.cpp similarity index 98% rename from tests/drivecontrol/robot.cpp rename to tests/drivecontrol/unused/robot.cpp index 7c3ba5338..354235fc5 100644 --- a/tests/drivecontrol/robot.cpp +++ b/tests/drivecontrol/unused/robot.cpp @@ -215,7 +215,7 @@ void RobotControl::motorPIDTest(){ switch(test){ case 0: Console.println("=========FORWARD=========="); - MotorCtrl.travelLineDistance(200, MotorCtrl.motorSpeedMaxRpm); + MotorCtrl.travelLineDistance(9000, MotorCtrl.motorSpeedMaxRpm); //MotorCtrl.setSpeedRpm(0, 0); break; case 1: diff --git a/tests/drivecontrol/robot.h b/tests/drivecontrol/unused/robot.h similarity index 100% rename from tests/drivecontrol/robot.h rename to tests/drivecontrol/unused/robot.h diff --git a/tests/drivecontrol/sonar.cpp b/tests/drivecontrol/unused/sonar.cpp similarity index 100% rename from tests/drivecontrol/sonar.cpp rename to tests/drivecontrol/unused/sonar.cpp diff --git a/tests/drivecontrol/sonar.h b/tests/drivecontrol/unused/sonar.h similarity index 100% rename from tests/drivecontrol/sonar.h rename to tests/drivecontrol/unused/sonar.h diff --git a/tests/drivecontrol/timer.cpp b/tests/drivecontrol/unused/timer.cpp similarity index 100% rename from tests/drivecontrol/timer.cpp rename to tests/drivecontrol/unused/timer.cpp diff --git a/tests/drivecontrol/timer.h b/tests/drivecontrol/unused/timer.h similarity index 100% rename from tests/drivecontrol/timer.h rename to tests/drivecontrol/unused/timer.h From b5ceeef3b8b5a714311c8b85106cc2631b769664 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 3 Jun 2015 20:54:29 +0200 Subject: [PATCH 36/78] improved driving behavior --- ardumower/robot.cpp | 28 ++++++++++++++++++---------- 1 file changed, 18 insertions(+), 10 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index e9b9e2883..647f77d85 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1720,7 +1720,7 @@ void Robot::setNextState(byte stateNew, byte dir){ stateEndTime = millis() + stationRevTime + motorZeroSettleTime; } else if (stateNew == STATE_STATION_ROLL){ motorLeftSpeedRpmSet = motorSpeedMaxRpm; - motorRightSpeedRpmSet = -motorLeftSpeedRpmSet; + motorRightSpeedRpmSet = -motorSpeedMaxRpm; stateEndTime = millis() + stationRollTime + motorZeroSettleTime; } else if (stateNew == STATE_STATION_FORW){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; @@ -1745,7 +1745,7 @@ void Robot::setNextState(byte stateNew, byte dir){ } else if (stateNew == STATE_PERI_OUT_FORW){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; - stateEndTime = millis() + motorReverseTime + motorZeroSettleTime + 2000; + stateEndTime = millis() + motorReverseTime + motorZeroSettleTime + 1000; } else if (stateNew == STATE_PERI_OUT_REV){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/1.25; @@ -1755,10 +1755,10 @@ void Robot::setNextState(byte stateNew, byte dir){ stateEndTime = millis() + random(motorRollTimeMin,motorRollTimeMax) + motorZeroSettleTime; if (dir == RIGHT){ motorLeftSpeedRpmSet = motorSpeedMaxRpm/1.25; - motorRightSpeedRpmSet = -motorLeftSpeedRpmSet/1.25; + motorRightSpeedRpmSet = -motorLeftSpeedRpmSet; } else { motorRightSpeedRpmSet = motorSpeedMaxRpm/1.25; - motorLeftSpeedRpmSet = -motorRightSpeedRpmSet/1.25; + motorLeftSpeedRpmSet = -motorRightSpeedRpmSet; } } else if (stateNew == STATE_FORWARD){ @@ -1780,10 +1780,12 @@ void Robot::setNextState(byte stateNew, byte dir){ stateEndTime = millis() + random(motorRollTimeMin,motorRollTimeMax) + motorZeroSettleTime; if (dir == RIGHT){ motorLeftSpeedRpmSet = motorSpeedMaxRpm/1.25; - motorRightSpeedRpmSet = -motorLeftSpeedRpmSet/1.25; + motorRightSpeedRpmSet = -motorLeftSpeedRpmSet; } else { motorRightSpeedRpmSet = motorSpeedMaxRpm/1.25; - motorLeftSpeedRpmSet = -motorRightSpeedRpmSet/1.25; + motorLeftSpeedRpmSet = -motorRightSpeedRpmSet + + ; } } if (stateNew == STATE_REMOTE){ @@ -1920,6 +1922,8 @@ void Robot::receiveGPSTime(){ void Robot::checkTimer(){ if (millis() < nextTimeTimer) return; nextTimeTimer = millis() + 60000; + srand(time2minutes(datetime.time)); // initializes the pseudo-random number generator for c++ rand() + randomSeed(time2minutes(datetime.time)); // initializes the pseudo-random number generator for arduino random() receiveGPSTime(); boolean stopTimerTriggered = true; if (timerUse){ @@ -2073,7 +2077,7 @@ void Robot::checkPerimeterBoundary(){ if (perimeterTriggerTime != 0) { if (millis() >= perimeterTriggerTime){ perimeterTriggerTime = 0; - if ((rand() % 2) == 0){ + if ((rand() % 2) == 0){ setNextState(STATE_PERI_OUT_REV, LEFT); } else { setNextState(STATE_PERI_OUT_REV, RIGHT); @@ -2085,8 +2089,12 @@ void Robot::checkPerimeterBoundary(){ if (perimeterTriggerTime != 0) { if (millis() >= perimeterTriggerTime){ perimeterTriggerTime = 0; - setMotorPWM( 0, 0, false ); - setNextState(STATE_PERI_OUT_FORW, 0); + setMotorPWM( 0, 0, false ); + if ((rand() % 2) == 0){ + setNextState(STATE_PERI_OUT_FORW, LEFT); + } else { + setNextState(STATE_PERI_OUT_FORW, RIGHT); + } } } } @@ -2499,7 +2507,7 @@ void Robot::loop() { if (millis() >= stateEndTime) setNextState(STATE_FORWARD,0); break; case STATE_PERI_OUT_REV: - if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL,0); + if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); break; case STATE_PERI_OUT_ROLL: if (millis() >= stateEndTime) setNextState(STATE_FORWARD,0); From 3cc8fdc00011353c316782df173b753e698c54f2 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 3 Jun 2015 21:00:37 +0200 Subject: [PATCH 37/78] mower now uses perimeter as default new defaults: motorZeroSettleTime, motorRollTimeMax, motorRollTimeMin, motorReverseTime, motorForwTimeMax, sonarTriggerBelow, perimeterTrackRollTime, perimeterTrackRevTime --- ardumower/mower.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index a351f9261..bb00b89e7 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -134,11 +134,11 @@ Mower::Mower(){ motorSenseRightScale = 15.3; // motor right sense scale (mA=(ADC-zero)/scale) motorSenseLeftScale = 15.3; // motor left sense scale (mA=(ADC-zero)/scale) motorPowerIgnoreTime = 2000; // time to ignore motor power (ms) - motorZeroSettleTime = 2000 ; // how long (ms) to wait for motors to settle at zero speed - motorRollTimeMax = 3000; // max. roll time (ms) - motorRollTimeMin = 1000; //min. roll time (ms) should be smaller than motorRollTimeMax - motorReverseTime = 3500; // max. reverse time (ms) - motorForwTimeMax = 60000; // max. forward time (ms) / timeout + motorZeroSettleTime = 2500 ; // how long (ms) to wait for motors to settle at zero speed + motorRollTimeMax = 2000; // max. roll time (ms) + motorRollTimeMin = 750; //min. roll time (ms) should be smaller than motorRollTimeMax + motorReverseTime = 2200; // max. reverse time (ms) + motorForwTimeMax = 80000; // max. forward time (ms) / timeout motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 // ---- normal control --- @@ -174,12 +174,12 @@ Mower::Mower(){ sonarLeftUse = 1; sonarRightUse = 1; sonarCenterUse = 0; - sonarTriggerBelow = 900; // ultrasonic sensor trigger distance + sonarTriggerBelow = 1050; // ultrasonic sensor trigger distance // ------ perimeter --------------------------------- - perimeterUse = 0; // use perimeter? + perimeterUse = 1; // use perimeter? perimeterTriggerTimeout = 0; // perimeter trigger timeout when escaping from inside (ms) - perimeterTrackRollTime = 3000; // perimter tracking roll time (ms) - perimeterTrackRevTime = 2000; // perimter tracking reverse time (ms) + perimeterTrackRollTime = 2000; // perimter tracking roll time (ms) + perimeterTrackRevTime = 2200; // perimter tracking reverse time (ms) perimeterPID.Kp = 51.0; // perimeter PID controller perimeterPID.Ki = 12.5; perimeterPID.Kd = 0.8; From 49f6b895195d30b9204f1851cf77f1acf26fa5d3 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 3 Jun 2015 21:25:25 +0200 Subject: [PATCH 38/78] added missing values in Robot::printSettingSerial() --- ardumower/robot.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 647f77d85..50a0851ef 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -508,6 +508,11 @@ void Robot::printSettingSerial(){ // ----- GPS ------------------------------------------- Console.print (F("gpsUse : ")); Console.println(gpsUse); + Console.print (F("stuckedIfGpsSpeedBelow : ")); + Console.println(stuckedIfGpsSpeedBelow); + Console.print (F("gpsSpeedIgnoreTime : ")); + Console.println(gpsSpeedIgnoreTime); + // ----- other ----------------------------------------- Console.print (F("buttonUse : ")); From 70b35e673a51ebb2218125626711cea94633cb2d Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Thu, 4 Jun 2015 20:11:05 +0200 Subject: [PATCH 39/78] improved driving behavior after mower was outside perimeter --- ardumower/robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 50a0851ef..4a3e5d372 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2509,7 +2509,7 @@ void Robot::loop() { } break; case STATE_PERI_OUT_FORW: - if (millis() >= stateEndTime) setNextState(STATE_FORWARD,0); + if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); break; case STATE_PERI_OUT_REV: if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); From e17cf43b4c24da1e1540fea12d955f5da57832c2 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sat, 6 Jun 2015 10:34:28 +0200 Subject: [PATCH 40/78] new feature: mower now records statistics first version mow time total and mow time trip is recorded --- ardumower/pfod.cpp | 8 +++-- ardumower/robot.cpp | 85 ++++++++++++++++++++++++++++++++++++++------- ardumower/robot.h | 12 ++++++- 3 files changed, 90 insertions(+), 15 deletions(-) diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index c47c90865..d77febe8d 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -854,11 +854,15 @@ void RemoteControl::processFactorySettingsMenu(String pfodCmd){ } void RemoteControl::sendInfoMenu(boolean update){ - if (update) Bluetooth.print("{:"); else Bluetooth.print(F("{.Info")); + if (update) Bluetooth.print("{:"); else Bluetooth.print(F("{.Info` 1000")); Bluetooth.print(F("|v00~Ardumower ")); Bluetooth.print(VER); Bluetooth.print(F("|v01~Developer ")); - sendYesNo(robot->developerActive); + sendYesNo(robot->developerActive); + Bluetooth.print(F("|v02~Mowing time trip ")); + Bluetooth.print(robot->statsMowTimeMinutesTrip); + Bluetooth.print(F("|v03~Mowing time total ")); + Bluetooth.print(robot->statsMowTimeHoursTotal); //Bluetooth.print("|d01~Perimeter v"); //Bluetooth.print(verToString(readPerimeterVer())); //Bluetooth.print("|d02~IMU v"); diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 4a3e5d372..24f9dca32 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -25,11 +25,12 @@ #include "robot.h" -#define MAGIC 47 +#define MAGIC 48 #define ADDR_USER_SETTINGS 0 #define ADDR_ERR_COUNTERS 400 +#define ADDR_ROBOT_STATS 800 char* stateNames[]={"OFF ", "RC ", "FORW", "ROLL", "REV ", "CIRC", "ERR ", "PFND", "PTRK", "PROL", "PREV", "STAT", "CHARG", "STCHK", "STREV", "STROL", "STFOR", "MANU", "ROLW", "POUTFOR", "POUTREV", "POUTROLL"}; @@ -47,6 +48,7 @@ Robot::Robot(){ stateLast = stateCurr = stateNext = STATE_OFF; stateTime = 0; idleTimeSec = 0; + statsMowTimeTotalStart = false; mowPatternCurr = MOW_RANDOM; odometryLeft = odometryRight = 0; @@ -160,6 +162,8 @@ Robot::Robot(){ nextTimeMotorControl = 0; nextTimeMotorMowControl = 0; + nextTimeRobotStats = 0; + statsMowTimeMinutesTripCounter = 0; } @@ -171,6 +175,22 @@ char *Robot::mowPatternName(){ return mowPatternNames[mowPatternCurr]; } +void Robot::loadSaveRobotStats(boolean readflag){ + if (readflag) Console.println(F("loadSaveRobotStats: read")); + else Console.println(F("loadSaveRobotStats: write")); + int addr = ADDR_ROBOT_STATS; + short magic = 0; + if (!readflag) magic = MAGIC; + eereadwrite(readflag, addr, magic); // magic + if ((readflag) && (magic != MAGIC)) { + Console.println(F("PLEASE CHECK IF YOUR ROBOT STATS ARE CORRECT")); + } + eereadwrite(readflag, addr, statsMowTimeMinutesTrip); + eereadwrite(readflag, addr, statsMowTimeMinutesTotal); + Console.print(F("loadSaveRobotStats addrstop=")); + Console.println(addr); +} + void Robot::loadSaveErrorCounters(boolean readflag){ if (readflag) Console.println(F("loadSaveErrorCounters: read")); else Console.println(F("loadSaveErrorCounters: write")); @@ -287,7 +307,6 @@ void Robot::loadSaveUserSettings(boolean readflag){ eereadwrite(readflag, addr, gpsUse); eereadwrite(readflag, addr, stuckedIfGpsSpeedBelow); eereadwrite(readflag, addr, gpsSpeedIgnoreTime); - eereadwrite(readflag, addr, dropUse); Console.print(F("loadSaveUserSettings addrstop=")); Console.println(addr); @@ -529,7 +548,12 @@ void Robot::printSettingSerial(){ // ----- timer ----------------------------------------- Console.print (F("timerUse : ")); Console.println(timerUse); - + +// -------robot stats------------------------------------ + Console.print (F("statsMowTimeMinutesTrip : ")); + Console.println(statsMowTimeMinutesTrip); + Console.print (F("statsMowTimeMinutesTotal : ")); + Console.println(statsMowTimeMinutesTotal); return; } @@ -542,9 +566,17 @@ void Robot::saveUserSettings(){ } void Robot::deleteUserSettings(){ + loadSaveRobotStats(true); int addr = 0; Console.println(F("ALL USER SETTINGS ARE DELETED")); eewrite(addr, (short)0); // magic + loadSaveRobotStats(false); +} + +void Robot::deleteRobotStats(){ + statsMowTimeMinutesTrip = statsMowTimeMinutesTotal = 0; + loadSaveRobotStats(false); + Console.println(F("ALL ROBOT STATS ARE DELETED")); } void Robot::addErrorCounter(byte errType){ @@ -1052,6 +1084,7 @@ void Robot::setup() { setMotorPWM(0, 0, false); loadSaveErrorCounters(true); loadUserSettings(); + loadSaveRobotStats(true); setUserSwitches(); @@ -1767,7 +1800,8 @@ void Robot::setNextState(byte stateNew, byte dir){ } } else if (stateNew == STATE_FORWARD){ - motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; + motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; + statsMowTimeTotalStart = true; } else if (stateNew == STATE_REVERSE) { motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/1.25; @@ -1799,7 +1833,10 @@ void Robot::setNextState(byte stateNew, byte dir){ } if (stateNew == STATE_STATION){ setActuator(ACT_CHGRELAY, 0); - setDefaults(); + setDefaults(); + statsMowTimeTotalStart = false; + loadSaveRobotStats(false); + } if (stateNew == STATE_STATION_CHARGING){ setActuator(ACT_CHGRELAY, 1); @@ -1807,13 +1844,16 @@ void Robot::setNextState(byte stateNew, byte dir){ } if (stateNew == STATE_OFF){ setActuator(ACT_CHGRELAY, 0); - setDefaults(); + setDefaults(); + statsMowTimeTotalStart = false; + loadSaveRobotStats(false); } if (stateNew == STATE_ERROR){ motorMowEnable = false; motorLeftSpeedRpmSet = motorRightSpeedRpmSet = 0; setActuator(ACT_CHGRELAY, 0); - + statsMowTimeTotalStart = false; + //loadSaveRobotStats(false); } if (stateNew == STATE_PERI_FIND){ // find perimeter => drive half speed @@ -1867,6 +1907,7 @@ if (millis() < nextTimeCheckBattery) return; Console.println(F("triggered batSwitchOffIfIdle")); beep(1, true); loadSaveErrorCounters(false); + loadSaveRobotStats(false); idleTimeSec = BATTERY_SW_OFF; // flag to remember that battery is switched off Console.println(F("BATTERY switching OFF")); setActuator(ACT_BATTERY_SW, 0); // switch off battery @@ -1923,13 +1964,33 @@ void Robot::receiveGPSTime(){ } } +// check robot stats +void Robot::checkRobotStats(){ + if (millis() < nextTimeRobotStats) return; + nextTimeRobotStats = millis() + 60000; + Console.println(statsMowTimeTotalStart); + if (statsMowTimeTotalStart) { + statsMowTimeMinutesTripCounter++; + Console.println(statsMowTimeMinutesTripCounter); + statsMowTimeMinutesTrip = statsMowTimeMinutesTripCounter; + statsMowTimeMinutesTotal++; + statsMowTimeHoursTotal = statsMowTimeMinutesTotal/60; + } + else + if (statsMowTimeMinutesTripCounter != 0){ + statsMowTimeMinutesTripCounter = 0; + + } + +} + // check timer void Robot::checkTimer(){ if (millis() < nextTimeTimer) return; nextTimeTimer = millis() + 60000; srand(time2minutes(datetime.time)); // initializes the pseudo-random number generator for c++ rand() randomSeed(time2minutes(datetime.time)); // initializes the pseudo-random number generator for arduino random() - receiveGPSTime(); + receiveGPSTime(); boolean stopTimerTriggered = true; if (timerUse){ for (int i=0; i < MAX_TIMERS; i++){ @@ -2203,6 +2264,8 @@ void Robot::checkTilt(){ // check if mower is stucked ToDo: take HDOP into consideration if gpsSpeed is reliable void Robot::checkIfStucked(){ + if (millis() < nextTimeCheckIfStucked) return; + nextTimeCheckIfStucked = millis() + 300; if ((gpsUse) && (gps.hdop() < 500)) { //float gpsSpeedRead = gps.f_speed_kmph(); float gpsSpeed = gps.f_speed_kmph(); @@ -2325,10 +2388,8 @@ void Robot::loop() { if (rc.readSerial()) resetIdleTime(); readSensors(); checkBattery(); - if (millis() >= nextTimeCheckIfStucked){ - nextTimeCheckIfStucked = millis() + 300; - checkIfStucked(); - } + checkIfStucked(); + checkRobotStats(); if ((odometryUse) && (millis() >= nextTimeOdometryInfo)){ nextTimeOdometryInfo = millis() + 300; diff --git a/ardumower/robot.h b/ardumower/robot.h index 9ce38abcb..e6d4f94d8 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -431,7 +431,14 @@ class Robot unsigned long nextTimeButton ; unsigned long nextTimeErrorCounterReset; unsigned long nextTimeErrorBeep ; - // --------------------------------------- + // ------------robot stats--------------------------- + boolean statsMowTimeTotalStart ; + unsigned int statsMowTimeMinutesTripCounter ; + unsigned long statsMowTimeMinutesTotal ; + float statsMowTimeHoursTotal ; + int statsMowTimeMinutesTrip ; + unsigned long nextTimeRobotStats ; + // -------------------------------------------------- Robot(); // robot setup virtual void setup(); @@ -468,6 +475,7 @@ class Robot // settings virtual void deleteUserSettings(); virtual void saveUserSettings(); + virtual void deleteRobotStats(); // other virtual void beep(int numberOfBeeps, boolean shortbeep); @@ -482,6 +490,7 @@ class Robot virtual int rcValue(int ppmTime); virtual void loadSaveErrorCounters(boolean readflag); virtual void loadSaveUserSettings(boolean readflag); + virtual void loadSaveRobotStats(boolean readflag); virtual void loadUserSettings(); virtual void checkErrorCounter(); virtual void printSettingSerial(); @@ -509,6 +518,7 @@ class Robot virtual void checkTimeout(); virtual void checkOdometryFaults(); virtual void checkIfStucked(); + virtual void checkRobotStats(); // motor controllers virtual void motorControl(); From 3909208f39e490ee21e2993fd731ef51ac768fe2 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sat, 6 Jun 2015 14:40:00 +0200 Subject: [PATCH 41/78] added statsOverride option now it is possible to reenter accidentally lost mower stats --- ardumower/mower.cpp | 5 ++++- ardumower/pfod.cpp | 10 +++++++--- ardumower/robot.cpp | 21 ++++++++++++++------- ardumower/robot.h | 1 + 4 files changed, 26 insertions(+), 11 deletions(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index bb00b89e7..2b79a94eb 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -246,7 +246,10 @@ Mower::Mower(){ userSwitch3 = 0; // user-defined switch 3 (default value) // ----- timer ----------------------------------------- timerUse = 0; // use RTC and timer? - // ------ configuration end ------------------------------------------- + // ------ mower stats------------------------------------------- + statsOverride = false; // if set to true mower stats are overwritten - be careful + statsMowTimeMinutesTotal = 300; + // -----------configuration end------------------------------------- } diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index d77febe8d..538ae3e51 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -858,10 +858,12 @@ void RemoteControl::sendInfoMenu(boolean update){ Bluetooth.print(F("|v00~Ardumower ")); Bluetooth.print(VER); Bluetooth.print(F("|v01~Developer ")); - sendYesNo(robot->developerActive); - Bluetooth.print(F("|v02~Mowing time trip ")); + sendYesNo(robot->developerActive); + Bluetooth.print(F("|v04~Stats override ")); + sendYesNo(robot->statsOverride); + Bluetooth.print(F("|v02~Mowing time trip (min) ")); Bluetooth.print(robot->statsMowTimeMinutesTrip); - Bluetooth.print(F("|v03~Mowing time total ")); + Bluetooth.print(F("|v03~Mowing time total (hrs) ")); Bluetooth.print(robot->statsMowTimeHoursTotal); //Bluetooth.print("|d01~Perimeter v"); //Bluetooth.print(verToString(readPerimeterVer())); @@ -874,6 +876,8 @@ void RemoteControl::sendInfoMenu(boolean update){ void RemoteControl::processInfoMenu(String pfodCmd){ if (pfodCmd == "v01") robot->developerActive = !robot->developerActive; + if (pfodCmd == "v04") robot->statsOverride = !robot->statsOverride; robot->saveUserSettings(); + sendInfoMenu(true); } diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 24f9dca32..cbe283ff1 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -25,7 +25,7 @@ #include "robot.h" -#define MAGIC 48 +#define MAGIC 49 #define ADDR_USER_SETTINGS 0 @@ -307,7 +307,8 @@ void Robot::loadSaveUserSettings(boolean readflag){ eereadwrite(readflag, addr, gpsUse); eereadwrite(readflag, addr, stuckedIfGpsSpeedBelow); eereadwrite(readflag, addr, gpsSpeedIgnoreTime); - eereadwrite(readflag, addr, dropUse); + eereadwrite(readflag, addr, dropUse); + eereadwrite(readflag, addr, statsOverride); Console.print(F("loadSaveUserSettings addrstop=")); Console.println(addr); } @@ -1084,7 +1085,8 @@ void Robot::setup() { setMotorPWM(0, 0, false); loadSaveErrorCounters(true); loadUserSettings(); - loadSaveRobotStats(true); + if (!statsOverride) loadSaveRobotStats(true); + else loadSaveRobotStats(false); setUserSwitches(); @@ -1208,6 +1210,7 @@ void Robot::printMenu(){ Console.println(F("8=ADC calib (perimeter sender, charger must be off)")); Console.println(F("9=save user settings")); Console.println(F("l=load factory settings")); + Console.println(F("r=delete robot stats")); Console.println(F("x=read settings")); Console.println(F("e=delete all errors")); Console.println(F("0=exit")); @@ -1344,9 +1347,15 @@ void Robot::menu(){ printMenu(); break; case 'l': + printSettingSerial(); deleteUserSettings(); printMenu(); - break; + break; + case 'r': + printSettingSerial(); + deleteRobotStats(); + printMenu(); + break; case 'x': printSettingSerial(); Console.println(F("DONE")); @@ -1968,13 +1977,11 @@ void Robot::receiveGPSTime(){ void Robot::checkRobotStats(){ if (millis() < nextTimeRobotStats) return; nextTimeRobotStats = millis() + 60000; - Console.println(statsMowTimeTotalStart); + statsMowTimeHoursTotal = double(statsMowTimeMinutesTotal)/60; if (statsMowTimeTotalStart) { statsMowTimeMinutesTripCounter++; - Console.println(statsMowTimeMinutesTripCounter); statsMowTimeMinutesTrip = statsMowTimeMinutesTripCounter; statsMowTimeMinutesTotal++; - statsMowTimeHoursTotal = statsMowTimeMinutesTotal/60; } else if (statsMowTimeMinutesTripCounter != 0){ diff --git a/ardumower/robot.h b/ardumower/robot.h index e6d4f94d8..508800b25 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -432,6 +432,7 @@ class Robot unsigned long nextTimeErrorCounterReset; unsigned long nextTimeErrorBeep ; // ------------robot stats--------------------------- + boolean statsOverride ; boolean statsMowTimeTotalStart ; unsigned int statsMowTimeMinutesTripCounter ; unsigned long statsMowTimeMinutesTotal ; From 0e767b093cb9eb6c539d236d2141d97e0f5158de Mon Sep 17 00:00:00 2001 From: Uwe Date: Mon, 8 Jun 2015 22:16:53 +0200 Subject: [PATCH 42/78] Platine V1.3 --- .../Batteriespannung.sch | 39 +- .../Blockkondensatoren.sch | 313 +- .../Bohrl\303\266cher.sch" | 13 +- .../Dropsensor.sch | 17 +- .../Dual1_Ms_Links.sch | 33 +- .../Dual1_Ms_Rechts.sch | 33 +- .../Dual1_Vin.sch | 42 +- .../Dual2_Ms_Mower.sch | 33 +- .../Dual2_Vin.sch | 42 +- pcb/megashield_svn_1.3_geoeffnet/I2C.sch | 77 +- .../Ladespannung.sch | 39 +- .../Motortreiber.sch | 89 +- pcb/megashield_svn_1.3_geoeffnet/Odometry.sch | 17 +- .../Perimeter.sch | 17 +- pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch | 9 +- .../ReservePins.sch | 65 +- pcb/megashield_svn_1.3_geoeffnet/Sonar.sch | 25 +- .../Sonstiges.sch | 13 +- .../Stepdownwandler.sch | 721 +- .../Stiftleisten.sch | 175 +- .../UnterSpannungsSchutz.sch | 9 +- .../Verpols.B.sch | 5 +- .../Verpols.L.sch | 5 +- .../acs712.pretty/Diode_15KE33CA.kicad_mod | 6 +- ..._neue_Masse_mit_zweite_Lochreihe.kicad_mod | 78 + ...se_mit_zweite_Lochreihe_Uwe_Test.kicad_mod | 109 + .../ardumower mega shield svn | 30 + .../ardumower mega shield svn-cache.lib | 36 + .../ardumower mega shield svn.cmp | 451 +- .../ardumower mega shield svn.kicad_pcb | 8572 ++++++++-------- .../ardumower mega shield svn.kicad_pcb-bak | 8726 +++++++++-------- .../ardumower mega shield svn.net | 1982 ++-- .../ardumower mega shield svn.pro | 17 +- .../ardumower mega shield svn.rpt | 2 +- .../ardumower mega shield svn.sch | 316 +- .../ardumower mega shield svn.xml | 1153 ++- .../serielle Schnittstelle.sch | 102 +- 37 files changed, 12165 insertions(+), 11246 deletions(-) create mode 100644 pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe.kicad_mod create mode 100644 pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe_Uwe_Test.kicad_mod diff --git a/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch b/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch index a723f7dd2..8bd32ccec 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -58,10 +59,10 @@ $EndComp Wire Wire Line 6340 1755 6340 1970 $Comp -L GND #PWR0172 +L GND #PWR0177 U 1 1 554BD908 P 6340 2600 -F 0 "#PWR0172" H 6340 2350 60 0001 C CNN +F 0 "#PWR0177" H 6340 2350 60 0001 C CNN F 1 "GND" H 6340 2450 60 0000 C CNN F 2 "" H 6340 2600 60 0000 C CNN F 3 "" H 6340 2600 60 0000 C CNN @@ -71,10 +72,10 @@ $EndComp Wire Wire Line 6340 2470 6340 2600 $Comp -L GND #PWR0173 +L GND #PWR0178 U 1 1 554C8CE9 P 6660 2600 -F 0 "#PWR0173" H 6660 2350 60 0001 C CNN +F 0 "#PWR0178" H 6660 2350 60 0001 C CNN F 1 "GND" H 6660 2450 60 0000 C CNN F 2 "" H 6660 2600 60 0000 C CNN F 3 "" H 6660 2600 60 0000 C CNN @@ -85,8 +86,6 @@ Wire Wire Line 6660 2395 6660 2600 Wire Wire Line 6660 1870 6660 1995 -Wire Wire Line - 5885 1870 6900 1870 Connection ~ 6340 1870 Text HLabel 5475 1150 0 60 Input ~ 0 Batteriespannung @@ -97,32 +96,6 @@ Wire Wire Line Text GLabel 6900 1870 2 60 Output ~ 0 pinBatteryVoltage Connection ~ 6660 1870 -$Comp -L Kondensator CC5 -U 1 1 5558A3B2 -P 5885 2215 -F 0 "CC5" H 5935 2315 50 0000 L CNN -F 1 "100nF" H 5935 2115 50 0000 L CNN -F 2 "Capacitors_ThroughHole:C_Disc_D3_P2.5" H 5885 2215 60 0001 C CNN -F 3 "" H 5885 2215 60 0000 C CNN -F 4 "R: KERKO 100N" H 5885 2215 60 0001 C CNN "Bestellnummer" -F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N" H 5885 2215 60 0001 C CNN "Bestelllink" - 1 5885 2215 - 1 0 0 -1 -$EndComp -$Comp -L GND #PWR0174 -U 1 1 5558A47F -P 5885 2600 -F 0 "#PWR0174" H 5885 2350 60 0001 C CNN -F 1 "GND" H 5885 2450 60 0000 C CNN -F 2 "" H 5885 2600 60 0000 C CNN -F 3 "" H 5885 2600 60 0000 C CNN - 1 5885 2600 - 1 0 0 -1 -$EndComp -Wire Wire Line - 5885 2600 5885 2415 Wire Wire Line - 5885 1870 5885 2015 + 6900 1870 6340 1870 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch b/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch index 964867c1e..f124b853c 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -30,10 +31,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0179 +L +5V #PWR0182 U 1 1 5558DFBF P 2245 845 -F 0 "#PWR0179" H 2245 695 50 0001 C CNN +F 0 "#PWR0182" H 2245 695 50 0001 C CNN F 1 "+5V" H 2245 985 50 0000 C CNN F 2 "" H 2245 845 60 0000 C CNN F 3 "" H 2245 845 60 0000 C CNN @@ -41,10 +42,10 @@ F 3 "" H 2245 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0180 +L GND #PWR0183 U 1 1 5558E62E P 2245 1415 -F 0 "#PWR0180" H 2245 1165 50 0001 C CNN +F 0 "#PWR0183" H 2245 1165 50 0001 C CNN F 1 "GND" H 2245 1265 50 0000 C CNN F 2 "" H 2245 1415 60 0000 C CNN F 3 "" H 2245 1415 60 0000 C CNN @@ -69,10 +70,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0181 +L +5V #PWR0184 U 1 1 5558E6C8 P 1395 845 -F 0 "#PWR0181" H 1395 695 50 0001 C CNN +F 0 "#PWR0184" H 1395 695 50 0001 C CNN F 1 "+5V" H 1395 985 50 0000 C CNN F 2 "" H 1395 845 60 0000 C CNN F 3 "" H 1395 845 60 0000 C CNN @@ -80,10 +81,10 @@ F 3 "" H 1395 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0182 +L GND #PWR0185 U 1 1 5558E6CE P 1395 1415 -F 0 "#PWR0182" H 1395 1165 50 0001 C CNN +F 0 "#PWR0185" H 1395 1165 50 0001 C CNN F 1 "GND" H 1395 1265 50 0000 C CNN F 2 "" H 1395 1415 60 0000 C CNN F 3 "" H 1395 1415 60 0000 C CNN @@ -108,10 +109,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0183 +L +5V #PWR0186 U 1 1 5558E70B P 1815 840 -F 0 "#PWR0183" H 1815 690 50 0001 C CNN +F 0 "#PWR0186" H 1815 690 50 0001 C CNN F 1 "+5V" H 1815 980 50 0000 C CNN F 2 "" H 1815 840 60 0000 C CNN F 3 "" H 1815 840 60 0000 C CNN @@ -119,10 +120,10 @@ F 3 "" H 1815 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0184 +L GND #PWR0187 U 1 1 5558E711 P 1815 1410 -F 0 "#PWR0184" H 1815 1160 50 0001 C CNN +F 0 "#PWR0187" H 1815 1160 50 0001 C CNN F 1 "GND" H 1815 1260 50 0000 C CNN F 2 "" H 1815 1410 60 0000 C CNN F 3 "" H 1815 1410 60 0000 C CNN @@ -147,10 +148,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0185 +L +5V #PWR0188 U 1 1 5558E7FE P 3505 845 -F 0 "#PWR0185" H 3505 695 50 0001 C CNN +F 0 "#PWR0188" H 3505 695 50 0001 C CNN F 1 "+5V" H 3505 985 50 0000 C CNN F 2 "" H 3505 845 60 0000 C CNN F 3 "" H 3505 845 60 0000 C CNN @@ -158,10 +159,10 @@ F 3 "" H 3505 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0186 +L GND #PWR0189 U 1 1 5558E804 P 3505 1415 -F 0 "#PWR0186" H 3505 1165 50 0001 C CNN +F 0 "#PWR0189" H 3505 1165 50 0001 C CNN F 1 "GND" H 3505 1265 50 0000 C CNN F 2 "" H 3505 1415 60 0000 C CNN F 3 "" H 3505 1415 60 0000 C CNN @@ -186,10 +187,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0187 +L +5V #PWR0190 U 1 1 5558E814 P 2655 845 -F 0 "#PWR0187" H 2655 695 50 0001 C CNN +F 0 "#PWR0190" H 2655 695 50 0001 C CNN F 1 "+5V" H 2655 985 50 0000 C CNN F 2 "" H 2655 845 60 0000 C CNN F 3 "" H 2655 845 60 0000 C CNN @@ -197,10 +198,10 @@ F 3 "" H 2655 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0188 +L GND #PWR0191 U 1 1 5558E81A P 2655 1415 -F 0 "#PWR0188" H 2655 1165 50 0001 C CNN +F 0 "#PWR0191" H 2655 1165 50 0001 C CNN F 1 "GND" H 2655 1265 50 0000 C CNN F 2 "" H 2655 1415 60 0000 C CNN F 3 "" H 2655 1415 60 0000 C CNN @@ -225,10 +226,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0189 +L +5V #PWR0192 U 1 1 5558E82A P 3075 840 -F 0 "#PWR0189" H 3075 690 50 0001 C CNN +F 0 "#PWR0192" H 3075 690 50 0001 C CNN F 1 "+5V" H 3075 980 50 0000 C CNN F 2 "" H 3075 840 60 0000 C CNN F 3 "" H 3075 840 60 0000 C CNN @@ -236,10 +237,10 @@ F 3 "" H 3075 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0190 +L GND #PWR0193 U 1 1 5558E830 P 3075 1410 -F 0 "#PWR0190" H 3075 1160 50 0001 C CNN +F 0 "#PWR0193" H 3075 1160 50 0001 C CNN F 1 "GND" H 3075 1260 50 0000 C CNN F 2 "" H 3075 1410 60 0000 C CNN F 3 "" H 3075 1410 60 0000 C CNN @@ -264,10 +265,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0191 +L +5V #PWR0194 U 1 1 5558EA92 P 4765 845 -F 0 "#PWR0191" H 4765 695 50 0001 C CNN +F 0 "#PWR0194" H 4765 695 50 0001 C CNN F 1 "+5V" H 4765 985 50 0000 C CNN F 2 "" H 4765 845 60 0000 C CNN F 3 "" H 4765 845 60 0000 C CNN @@ -275,10 +276,10 @@ F 3 "" H 4765 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0192 +L GND #PWR0195 U 1 1 5558EA98 P 4765 1415 -F 0 "#PWR0192" H 4765 1165 50 0001 C CNN +F 0 "#PWR0195" H 4765 1165 50 0001 C CNN F 1 "GND" H 4765 1265 50 0000 C CNN F 2 "" H 4765 1415 60 0000 C CNN F 3 "" H 4765 1415 60 0000 C CNN @@ -303,10 +304,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0193 +L +5V #PWR0196 U 1 1 5558EAA8 P 3915 845 -F 0 "#PWR0193" H 3915 695 50 0001 C CNN +F 0 "#PWR0196" H 3915 695 50 0001 C CNN F 1 "+5V" H 3915 985 50 0000 C CNN F 2 "" H 3915 845 60 0000 C CNN F 3 "" H 3915 845 60 0000 C CNN @@ -314,10 +315,10 @@ F 3 "" H 3915 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0194 +L GND #PWR0197 U 1 1 5558EAAE P 3915 1415 -F 0 "#PWR0194" H 3915 1165 50 0001 C CNN +F 0 "#PWR0197" H 3915 1165 50 0001 C CNN F 1 "GND" H 3915 1265 50 0000 C CNN F 2 "" H 3915 1415 60 0000 C CNN F 3 "" H 3915 1415 60 0000 C CNN @@ -342,10 +343,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0195 +L +5V #PWR0198 U 1 1 5558EABE P 4335 840 -F 0 "#PWR0195" H 4335 690 50 0001 C CNN +F 0 "#PWR0198" H 4335 690 50 0001 C CNN F 1 "+5V" H 4335 980 50 0000 C CNN F 2 "" H 4335 840 60 0000 C CNN F 3 "" H 4335 840 60 0000 C CNN @@ -353,10 +354,10 @@ F 3 "" H 4335 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0196 +L GND #PWR0199 U 1 1 5558EAC4 P 4335 1410 -F 0 "#PWR0196" H 4335 1160 50 0001 C CNN +F 0 "#PWR0199" H 4335 1160 50 0001 C CNN F 1 "GND" H 4335 1260 50 0000 C CNN F 2 "" H 4335 1410 60 0000 C CNN F 3 "" H 4335 1410 60 0000 C CNN @@ -381,10 +382,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0197 +L +5V #PWR0200 U 1 1 5558EAD4 P 6025 845 -F 0 "#PWR0197" H 6025 695 50 0001 C CNN +F 0 "#PWR0200" H 6025 695 50 0001 C CNN F 1 "+5V" H 6025 985 50 0000 C CNN F 2 "" H 6025 845 60 0000 C CNN F 3 "" H 6025 845 60 0000 C CNN @@ -392,10 +393,10 @@ F 3 "" H 6025 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0198 +L GND #PWR0201 U 1 1 5558EADA P 6025 1415 -F 0 "#PWR0198" H 6025 1165 50 0001 C CNN +F 0 "#PWR0201" H 6025 1165 50 0001 C CNN F 1 "GND" H 6025 1265 50 0000 C CNN F 2 "" H 6025 1415 60 0000 C CNN F 3 "" H 6025 1415 60 0000 C CNN @@ -420,10 +421,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0199 +L +5V #PWR0202 U 1 1 5558EAEA P 5175 845 -F 0 "#PWR0199" H 5175 695 50 0001 C CNN +F 0 "#PWR0202" H 5175 695 50 0001 C CNN F 1 "+5V" H 5175 985 50 0000 C CNN F 2 "" H 5175 845 60 0000 C CNN F 3 "" H 5175 845 60 0000 C CNN @@ -431,10 +432,10 @@ F 3 "" H 5175 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0200 +L GND #PWR0203 U 1 1 5558EAF0 P 5175 1415 -F 0 "#PWR0200" H 5175 1165 50 0001 C CNN +F 0 "#PWR0203" H 5175 1165 50 0001 C CNN F 1 "GND" H 5175 1265 50 0000 C CNN F 2 "" H 5175 1415 60 0000 C CNN F 3 "" H 5175 1415 60 0000 C CNN @@ -459,10 +460,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0201 +L +5V #PWR0204 U 1 1 5558EB00 P 5595 840 -F 0 "#PWR0201" H 5595 690 50 0001 C CNN +F 0 "#PWR0204" H 5595 690 50 0001 C CNN F 1 "+5V" H 5595 980 50 0000 C CNN F 2 "" H 5595 840 60 0000 C CNN F 3 "" H 5595 840 60 0000 C CNN @@ -470,10 +471,10 @@ F 3 "" H 5595 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0202 +L GND #PWR0205 U 1 1 5558EB06 P 5595 1410 -F 0 "#PWR0202" H 5595 1160 50 0001 C CNN +F 0 "#PWR0205" H 5595 1160 50 0001 C CNN F 1 "GND" H 5595 1260 50 0000 C CNN F 2 "" H 5595 1410 60 0000 C CNN F 3 "" H 5595 1410 60 0000 C CNN @@ -498,10 +499,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0203 +L +5V #PWR0206 U 1 1 555C50C8 P 1065 845 -F 0 "#PWR0203" H 1065 695 50 0001 C CNN +F 0 "#PWR0206" H 1065 695 50 0001 C CNN F 1 "+5V" H 1065 985 50 0000 C CNN F 2 "" H 1065 845 60 0000 C CNN F 3 "" H 1065 845 60 0000 C CNN @@ -509,10 +510,10 @@ F 3 "" H 1065 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0204 +L GND #PWR0207 U 1 1 555C50CE P 1065 1415 -F 0 "#PWR0204" H 1065 1165 50 0001 C CNN +F 0 "#PWR0207" H 1065 1165 50 0001 C CNN F 1 "GND" H 1065 1265 50 0000 C CNN F 2 "" H 1065 1415 60 0000 C CNN F 3 "" H 1065 1415 60 0000 C CNN @@ -537,10 +538,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0205 +L +5V #PWR0208 U 1 1 555CF775 P 6410 840 -F 0 "#PWR0205" H 6410 690 50 0001 C CNN +F 0 "#PWR0208" H 6410 690 50 0001 C CNN F 1 "+5V" H 6410 980 50 0000 C CNN F 2 "" H 6410 840 60 0000 C CNN F 3 "" H 6410 840 60 0000 C CNN @@ -548,10 +549,10 @@ F 3 "" H 6410 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0206 +L GND #PWR0209 U 1 1 555CF77B P 6410 1410 -F 0 "#PWR0206" H 6410 1160 50 0001 C CNN +F 0 "#PWR0209" H 6410 1160 50 0001 C CNN F 1 "GND" H 6410 1260 50 0000 C CNN F 2 "" H 6410 1410 60 0000 C CNN F 3 "" H 6410 1410 60 0000 C CNN @@ -576,10 +577,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0207 +L +5V #PWR0210 U 1 1 555CF78B P 7670 840 -F 0 "#PWR0207" H 7670 690 50 0001 C CNN +F 0 "#PWR0210" H 7670 690 50 0001 C CNN F 1 "+5V" H 7670 980 50 0000 C CNN F 2 "" H 7670 840 60 0000 C CNN F 3 "" H 7670 840 60 0000 C CNN @@ -587,10 +588,10 @@ F 3 "" H 7670 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0208 +L GND #PWR0211 U 1 1 555CF791 P 7670 1410 -F 0 "#PWR0208" H 7670 1160 50 0001 C CNN +F 0 "#PWR0211" H 7670 1160 50 0001 C CNN F 1 "GND" H 7670 1260 50 0000 C CNN F 2 "" H 7670 1410 60 0000 C CNN F 3 "" H 7670 1410 60 0000 C CNN @@ -615,10 +616,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0209 +L +5V #PWR0212 U 1 1 555CF7A1 P 6820 840 -F 0 "#PWR0209" H 6820 690 50 0001 C CNN +F 0 "#PWR0212" H 6820 690 50 0001 C CNN F 1 "+5V" H 6820 980 50 0000 C CNN F 2 "" H 6820 840 60 0000 C CNN F 3 "" H 6820 840 60 0000 C CNN @@ -626,10 +627,10 @@ F 3 "" H 6820 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0210 +L GND #PWR0213 U 1 1 555CF7A7 P 6820 1410 -F 0 "#PWR0210" H 6820 1160 50 0001 C CNN +F 0 "#PWR0213" H 6820 1160 50 0001 C CNN F 1 "GND" H 6820 1260 50 0000 C CNN F 2 "" H 6820 1410 60 0000 C CNN F 3 "" H 6820 1410 60 0000 C CNN @@ -654,10 +655,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0211 +L +5V #PWR0214 U 1 1 555CF7B7 P 7240 835 -F 0 "#PWR0211" H 7240 685 50 0001 C CNN +F 0 "#PWR0214" H 7240 685 50 0001 C CNN F 1 "+5V" H 7240 975 50 0000 C CNN F 2 "" H 7240 835 60 0000 C CNN F 3 "" H 7240 835 60 0000 C CNN @@ -665,10 +666,10 @@ F 3 "" H 7240 835 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0212 +L GND #PWR0215 U 1 1 555CF7BD P 7240 1405 -F 0 "#PWR0212" H 7240 1155 50 0001 C CNN +F 0 "#PWR0215" H 7240 1155 50 0001 C CNN F 1 "GND" H 7240 1255 50 0000 C CNN F 2 "" H 7240 1405 60 0000 C CNN F 3 "" H 7240 1405 60 0000 C CNN @@ -693,10 +694,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0213 +L +5V #PWR0216 U 1 1 555CF7CD P 8930 840 -F 0 "#PWR0213" H 8930 690 50 0001 C CNN +F 0 "#PWR0216" H 8930 690 50 0001 C CNN F 1 "+5V" H 8930 980 50 0000 C CNN F 2 "" H 8930 840 60 0000 C CNN F 3 "" H 8930 840 60 0000 C CNN @@ -704,10 +705,10 @@ F 3 "" H 8930 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0214 +L GND #PWR0217 U 1 1 555CF7D3 P 8930 1410 -F 0 "#PWR0214" H 8930 1160 50 0001 C CNN +F 0 "#PWR0217" H 8930 1160 50 0001 C CNN F 1 "GND" H 8930 1260 50 0000 C CNN F 2 "" H 8930 1410 60 0000 C CNN F 3 "" H 8930 1410 60 0000 C CNN @@ -732,10 +733,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0215 +L +5V #PWR0218 U 1 1 555CF7E3 P 8080 840 -F 0 "#PWR0215" H 8080 690 50 0001 C CNN +F 0 "#PWR0218" H 8080 690 50 0001 C CNN F 1 "+5V" H 8080 980 50 0000 C CNN F 2 "" H 8080 840 60 0000 C CNN F 3 "" H 8080 840 60 0000 C CNN @@ -743,10 +744,10 @@ F 3 "" H 8080 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0216 +L GND #PWR0219 U 1 1 555CF7E9 P 8080 1410 -F 0 "#PWR0216" H 8080 1160 50 0001 C CNN +F 0 "#PWR0219" H 8080 1160 50 0001 C CNN F 1 "GND" H 8080 1260 50 0000 C CNN F 2 "" H 8080 1410 60 0000 C CNN F 3 "" H 8080 1410 60 0000 C CNN @@ -771,10 +772,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0217 +L +5V #PWR0220 U 1 1 555CF7F9 P 8500 835 -F 0 "#PWR0217" H 8500 685 50 0001 C CNN +F 0 "#PWR0220" H 8500 685 50 0001 C CNN F 1 "+5V" H 8500 975 50 0000 C CNN F 2 "" H 8500 835 60 0000 C CNN F 3 "" H 8500 835 60 0000 C CNN @@ -782,10 +783,10 @@ F 3 "" H 8500 835 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0218 +L GND #PWR0221 U 1 1 555CF7FF P 8500 1405 -F 0 "#PWR0218" H 8500 1155 50 0001 C CNN +F 0 "#PWR0221" H 8500 1155 50 0001 C CNN F 1 "GND" H 8500 1255 50 0000 C CNN F 2 "" H 8500 1405 60 0000 C CNN F 3 "" H 8500 1405 60 0000 C CNN @@ -810,10 +811,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0219 +L +5V #PWR0222 U 1 1 555CF80F P 10190 840 -F 0 "#PWR0219" H 10190 690 50 0001 C CNN +F 0 "#PWR0222" H 10190 690 50 0001 C CNN F 1 "+5V" H 10190 980 50 0000 C CNN F 2 "" H 10190 840 60 0000 C CNN F 3 "" H 10190 840 60 0000 C CNN @@ -821,10 +822,10 @@ F 3 "" H 10190 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0220 +L GND #PWR0223 U 1 1 555CF815 P 10190 1410 -F 0 "#PWR0220" H 10190 1160 50 0001 C CNN +F 0 "#PWR0223" H 10190 1160 50 0001 C CNN F 1 "GND" H 10190 1260 50 0000 C CNN F 2 "" H 10190 1410 60 0000 C CNN F 3 "" H 10190 1410 60 0000 C CNN @@ -849,10 +850,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0221 +L +5V #PWR0224 U 1 1 555CF825 P 9340 840 -F 0 "#PWR0221" H 9340 690 50 0001 C CNN +F 0 "#PWR0224" H 9340 690 50 0001 C CNN F 1 "+5V" H 9340 980 50 0000 C CNN F 2 "" H 9340 840 60 0000 C CNN F 3 "" H 9340 840 60 0000 C CNN @@ -860,10 +861,10 @@ F 3 "" H 9340 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0222 +L GND #PWR0225 U 1 1 555CF82B P 9340 1410 -F 0 "#PWR0222" H 9340 1160 50 0001 C CNN +F 0 "#PWR0225" H 9340 1160 50 0001 C CNN F 1 "GND" H 9340 1260 50 0000 C CNN F 2 "" H 9340 1410 60 0000 C CNN F 3 "" H 9340 1410 60 0000 C CNN @@ -888,10 +889,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0223 +L +5V #PWR0226 U 1 1 555CF83B P 9760 835 -F 0 "#PWR0223" H 9760 685 50 0001 C CNN +F 0 "#PWR0226" H 9760 685 50 0001 C CNN F 1 "+5V" H 9760 975 50 0000 C CNN F 2 "" H 9760 835 60 0000 C CNN F 3 "" H 9760 835 60 0000 C CNN @@ -899,10 +900,10 @@ F 3 "" H 9760 835 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0224 +L GND #PWR0227 U 1 1 555CF841 P 9760 1405 -F 0 "#PWR0224" H 9760 1155 50 0001 C CNN +F 0 "#PWR0227" H 9760 1155 50 0001 C CNN F 1 "GND" H 9760 1255 50 0000 C CNN F 2 "" H 9760 1405 60 0000 C CNN F 3 "" H 9760 1405 60 0000 C CNN @@ -927,10 +928,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0225 +L +5V #PWR0228 U 1 1 555FA4FB P 1870 1930 -F 0 "#PWR0225" H 1870 1780 50 0001 C CNN +F 0 "#PWR0228" H 1870 1780 50 0001 C CNN F 1 "+5V" H 1870 2070 50 0000 C CNN F 2 "" H 1870 1930 60 0000 C CNN F 3 "" H 1870 1930 60 0000 C CNN @@ -938,10 +939,10 @@ F 3 "" H 1870 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0226 +L GND #PWR0229 U 1 1 555FA501 P 1870 2500 -F 0 "#PWR0226" H 1870 2250 50 0001 C CNN +F 0 "#PWR0229" H 1870 2250 50 0001 C CNN F 1 "GND" H 1870 2350 50 0000 C CNN F 2 "" H 1870 2500 60 0000 C CNN F 3 "" H 1870 2500 60 0000 C CNN @@ -966,10 +967,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0227 +L +5V #PWR0230 U 1 1 555FA511 P 1020 1930 -F 0 "#PWR0227" H 1020 1780 50 0001 C CNN +F 0 "#PWR0230" H 1020 1780 50 0001 C CNN F 1 "+5V" H 1020 2070 50 0000 C CNN F 2 "" H 1020 1930 60 0000 C CNN F 3 "" H 1020 1930 60 0000 C CNN @@ -977,10 +978,10 @@ F 3 "" H 1020 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0228 +L GND #PWR0231 U 1 1 555FA517 P 1020 2500 -F 0 "#PWR0228" H 1020 2250 50 0001 C CNN +F 0 "#PWR0231" H 1020 2250 50 0001 C CNN F 1 "GND" H 1020 2350 50 0000 C CNN F 2 "" H 1020 2500 60 0000 C CNN F 3 "" H 1020 2500 60 0000 C CNN @@ -1005,10 +1006,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0229 +L +5V #PWR0232 U 1 1 555FA527 P 1440 1925 -F 0 "#PWR0229" H 1440 1775 50 0001 C CNN +F 0 "#PWR0232" H 1440 1775 50 0001 C CNN F 1 "+5V" H 1440 2065 50 0000 C CNN F 2 "" H 1440 1925 60 0000 C CNN F 3 "" H 1440 1925 60 0000 C CNN @@ -1016,10 +1017,10 @@ F 3 "" H 1440 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0230 +L GND #PWR0233 U 1 1 555FA52D P 1440 2495 -F 0 "#PWR0230" H 1440 2245 50 0001 C CNN +F 0 "#PWR0233" H 1440 2245 50 0001 C CNN F 1 "GND" H 1440 2345 50 0000 C CNN F 2 "" H 1440 2495 60 0000 C CNN F 3 "" H 1440 2495 60 0000 C CNN @@ -1044,10 +1045,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0231 +L +5V #PWR0234 U 1 1 555FA53D P 3130 1930 -F 0 "#PWR0231" H 3130 1780 50 0001 C CNN +F 0 "#PWR0234" H 3130 1780 50 0001 C CNN F 1 "+5V" H 3130 2070 50 0000 C CNN F 2 "" H 3130 1930 60 0000 C CNN F 3 "" H 3130 1930 60 0000 C CNN @@ -1055,10 +1056,10 @@ F 3 "" H 3130 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0232 +L GND #PWR0235 U 1 1 555FA543 P 3130 2500 -F 0 "#PWR0232" H 3130 2250 50 0001 C CNN +F 0 "#PWR0235" H 3130 2250 50 0001 C CNN F 1 "GND" H 3130 2350 50 0000 C CNN F 2 "" H 3130 2500 60 0000 C CNN F 3 "" H 3130 2500 60 0000 C CNN @@ -1083,10 +1084,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0233 +L +5V #PWR0236 U 1 1 555FA553 P 2280 1930 -F 0 "#PWR0233" H 2280 1780 50 0001 C CNN +F 0 "#PWR0236" H 2280 1780 50 0001 C CNN F 1 "+5V" H 2280 2070 50 0000 C CNN F 2 "" H 2280 1930 60 0000 C CNN F 3 "" H 2280 1930 60 0000 C CNN @@ -1094,10 +1095,10 @@ F 3 "" H 2280 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0234 +L GND #PWR0237 U 1 1 555FA559 P 2280 2500 -F 0 "#PWR0234" H 2280 2250 50 0001 C CNN +F 0 "#PWR0237" H 2280 2250 50 0001 C CNN F 1 "GND" H 2280 2350 50 0000 C CNN F 2 "" H 2280 2500 60 0000 C CNN F 3 "" H 2280 2500 60 0000 C CNN @@ -1122,10 +1123,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0235 +L +5V #PWR0238 U 1 1 555FA569 P 2700 1925 -F 0 "#PWR0235" H 2700 1775 50 0001 C CNN +F 0 "#PWR0238" H 2700 1775 50 0001 C CNN F 1 "+5V" H 2700 2065 50 0000 C CNN F 2 "" H 2700 1925 60 0000 C CNN F 3 "" H 2700 1925 60 0000 C CNN @@ -1133,10 +1134,10 @@ F 3 "" H 2700 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0236 +L GND #PWR0239 U 1 1 555FA56F P 2700 2495 -F 0 "#PWR0236" H 2700 2245 50 0001 C CNN +F 0 "#PWR0239" H 2700 2245 50 0001 C CNN F 1 "GND" H 2700 2345 50 0000 C CNN F 2 "" H 2700 2495 60 0000 C CNN F 3 "" H 2700 2495 60 0000 C CNN @@ -1161,10 +1162,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0237 +L +5V #PWR0240 U 1 1 555FA57F P 4390 1930 -F 0 "#PWR0237" H 4390 1780 50 0001 C CNN +F 0 "#PWR0240" H 4390 1780 50 0001 C CNN F 1 "+5V" H 4390 2070 50 0000 C CNN F 2 "" H 4390 1930 60 0000 C CNN F 3 "" H 4390 1930 60 0000 C CNN @@ -1172,10 +1173,10 @@ F 3 "" H 4390 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0238 +L GND #PWR0241 U 1 1 555FA585 P 4390 2500 -F 0 "#PWR0238" H 4390 2250 50 0001 C CNN +F 0 "#PWR0241" H 4390 2250 50 0001 C CNN F 1 "GND" H 4390 2350 50 0000 C CNN F 2 "" H 4390 2500 60 0000 C CNN F 3 "" H 4390 2500 60 0000 C CNN @@ -1200,10 +1201,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0239 +L +5V #PWR0242 U 1 1 555FA595 P 3540 1930 -F 0 "#PWR0239" H 3540 1780 50 0001 C CNN +F 0 "#PWR0242" H 3540 1780 50 0001 C CNN F 1 "+5V" H 3540 2070 50 0000 C CNN F 2 "" H 3540 1930 60 0000 C CNN F 3 "" H 3540 1930 60 0000 C CNN @@ -1211,10 +1212,10 @@ F 3 "" H 3540 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0240 +L GND #PWR0243 U 1 1 555FA59B P 3540 2500 -F 0 "#PWR0240" H 3540 2250 50 0001 C CNN +F 0 "#PWR0243" H 3540 2250 50 0001 C CNN F 1 "GND" H 3540 2350 50 0000 C CNN F 2 "" H 3540 2500 60 0000 C CNN F 3 "" H 3540 2500 60 0000 C CNN @@ -1239,10 +1240,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0241 +L +5V #PWR0244 U 1 1 555FA5AB P 3960 1925 -F 0 "#PWR0241" H 3960 1775 50 0001 C CNN +F 0 "#PWR0244" H 3960 1775 50 0001 C CNN F 1 "+5V" H 3960 2065 50 0000 C CNN F 2 "" H 3960 1925 60 0000 C CNN F 3 "" H 3960 1925 60 0000 C CNN @@ -1250,10 +1251,10 @@ F 3 "" H 3960 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0242 +L GND #PWR0245 U 1 1 555FA5B1 P 3960 2495 -F 0 "#PWR0242" H 3960 2245 50 0001 C CNN +F 0 "#PWR0245" H 3960 2245 50 0001 C CNN F 1 "GND" H 3960 2345 50 0000 C CNN F 2 "" H 3960 2495 60 0000 C CNN F 3 "" H 3960 2495 60 0000 C CNN @@ -1278,10 +1279,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0243 +L GND #PWR0246 U 1 1 55609E08 P 1020 3685 -F 0 "#PWR0243" H 1020 3435 50 0001 C CNN +F 0 "#PWR0246" H 1020 3435 50 0001 C CNN F 1 "GND" H 1020 3535 50 0000 C CNN F 2 "" H 1020 3685 60 0000 C CNN F 3 "" H 1020 3685 60 0000 C CNN @@ -1306,10 +1307,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0244 +L GND #PWR0247 U 1 1 55609E1E P 2280 3685 -F 0 "#PWR0244" H 2280 3435 50 0001 C CNN +F 0 "#PWR0247" H 2280 3435 50 0001 C CNN F 1 "GND" H 2280 3535 50 0000 C CNN F 2 "" H 2280 3685 60 0000 C CNN F 3 "" H 2280 3685 60 0000 C CNN @@ -1334,10 +1335,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0245 +L GND #PWR0248 U 1 1 55609E34 P 1430 3685 -F 0 "#PWR0245" H 1430 3435 50 0001 C CNN +F 0 "#PWR0248" H 1430 3435 50 0001 C CNN F 1 "GND" H 1430 3535 50 0000 C CNN F 2 "" H 1430 3685 60 0000 C CNN F 3 "" H 1430 3685 60 0000 C CNN @@ -1362,10 +1363,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0246 +L GND #PWR0249 U 1 1 55609E4A P 1850 3680 -F 0 "#PWR0246" H 1850 3430 50 0001 C CNN +F 0 "#PWR0249" H 1850 3430 50 0001 C CNN F 1 "GND" H 1850 3530 50 0000 C CNN F 2 "" H 1850 3680 60 0000 C CNN F 3 "" H 1850 3680 60 0000 C CNN @@ -1377,10 +1378,10 @@ Wire Wire Line Wire Wire Line 1850 3110 1850 3195 $Comp -L +3.3V #PWR0247 +L +3.3V #PWR0250 U 1 1 5560A02A P 1020 3115 -F 0 "#PWR0247" H 1020 2965 50 0001 C CNN +F 0 "#PWR0250" H 1020 2965 50 0001 C CNN F 1 "+3.3V" H 1020 3255 50 0000 C CNN F 2 "" H 1020 3115 60 0000 C CNN F 3 "" H 1020 3115 60 0000 C CNN @@ -1388,10 +1389,10 @@ F 3 "" H 1020 3115 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0248 +L +3.3V #PWR0251 U 1 1 5560A179 P 1430 3115 -F 0 "#PWR0248" H 1430 2965 50 0001 C CNN +F 0 "#PWR0251" H 1430 2965 50 0001 C CNN F 1 "+3.3V" H 1430 3255 50 0000 C CNN F 2 "" H 1430 3115 60 0000 C CNN F 3 "" H 1430 3115 60 0000 C CNN @@ -1399,10 +1400,10 @@ F 3 "" H 1430 3115 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0249 +L +3.3V #PWR0252 U 1 1 5560A25C P 1850 3110 -F 0 "#PWR0249" H 1850 2960 50 0001 C CNN +F 0 "#PWR0252" H 1850 2960 50 0001 C CNN F 1 "+3.3V" H 1850 3250 50 0000 C CNN F 2 "" H 1850 3110 60 0000 C CNN F 3 "" H 1850 3110 60 0000 C CNN @@ -1410,10 +1411,10 @@ F 3 "" H 1850 3110 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0250 +L +3.3V #PWR0253 U 1 1 5560A31B P 2280 3115 -F 0 "#PWR0250" H 2280 2965 50 0001 C CNN +F 0 "#PWR0253" H 2280 2965 50 0001 C CNN F 1 "+3.3V" H 2280 3255 50 0000 C CNN F 2 "" H 2280 3115 60 0000 C CNN F 3 "" H 2280 3115 60 0000 C CNN @@ -1434,10 +1435,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0251 +L +5V #PWR0254 U 1 1 5560A613 P 5630 1925 -F 0 "#PWR0251" H 5630 1775 50 0001 C CNN +F 0 "#PWR0254" H 5630 1775 50 0001 C CNN F 1 "+5V" H 5630 2065 50 0000 C CNN F 2 "" H 5630 1925 60 0000 C CNN F 3 "" H 5630 1925 60 0000 C CNN @@ -1445,10 +1446,10 @@ F 3 "" H 5630 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0252 +L GND #PWR0255 U 1 1 5560A619 P 5630 2495 -F 0 "#PWR0252" H 5630 2245 50 0001 C CNN +F 0 "#PWR0255" H 5630 2245 50 0001 C CNN F 1 "GND" H 5630 2345 50 0000 C CNN F 2 "" H 5630 2495 60 0000 C CNN F 3 "" H 5630 2495 60 0000 C CNN @@ -1473,10 +1474,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0253 +L +5V #PWR0256 U 1 1 5560A629 P 4780 1925 -F 0 "#PWR0253" H 4780 1775 50 0001 C CNN +F 0 "#PWR0256" H 4780 1775 50 0001 C CNN F 1 "+5V" H 4780 2065 50 0000 C CNN F 2 "" H 4780 1925 60 0000 C CNN F 3 "" H 4780 1925 60 0000 C CNN @@ -1484,10 +1485,10 @@ F 3 "" H 4780 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0254 +L GND #PWR0257 U 1 1 5560A62F P 4780 2495 -F 0 "#PWR0254" H 4780 2245 50 0001 C CNN +F 0 "#PWR0257" H 4780 2245 50 0001 C CNN F 1 "GND" H 4780 2345 50 0000 C CNN F 2 "" H 4780 2495 60 0000 C CNN F 3 "" H 4780 2495 60 0000 C CNN @@ -1512,10 +1513,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0255 +L +5V #PWR0258 U 1 1 5560A63F P 5200 1920 -F 0 "#PWR0255" H 5200 1770 50 0001 C CNN +F 0 "#PWR0258" H 5200 1770 50 0001 C CNN F 1 "+5V" H 5200 2060 50 0000 C CNN F 2 "" H 5200 1920 60 0000 C CNN F 3 "" H 5200 1920 60 0000 C CNN @@ -1523,10 +1524,10 @@ F 3 "" H 5200 1920 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0256 +L GND #PWR0259 U 1 1 5560A645 P 5200 2490 -F 0 "#PWR0256" H 5200 2240 50 0001 C CNN +F 0 "#PWR0259" H 5200 2240 50 0001 C CNN F 1 "GND" H 5200 2340 50 0000 C CNN F 2 "" H 5200 2490 60 0000 C CNN F 3 "" H 5200 2490 60 0000 C CNN diff --git "a/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" "b/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" index f3705b043..174388f39 100644 --- "a/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" +++ "b/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -194,10 +195,10 @@ F 3 "" H 3915 1610 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0114 +L GND #PWR0116 U 1 1 553D45B9 P 3820 1070 -F 0 "#PWR0114" H 3820 820 60 0001 C CNN +F 0 "#PWR0116" H 3820 820 60 0001 C CNN F 1 "GND" V 3820 855 60 0000 C CNN F 2 "" H 3820 1070 60 0000 C CNN F 3 "" H 3820 1070 60 0000 C CNN @@ -205,10 +206,10 @@ F 3 "" H 3820 1070 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR0115 +L GND #PWR0117 U 1 1 553D46A2 P 3820 1345 -F 0 "#PWR0115" H 3820 1095 60 0001 C CNN +F 0 "#PWR0117" H 3820 1095 60 0001 C CNN F 1 "GND" V 3820 1130 60 0000 C CNN F 2 "" H 3820 1345 60 0000 C CNN F 3 "" H 3820 1345 60 0000 C CNN @@ -216,10 +217,10 @@ F 3 "" H 3820 1345 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR0116 +L GND #PWR0118 U 1 1 553D46E4 P 3820 1610 -F 0 "#PWR0116" H 3820 1360 60 0001 C CNN +F 0 "#PWR0118" H 3820 1360 60 0001 C CNN F 1 "GND" V 3820 1395 60 0000 C CNN F 2 "" H 3820 1610 60 0000 C CNN F 3 "" H 3820 1610 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch b/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch index 899329358..3dcb4e532 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -29,10 +30,10 @@ F 4 "Value" H 4265 2425 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR048 +L GND #PWR051 U 1 1 553C96A2 P 4820 2425 -F 0 "#PWR048" H 4820 2175 60 0001 C CNN +F 0 "#PWR051" H 4820 2175 60 0001 C CNN F 1 "GND" V 4820 2205 60 0000 C CNN F 2 "" H 4820 2425 60 0000 C CNN F 3 "" H 4820 2425 60 0000 C CNN @@ -40,10 +41,10 @@ F 3 "" H 4820 2425 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR049 +L +5V #PWR052 U 1 1 553C96B7 P 4820 2325 -F 0 "#PWR049" H 4820 2175 60 0001 C CNN +F 0 "#PWR052" H 4820 2175 60 0001 C CNN F 1 "+5V" V 4820 2540 60 0000 C CNN F 2 "" H 4820 2325 60 0000 C CNN F 3 "" H 4820 2325 60 0000 C CNN @@ -84,10 +85,10 @@ F 4 "Value" H 4260 2925 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR050 +L GND #PWR053 U 1 1 553CC968 P 4815 2925 -F 0 "#PWR050" H 4815 2675 60 0001 C CNN +F 0 "#PWR053" H 4815 2675 60 0001 C CNN F 1 "GND" V 4815 2705 60 0000 C CNN F 2 "" H 4815 2925 60 0000 C CNN F 3 "" H 4815 2925 60 0000 C CNN @@ -95,10 +96,10 @@ F 3 "" H 4815 2925 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR051 +L +5V #PWR054 U 1 1 553CC96E P 4815 2825 -F 0 "#PWR051" H 4815 2675 60 0001 C CNN +F 0 "#PWR054" H 4815 2675 60 0001 C CNN F 1 "+5V" V 4815 3040 60 0000 C CNN F 2 "" H 4815 2825 60 0000 C CNN F 3 "" H 4815 2825 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch index 573e3d2e7..57d8da656 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -25,8 +26,8 @@ L +24V #PWR0137 U 1 1 554BE910 P 4895 3310 AR Path="/553D8AD9/5542A35A/554BE910" Ref="#PWR0137" Part="1" -AR Path="/553D8AD9/554D3EE8/554BE910" Ref="#PWR0143" Part="1" -F 0 "#PWR0143" H 4895 3160 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/554BE910" Ref="#PWR0145" Part="1" +F 0 "#PWR0145" H 4895 3160 60 0001 C CNN F 1 "+24V" H 4895 3450 60 0000 C CNN F 2 "" H 4895 3310 60 0000 C CNN F 3 "" H 4895 3310 60 0000 C CNN @@ -38,8 +39,8 @@ L GND #PWR0138 U 1 1 5542A3C5 P 4895 4445 AR Path="/553D8AD9/5542A35A/5542A3C5" Ref="#PWR0138" Part="1" -AR Path="/553D8AD9/554D3EE8/5542A3C5" Ref="#PWR0144" Part="1" -F 0 "#PWR0144" H 4895 4195 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/5542A3C5" Ref="#PWR0146" Part="1" +F 0 "#PWR0146" H 4895 4195 60 0001 C CNN F 1 "GND" H 4895 4295 60 0000 C CNN F 2 "" H 4895 4445 60 0000 C CNN F 3 "" H 4895 4445 60 0000 C CNN @@ -51,8 +52,8 @@ L DIODE BY3 U 1 1 5542A3D9 P 4895 3580 AR Path="/553D8AD9/5542A35A/5542A3D9" Ref="BY3" Part="1" -AR Path="/553D8AD9/554D3EE8/5542A3D9" Ref="BY7" Part="1" -F 0 "BY7" H 4895 3680 40 0000 C CNN +AR Path="/553D8AD9/554D3EE8/5542A3D9" Ref="DBY7" Part="1" +F 0 "DBY7" H 4895 3680 40 0000 C CNN F 1 "BY 500/1000" H 4895 3480 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM10" H 4895 3580 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 4895 3580 60 0001 C CNN @@ -66,8 +67,8 @@ L DIODE BY4 U 1 1 5542A4FC P 4895 4140 AR Path="/553D8AD9/5542A35A/5542A4FC" Ref="BY4" Part="1" -AR Path="/553D8AD9/554D3EE8/5542A4FC" Ref="BY8" Part="1" -F 0 "BY8" H 4895 4240 40 0000 C CNN +AR Path="/553D8AD9/554D3EE8/5542A4FC" Ref="DBY8" Part="1" +F 0 "DBY8" H 4895 4240 40 0000 C CNN F 1 "BY 500/1000" H 4895 4040 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM10" H 4895 4140 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 4895 4140 60 0001 C CNN @@ -90,8 +91,8 @@ L +24V #PWR0139 U 1 1 5542A69A P 3170 3310 AR Path="/553D8AD9/5542A35A/5542A69A" Ref="#PWR0139" Part="1" -AR Path="/553D8AD9/554D3EE8/5542A69A" Ref="#PWR0145" Part="1" -F 0 "#PWR0145" H 3170 3160 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/5542A69A" Ref="#PWR0147" Part="1" +F 0 "#PWR0147" H 3170 3160 60 0001 C CNN F 1 "+24V" H 3170 3450 60 0000 C CNN F 2 "" H 3170 3310 60 0000 C CNN F 3 "" H 3170 3310 60 0000 C CNN @@ -103,8 +104,8 @@ L GND #PWR0140 U 1 1 554BE919 P 3170 4445 AR Path="/553D8AD9/5542A35A/554BE919" Ref="#PWR0140" Part="1" -AR Path="/553D8AD9/554D3EE8/554BE919" Ref="#PWR0146" Part="1" -F 0 "#PWR0146" H 3170 4195 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/554BE919" Ref="#PWR0148" Part="1" +F 0 "#PWR0148" H 3170 4195 60 0001 C CNN F 1 "GND" H 3170 4295 60 0000 C CNN F 2 "" H 3170 4445 60 0000 C CNN F 3 "" H 3170 4445 60 0000 C CNN @@ -116,8 +117,8 @@ L DIODE BY1 U 1 1 554BE91B P 3170 3580 AR Path="/553D8AD9/5542A35A/554BE91B" Ref="BY1" Part="1" -AR Path="/553D8AD9/554D3EE8/554BE91B" Ref="BY5" Part="1" -F 0 "BY5" H 3170 3680 40 0000 C CNN +AR Path="/553D8AD9/554D3EE8/554BE91B" Ref="DBY5" Part="1" +F 0 "DBY5" H 3170 3680 40 0000 C CNN F 1 "BY 500/1000" H 3170 3480 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM10" H 3170 3580 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 3170 3580 60 0001 C CNN @@ -131,8 +132,8 @@ L DIODE BY2 U 1 1 554BE91D P 3170 4140 AR Path="/553D8AD9/5542A35A/554BE91D" Ref="BY2" Part="1" -AR Path="/553D8AD9/554D3EE8/554BE91D" Ref="BY6" Part="1" -F 0 "BY6" H 3170 4240 40 0000 C CNN +AR Path="/553D8AD9/554D3EE8/554BE91D" Ref="DBY6" Part="1" +F 0 "DBY6" H 3170 4240 40 0000 C CNN F 1 "BY 500/1000" H 3170 4040 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM10" H 3170 4140 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 3170 4140 60 0001 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch index 098260b69..34fe59bbd 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -21,10 +22,10 @@ MotorRechtsA Text HLabel 5125 3870 2 60 BiDi ~ 0 MotorRechtsB $Comp -L +24V #PWR0137 +L +24V #PWR0139 U 1 1 554BE90F P 4895 3310 -F 0 "#PWR0137" H 4895 3160 60 0001 C CNN +F 0 "#PWR0139" H 4895 3160 60 0001 C CNN F 1 "+24V" H 4895 3450 60 0000 C CNN F 2 "" H 4895 3310 60 0000 C CNN F 3 "" H 4895 3310 60 0000 C CNN @@ -32,10 +33,10 @@ F 3 "" H 4895 3310 60 0000 C CNN -1 0 0 -1 $EndComp $Comp -L GND #PWR0138 +L GND #PWR0140 U 1 1 554BE911 P 4895 4445 -F 0 "#PWR0138" H 4895 4195 60 0001 C CNN +F 0 "#PWR0140" H 4895 4195 60 0001 C CNN F 1 "GND" H 4895 4295 60 0000 C CNN F 2 "" H 4895 4445 60 0000 C CNN F 3 "" H 4895 4445 60 0000 C CNN @@ -43,10 +44,10 @@ F 3 "" H 4895 4445 60 0000 C CNN -1 0 0 -1 $EndComp $Comp -L DIODE BY3 +L DIODE DBY3 U 1 1 554BE913 P 4895 3580 -F 0 "BY3" H 4895 3680 40 0000 C CNN +F 0 "DBY3" H 4895 3680 40 0000 C CNN F 1 "BY 500/1000" H 4895 3480 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4895 3580 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 4895 3580 60 0001 C CNN @@ -56,10 +57,10 @@ F 5 "Fast-Recovery-Gleichr.-Diode, DO201, 1000V, 5A" H 4895 3580 60 0001 C CNN 0 1 -1 0 $EndComp $Comp -L DIODE BY4 +L DIODE DBY4 U 1 1 554BE915 P 4895 4140 -F 0 "BY4" H 4895 4240 40 0000 C CNN +F 0 "DBY4" H 4895 4240 40 0000 C CNN F 1 "BY 500/1000" H 4895 4040 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4895 4140 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 4895 4140 60 0001 C CNN @@ -78,10 +79,10 @@ Wire Wire Line 4600 3870 5125 3870 Connection ~ 4895 3870 $Comp -L +24V #PWR0139 +L +24V #PWR0141 U 1 1 554BE918 P 3170 3310 -F 0 "#PWR0139" H 3170 3160 60 0001 C CNN +F 0 "#PWR0141" H 3170 3160 60 0001 C CNN F 1 "+24V" H 3170 3450 60 0000 C CNN F 2 "" H 3170 3310 60 0000 C CNN F 3 "" H 3170 3310 60 0000 C CNN @@ -89,10 +90,10 @@ F 3 "" H 3170 3310 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0140 +L GND #PWR0142 U 1 1 554BE91A P 3170 4445 -F 0 "#PWR0140" H 3170 4195 60 0001 C CNN +F 0 "#PWR0142" H 3170 4195 60 0001 C CNN F 1 "GND" H 3170 4295 60 0000 C CNN F 2 "" H 3170 4445 60 0000 C CNN F 3 "" H 3170 4445 60 0000 C CNN @@ -100,10 +101,10 @@ F 3 "" H 3170 4445 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L DIODE BY1 +L DIODE DBY1 U 1 1 554BE91C P 3170 3580 -F 0 "BY1" H 3170 3680 40 0000 C CNN +F 0 "DBY1" H 3170 3680 40 0000 C CNN F 1 "BY 500/1000" H 3170 3480 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 3170 3580 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 3170 3580 60 0001 C CNN @@ -113,10 +114,10 @@ F 5 "Fast-Recovery-Gleichr.-Diode, DO201, 1000V, 5A" H 3170 3580 60 0001 C CNN 0 -1 -1 0 $EndComp $Comp -L DIODE BY2 +L DIODE DBY2 U 1 1 554BE91E P 3170 4140 -F 0 "BY2" H 3170 4240 40 0000 C CNN +F 0 "DBY2" H 3170 4240 40 0000 C CNN F 1 "BY 500/1000" H 3170 4040 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 3170 4140 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 3170 4140 60 0001 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch index 4f94b1e41..9fabd0043 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -29,10 +30,10 @@ F 4 "Value" H 5110 4020 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L +24V #PWR0141 +L +24V #PWR0143 U 1 1 5543AA9F P 4370 2960 -F 0 "#PWR0141" H 4370 2810 60 0001 C CNN +F 0 "#PWR0143" H 4370 2810 60 0001 C CNN F 1 "+24V" H 4370 3100 60 0000 C CNN F 2 "" H 4370 2960 60 0000 C CNN F 3 "" H 4370 2960 60 0000 C CNN @@ -40,29 +41,29 @@ F 3 "" H 4370 2960 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0142 +L GND #PWR0144 U 1 1 554BE925 P 4370 4555 -F 0 "#PWR0142" H 4370 4305 60 0001 C CNN +F 0 "#PWR0144" H 4370 4305 60 0001 C CNN F 1 "GND" H 4370 4405 60 0000 C CNN F 2 "" H 4370 4555 60 0000 C CNN F 3 "" H 4370 4555 60 0000 C CNN 1 4370 4555 1 0 0 -1 $EndComp -Text HLabel 4030 3700 0 60 Input ~ 0 +Text HLabel 3190 3700 0 60 Input ~ 0 Dual1_Vin -Text HLabel 4045 4290 0 60 Input ~ 0 +Text HLabel 3180 4290 0 60 Input ~ 0 Dual1_GND Wire Wire Line 4370 3415 4370 3855 Wire Wire Line - 4370 4555 4370 4155 + 4370 4155 4370 4555 $Comp -L 15KEXXC KE3 +L 15KEXXC DKE3 U 1 1 5543B245 P 4370 3955 -F 0 "KE3" V 4440 4165 50 0000 L BNN +F 0 "DKE3" V 4440 4165 50 0000 L BNN F 1 "15KE33CA" V 4520 4035 50 0000 L BNN F 2 "ACS712:Diode_15KE33CA" H 4370 4105 50 0001 C CNN F 3 "" H 4370 3955 60 0000 C CNN @@ -81,10 +82,10 @@ F 3 "" H 4370 3215 60 0000 C CNN 0 -1 -1 0 $EndComp Wire Wire Line - 4030 3700 4640 3700 + 3190 3700 4640 3700 Connection ~ 4370 3700 Wire Wire Line - 4045 4290 4640 4290 + 3180 4290 4640 4290 Connection ~ 4370 4290 Wire Wire Line 4760 3920 4640 3920 @@ -96,4 +97,23 @@ Wire Wire Line 4640 4120 4640 4290 Wire Wire Line 4370 3015 4370 2960 +$Comp +L CP1 C12 +U 1 1 55723D66 +P 3325 3990 +F 0 "C12" H 3375 4090 50 0000 L CNN +F 1 "2200uF 63V" H 3375 3890 50 0000 L CNN +F 2 "" H 3325 3990 60 0001 C CNN +F 3 "" H 3325 3990 60 0000 C CNN +F 4 "Value" H 3325 3990 60 0001 C CNN "Bestellnummer" +F 5 "Value" H 3325 3990 60 0001 C CNN "Bestelllink" + 1 3325 3990 + 1 0 0 -1 +$EndComp +Wire Wire Line + 3325 3790 3325 3700 +Connection ~ 3325 3700 +Wire Wire Line + 3325 4190 3325 4290 +Connection ~ 3325 4290 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch index 99224b080..46f60c657 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -26,8 +27,8 @@ U 1 1 5542A3B1 P 4895 3310 AR Path="/553D8AD9/5542A35A/5542A3B1" Ref="#PWR0130" Part="1" AR Path="/553D8AD9/554D3EE8/5542A3B1" Ref="#PWR0136" Part="1" -AR Path="/553D8AD9/554D4C79/5542A3B1" Ref="#PWR0147" Part="1" -F 0 "#PWR0147" H 4895 3160 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/5542A3B1" Ref="#PWR0149" Part="1" +F 0 "#PWR0149" H 4895 3160 60 0001 C CNN F 1 "+24V" H 4895 3450 60 0000 C CNN F 2 "" H 4895 3310 60 0000 C CNN F 3 "" H 4895 3310 60 0000 C CNN @@ -40,8 +41,8 @@ U 1 1 554BE912 P 4895 4445 AR Path="/553D8AD9/5542A35A/554BE912" Ref="#PWR0131" Part="1" AR Path="/553D8AD9/554D3EE8/554BE912" Ref="#PWR0137" Part="1" -AR Path="/553D8AD9/554D4C79/554BE912" Ref="#PWR0148" Part="1" -F 0 "#PWR0148" H 4895 4195 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/554BE912" Ref="#PWR0150" Part="1" +F 0 "#PWR0150" H 4895 4195 60 0001 C CNN F 1 "GND" H 4895 4295 60 0000 C CNN F 2 "" H 4895 4445 60 0000 C CNN F 3 "" H 4895 4445 60 0000 C CNN @@ -54,8 +55,8 @@ U 1 1 554BE914 P 4895 3580 AR Path="/553D8AD9/5542A35A/554BE914" Ref="BY3" Part="1" AR Path="/553D8AD9/554D3EE8/554BE914" Ref="BY7" Part="1" -AR Path="/553D8AD9/554D4C79/554BE914" Ref="BY11" Part="1" -F 0 "BY11" H 4895 3680 40 0000 C CNN +AR Path="/553D8AD9/554D4C79/554BE914" Ref="DBY11" Part="1" +F 0 "DBY11" H 4895 3680 40 0000 C CNN F 1 "BY 500/1000" H 4895 3480 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4895 3580 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 4895 3580 60 0001 C CNN @@ -70,8 +71,8 @@ U 1 1 554BE916 P 4895 4140 AR Path="/553D8AD9/5542A35A/554BE916" Ref="BY4" Part="1" AR Path="/553D8AD9/554D3EE8/554BE916" Ref="BY8" Part="1" -AR Path="/553D8AD9/554D4C79/554BE916" Ref="BY12" Part="1" -F 0 "BY12" H 4895 4240 40 0000 C CNN +AR Path="/553D8AD9/554D4C79/554BE916" Ref="DBY12" Part="1" +F 0 "DBY12" H 4895 4240 40 0000 C CNN F 1 "BY 500/1000" H 4895 4040 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4895 4140 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 4895 4140 60 0001 C CNN @@ -95,8 +96,8 @@ U 1 1 554BE917 P 3170 3310 AR Path="/553D8AD9/5542A35A/554BE917" Ref="#PWR0132" Part="1" AR Path="/553D8AD9/554D3EE8/554BE917" Ref="#PWR0138" Part="1" -AR Path="/553D8AD9/554D4C79/554BE917" Ref="#PWR0149" Part="1" -F 0 "#PWR0149" H 3170 3160 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/554BE917" Ref="#PWR0151" Part="1" +F 0 "#PWR0151" H 3170 3160 60 0001 C CNN F 1 "+24V" H 3170 3450 60 0000 C CNN F 2 "" H 3170 3310 60 0000 C CNN F 3 "" H 3170 3310 60 0000 C CNN @@ -109,8 +110,8 @@ U 1 1 5542A6A0 P 3170 4445 AR Path="/553D8AD9/5542A35A/5542A6A0" Ref="#PWR0133" Part="1" AR Path="/553D8AD9/554D3EE8/5542A6A0" Ref="#PWR0139" Part="1" -AR Path="/553D8AD9/554D4C79/5542A6A0" Ref="#PWR0150" Part="1" -F 0 "#PWR0150" H 3170 4195 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/5542A6A0" Ref="#PWR0152" Part="1" +F 0 "#PWR0152" H 3170 4195 60 0001 C CNN F 1 "GND" H 3170 4295 60 0000 C CNN F 2 "" H 3170 4445 60 0000 C CNN F 3 "" H 3170 4445 60 0000 C CNN @@ -123,8 +124,8 @@ U 1 1 5542A6A6 P 3170 3580 AR Path="/553D8AD9/5542A35A/5542A6A6" Ref="BY1" Part="1" AR Path="/553D8AD9/554D3EE8/5542A6A6" Ref="BY5" Part="1" -AR Path="/553D8AD9/554D4C79/5542A6A6" Ref="BY9" Part="1" -F 0 "BY9" H 3170 3680 40 0000 C CNN +AR Path="/553D8AD9/554D4C79/5542A6A6" Ref="DBY9" Part="1" +F 0 "DBY9" H 3170 3680 40 0000 C CNN F 1 "BY 500/1000" H 3170 3480 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 3170 3580 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 3170 3580 60 0001 C CNN @@ -139,8 +140,8 @@ U 1 1 5542A6AC P 3170 4140 AR Path="/553D8AD9/5542A35A/5542A6AC" Ref="BY2" Part="1" AR Path="/553D8AD9/554D3EE8/5542A6AC" Ref="BY6" Part="1" -AR Path="/553D8AD9/554D4C79/5542A6AC" Ref="BY10" Part="1" -F 0 "BY10" H 3170 4240 40 0000 C CNN +AR Path="/553D8AD9/554D4C79/5542A6AC" Ref="DBY10" Part="1" +F 0 "DBY10" H 3170 4240 40 0000 C CNN F 1 "BY 500/1000" H 3170 4040 40 0000 C CNN F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 3170 4140 60 0001 C CNN F 3 "https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000" H 3170 4140 60 0001 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch index 9406f4b8a..a63035842 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -36,8 +37,8 @@ L +24V #PWR0134 U 1 1 554BE924 P 4370 2960 AR Path="/553D8AD9/5543A988/554BE924" Ref="#PWR0134" Part="1" -AR Path="/553D8AD9/554D9DA2/554BE924" Ref="#PWR0151" Part="1" -F 0 "#PWR0151" H 4370 2810 60 0001 C CNN +AR Path="/553D8AD9/554D9DA2/554BE924" Ref="#PWR0153" Part="1" +F 0 "#PWR0153" H 4370 2810 60 0001 C CNN F 1 "+24V" H 4370 3100 60 0000 C CNN F 2 "" H 4370 2960 60 0000 C CNN F 3 "" H 4370 2960 60 0000 C CNN @@ -49,29 +50,29 @@ L GND #PWR0135 U 1 1 5543AAB4 P 4370 4555 AR Path="/553D8AD9/5543A988/5543AAB4" Ref="#PWR0135" Part="1" -AR Path="/553D8AD9/554D9DA2/5543AAB4" Ref="#PWR0152" Part="1" -F 0 "#PWR0152" H 4370 4305 60 0001 C CNN +AR Path="/553D8AD9/554D9DA2/5543AAB4" Ref="#PWR0154" Part="1" +F 0 "#PWR0154" H 4370 4305 60 0001 C CNN F 1 "GND" H 4370 4405 60 0000 C CNN F 2 "" H 4370 4555 60 0000 C CNN F 3 "" H 4370 4555 60 0000 C CNN 1 4370 4555 1 0 0 -1 $EndComp -Text HLabel 4030 3700 0 60 Input ~ 0 +Text HLabel 3130 3700 0 60 Input ~ 0 Dual2_Vin -Text HLabel 4045 4290 0 60 Input ~ 0 +Text HLabel 3130 4290 0 60 Input ~ 0 Dual2_GND Wire Wire Line 4370 3415 4370 3855 Wire Wire Line - 4370 4555 4370 4155 + 4370 4155 4370 4555 $Comp L 15KEXXC KE3 U 1 1 554BE926 P 4370 3955 AR Path="/553D8AD9/5543A988/554BE926" Ref="KE3" Part="1" -AR Path="/553D8AD9/554D9DA2/554BE926" Ref="KE4" Part="1" -F 0 "KE4" V 4440 4165 50 0000 L BNN +AR Path="/553D8AD9/554D9DA2/554BE926" Ref="DKE4" Part="1" +F 0 "DKE4" V 4440 4165 50 0000 L BNN F 1 "15KE33CA" V 4520 4035 50 0000 L BNN F 2 "ACS712:Diode_15KE33CA" H 4370 4105 50 0001 C CNN F 3 "" H 4370 3955 60 0000 C CNN @@ -92,10 +93,10 @@ F 3 "" H 4370 3215 60 0000 C CNN 0 -1 -1 0 $EndComp Wire Wire Line - 4030 3700 4640 3700 + 3130 3700 4640 3700 Connection ~ 4370 3700 Wire Wire Line - 4045 4290 4640 4290 + 3130 4290 4640 4290 Connection ~ 4370 4290 Wire Wire Line 4760 3920 4640 3920 @@ -107,4 +108,23 @@ Wire Wire Line 4640 4120 4640 4290 Wire Wire Line 4370 3015 4370 2960 +$Comp +L CP1 C13 +U 1 1 55723BFA +P 3350 3995 +F 0 "C13" H 3400 4095 50 0000 L CNN +F 1 "2200uF 63V" H 3400 3895 50 0000 L CNN +F 2 "" H 3350 3995 60 0001 C CNN +F 3 "" H 3350 3995 60 0000 C CNN +F 4 "Value" H 3350 3995 60 0001 C CNN "Bestellnummer" +F 5 "Value" H 3350 3995 60 0001 C CNN "Bestelllink" + 1 3350 3995 + 1 0 0 -1 +$EndComp +Wire Wire Line + 3350 3795 3350 3700 +Connection ~ 3350 3700 +Wire Wire Line + 3350 4195 3350 4290 +Connection ~ 3350 4290 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/I2C.sch b/pcb/megashield_svn_1.3_geoeffnet/I2C.sch index 0160cf5fb..a7a518999 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/I2C.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/I2C.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -17,10 +18,10 @@ Comment3 "" Comment4 "" $EndDescr $Comp -L GND #PWR052 +L GND #PWR055 U 1 1 553D0F49 P 2380 1255 -F 0 "#PWR052" H 2380 1005 60 0001 C CNN +F 0 "#PWR055" H 2380 1005 60 0001 C CNN F 1 "GND" V 2380 1040 60 0000 C CNN F 2 "" H 2380 1255 60 0000 C CNN F 3 "" H 2380 1255 60 0000 C CNN @@ -28,10 +29,10 @@ F 3 "" H 2380 1255 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR053 +L +5V #PWR056 U 1 1 553D0F5D P 2380 1155 -F 0 "#PWR053" H 2380 1005 60 0001 C CNN +F 0 "#PWR056" H 2380 1005 60 0001 C CNN F 1 "+5V" V 2380 1365 60 0000 C CNN F 2 "" H 2380 1155 60 0000 C CNN F 3 "" H 2380 1155 60 0000 C CNN @@ -39,10 +40,10 @@ F 3 "" H 2380 1155 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L +3.3V #PWR054 +L +3.3V #PWR057 U 1 1 553D0F71 P 2380 1555 -F 0 "#PWR054" H 2380 1515 30 0001 C CNN +F 0 "#PWR057" H 2380 1515 30 0001 C CNN F 1 "+3.3V" V 2380 1730 30 0000 C CNN F 2 "" H 2380 1555 60 0000 C CNN F 3 "" H 2380 1555 60 0000 C CNN @@ -66,10 +67,10 @@ SDA2 Text GLabel 2380 1455 2 60 Input ~ 0 SCL2 $Comp -L GND #PWR055 +L GND #PWR058 U 1 1 553D38C9 P 2375 1865 -F 0 "#PWR055" H 2375 1615 60 0001 C CNN +F 0 "#PWR058" H 2375 1615 60 0001 C CNN F 1 "GND" V 2375 1650 60 0000 C CNN F 2 "" H 2375 1865 60 0000 C CNN F 3 "" H 2375 1865 60 0000 C CNN @@ -77,10 +78,10 @@ F 3 "" H 2375 1865 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR056 +L +5V #PWR059 U 1 1 553D38CF P 2375 1765 -F 0 "#PWR056" H 2375 1615 60 0001 C CNN +F 0 "#PWR059" H 2375 1615 60 0001 C CNN F 1 "+5V" V 2375 1975 60 0000 C CNN F 2 "" H 2375 1765 60 0000 C CNN F 3 "" H 2375 1765 60 0000 C CNN @@ -88,10 +89,10 @@ F 3 "" H 2375 1765 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L +3.3V #PWR057 +L +3.3V #PWR060 U 1 1 553D38D5 P 2375 2165 -F 0 "#PWR057" H 2375 2125 30 0001 C CNN +F 0 "#PWR060" H 2375 2125 30 0001 C CNN F 1 "+3.3V" V 2375 2340 30 0000 C CNN F 2 "" H 2375 2165 60 0000 C CNN F 3 "" H 2375 2165 60 0000 C CNN @@ -115,10 +116,10 @@ SDA2 Text GLabel 2375 2065 2 60 Input ~ 0 SCL2 $Comp -L GND #PWR058 +L GND #PWR061 U 1 1 553D4F12 P 2365 2520 -F 0 "#PWR058" H 2365 2270 60 0001 C CNN +F 0 "#PWR061" H 2365 2270 60 0001 C CNN F 1 "GND" V 2365 2305 60 0000 C CNN F 2 "" H 2365 2520 60 0000 C CNN F 3 "" H 2365 2520 60 0000 C CNN @@ -126,10 +127,10 @@ F 3 "" H 2365 2520 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR059 +L +5V #PWR062 U 1 1 553D4F18 P 2365 2420 -F 0 "#PWR059" H 2365 2270 60 0001 C CNN +F 0 "#PWR062" H 2365 2270 60 0001 C CNN F 1 "+5V" V 2365 2630 60 0000 C CNN F 2 "" H 2365 2420 60 0000 C CNN F 3 "" H 2365 2420 60 0000 C CNN @@ -137,10 +138,10 @@ F 3 "" H 2365 2420 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L +3.3V #PWR060 +L +3.3V #PWR063 U 1 1 553D4F1E P 2365 2820 -F 0 "#PWR060" H 2365 2780 30 0001 C CNN +F 0 "#PWR063" H 2365 2780 30 0001 C CNN F 1 "+3.3V" V 2365 2995 30 0000 C CNN F 2 "" H 2365 2820 60 0000 C CNN F 3 "" H 2365 2820 60 0000 C CNN @@ -164,10 +165,10 @@ SDA2 Text GLabel 2365 2720 2 60 Input ~ 0 SCL2 $Comp -L GND #PWR061 +L GND #PWR064 U 1 1 553DB84D P 5220 2000 -F 0 "#PWR061" H 5220 1750 60 0001 C CNN +F 0 "#PWR064" H 5220 1750 60 0001 C CNN F 1 "GND" V 5220 1785 60 0000 C CNN F 2 "" H 5220 2000 60 0000 C CNN F 3 "" H 5220 2000 60 0000 C CNN @@ -175,10 +176,10 @@ F 3 "" H 5220 2000 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +5V #PWR062 +L +5V #PWR065 U 1 1 553DB853 P 5320 2000 -F 0 "#PWR062" H 5320 1850 60 0001 C CNN +F 0 "#PWR065" H 5320 1850 60 0001 C CNN F 1 "+5V" V 5320 2210 60 0000 C CNN F 2 "" H 5320 2000 60 0000 C CNN F 3 "" H 5320 2000 60 0000 C CNN @@ -186,10 +187,10 @@ F 3 "" H 5320 2000 60 0000 C CNN 1 0 0 1 $EndComp $Comp -L +3.3V #PWR063 +L +3.3V #PWR066 U 1 1 553DB859 P 4920 2000 -F 0 "#PWR063" H 4920 1960 30 0001 C CNN +F 0 "#PWR066" H 4920 1960 30 0001 C CNN F 1 "+3.3V" V 4920 2175 30 0000 C CNN F 2 "" H 4920 2000 60 0000 C CNN F 3 "" H 4920 2000 60 0000 C CNN @@ -209,10 +210,10 @@ F 4 "Value" H 5120 1420 60 0001 C CNN "Bestellnummer" 0 1 -1 0 $EndComp $Comp -L GND #PWR064 +L GND #PWR067 U 1 1 553DBEFB P 6040 1995 -F 0 "#PWR064" H 6040 1745 60 0001 C CNN +F 0 "#PWR067" H 6040 1745 60 0001 C CNN F 1 "GND" V 6040 1780 60 0000 C CNN F 2 "" H 6040 1995 60 0000 C CNN F 3 "" H 6040 1995 60 0000 C CNN @@ -220,10 +221,10 @@ F 3 "" H 6040 1995 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +5V #PWR065 +L +5V #PWR068 U 1 1 553DBF01 P 6140 1995 -F 0 "#PWR065" H 6140 1845 60 0001 C CNN +F 0 "#PWR068" H 6140 1845 60 0001 C CNN F 1 "+5V" V 6140 2205 60 0000 C CNN F 2 "" H 6140 1995 60 0000 C CNN F 3 "" H 6140 1995 60 0000 C CNN @@ -231,10 +232,10 @@ F 3 "" H 6140 1995 60 0000 C CNN 1 0 0 1 $EndComp $Comp -L +3.3V #PWR066 +L +3.3V #PWR069 U 1 1 553DBF07 P 5740 1995 -F 0 "#PWR066" H 5740 1955 30 0001 C CNN +F 0 "#PWR069" H 5740 1955 30 0001 C CNN F 1 "+3.3V" V 5740 2170 30 0000 C CNN F 2 "" H 5740 1995 60 0000 C CNN F 3 "" H 5740 1995 60 0000 C CNN @@ -266,10 +267,10 @@ F 4 "Value" H 4240 2485 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L +5V #PWR067 +L +5V #PWR070 U 1 1 553DCD07 P 3915 2365 -F 0 "#PWR067" H 3915 2215 60 0001 C CNN +F 0 "#PWR070" H 3915 2215 60 0001 C CNN F 1 "+5V" V 3915 2575 60 0000 C CNN F 2 "" H 3915 2365 60 0000 C CNN F 3 "" H 3915 2365 60 0000 C CNN @@ -277,10 +278,10 @@ F 3 "" H 3915 2365 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR068 +L GND #PWR071 U 1 1 553DCFFA P 3915 2625 -F 0 "#PWR068" H 3915 2375 60 0001 C CNN +F 0 "#PWR071" H 3915 2375 60 0001 C CNN F 1 "GND" V 3915 2410 60 0000 C CNN F 2 "" H 3915 2625 60 0000 C CNN F 3 "" H 3915 2625 60 0000 C CNN @@ -288,10 +289,10 @@ F 3 "" H 3915 2625 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR069 +L GND #PWR072 U 1 1 553DD02F P 4555 2625 -F 0 "#PWR069" H 4555 2375 60 0001 C CNN +F 0 "#PWR072" H 4555 2375 60 0001 C CNN F 1 "GND" V 4555 2410 60 0000 C CNN F 2 "" H 4555 2625 60 0000 C CNN F 3 "" H 4555 2625 60 0000 C CNN @@ -353,10 +354,10 @@ Wire Wire Line Wire Wire Line 3915 2405 3915 2365 $Comp -L +3.3V #PWR070 +L +3.3V #PWR073 U 1 1 553DD106 P 4555 2360 -F 0 "#PWR070" H 4555 2320 30 0001 C CNN +F 0 "#PWR073" H 4555 2320 30 0001 C CNN F 1 "+3.3V" V 4555 2535 30 0000 C CNN F 2 "" H 4555 2360 60 0000 C CNN F 3 "" H 4555 2360 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch b/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch index 11d3d479c..180b1443f 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -68,8 +69,8 @@ L GND #PWR164 U 1 1 554C8CE8 P 6340 2600 AR Path="/554BCB67/554C8CE8" Ref="#PWR164" Part="1" -AR Path="/554C1C35/554C8CE8" Ref="#PWR0175" Part="1" -F 0 "#PWR0175" H 6340 2350 60 0001 C CNN +AR Path="/554C1C35/554C8CE8" Ref="#PWR0179" Part="1" +F 0 "#PWR0179" H 6340 2350 60 0001 C CNN F 1 "GND" H 6340 2450 60 0000 C CNN F 2 "" H 6340 2600 60 0000 C CNN F 3 "" H 6340 2600 60 0000 C CNN @@ -83,8 +84,8 @@ L GND #PWR165 U 1 1 554BDA01 P 6660 2600 AR Path="/554BCB67/554BDA01" Ref="#PWR165" Part="1" -AR Path="/554C1C35/554BDA01" Ref="#PWR0176" Part="1" -F 0 "#PWR0176" H 6660 2350 60 0001 C CNN +AR Path="/554C1C35/554BDA01" Ref="#PWR0180" Part="1" +F 0 "#PWR0180" H 6660 2350 60 0001 C CNN F 1 "GND" H 6660 2450 60 0000 C CNN F 2 "" H 6660 2600 60 0000 C CNN F 3 "" H 6660 2600 60 0000 C CNN @@ -95,8 +96,6 @@ Wire Wire Line 6660 2395 6660 2600 Wire Wire Line 6660 1870 6660 1995 -Wire Wire Line - 5875 1870 6900 1870 Connection ~ 6340 1870 Text HLabel 5625 1150 0 60 Input ~ 0 Ladespannung @@ -107,32 +106,6 @@ Wire Wire Line Text GLabel 6900 1870 2 60 Output ~ 0 pinChargeVoltage Connection ~ 6660 1870 -$Comp -L Kondensator CC20 -U 1 1 5558A184 -P 5875 2175 -F 0 "CC20" H 5925 2275 50 0000 L CNN -F 1 "100nF" H 5925 2075 50 0000 L CNN -F 2 "Capacitors_ThroughHole:C_Disc_D3_P2.5" H 5875 2175 60 0001 C CNN -F 3 "" H 5875 2175 60 0000 C CNN -F 4 "R: KERKO 100N" H 5875 2175 60 0001 C CNN "Bestellnummer" -F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N" H 5875 2175 60 0001 C CNN "Bestelllink" - 1 5875 2175 - 1 0 0 -1 -$EndComp Wire Wire Line - 5875 1870 5875 1975 -Wire Wire Line - 5875 2375 5875 2600 -$Comp -L GND #PWR0177 -U 1 1 5558A294 -P 5875 2600 -F 0 "#PWR0177" H 5875 2350 60 0001 C CNN -F 1 "GND" H 5875 2450 60 0000 C CNN -F 2 "" H 5875 2600 60 0000 C CNN -F 3 "" H 5875 2600 60 0000 C CNN - 1 5875 2600 - 1 0 0 -1 -$EndComp + 6900 1870 6340 1870 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch b/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch index 494d782db..76142f3f6 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -22,7 +23,7 @@ U 1 1 553D8D88 P 3605 2285 F 0 "Dual1" H 3555 1335 60 0000 C CNN F 1 "MC33926" H 3575 3385 60 0000 C CNN -F 2 "ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse" H 3755 2335 60 0001 C CNN +F 2 "ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe" H 3755 2335 60 0001 C CNN F 3 "" H 3755 2335 60 0000 C CNN 1 3605 2285 1 0 0 -1 @@ -32,10 +33,10 @@ pinMotorRightSense Text GLabel 2410 1435 0 39 Output ~ 0 pinMotorRightFault $Comp -L GND #PWR0117 +L GND #PWR0119 U 1 1 553D988C P 2415 1535 -F 0 "#PWR0117" H 2415 1285 60 0001 C CNN +F 0 "#PWR0119" H 2415 1285 60 0001 C CNN F 1 "GND" V 2415 1310 60 0000 C CNN F 2 "" H 2415 1535 60 0000 C CNN F 3 "" H 2415 1535 60 0000 C CNN @@ -43,10 +44,10 @@ F 3 "" H 2415 1535 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0118 +L +5V #PWR0120 U 1 1 553D98BA P 2415 1635 -F 0 "#PWR0118" H 2415 1485 60 0001 C CNN +F 0 "#PWR0120" H 2415 1485 60 0001 C CNN F 1 "+5V" V 2415 1855 60 0000 C CNN F 2 "" H 2415 1635 60 0000 C CNN F 3 "" H 2415 1635 60 0000 C CNN @@ -66,10 +67,10 @@ pinMotorLeftSense Text GLabel 2410 2335 0 39 Output ~ 0 pinMotorLeftFault $Comp -L GND #PWR0119 +L GND #PWR0121 U 1 1 553DA932 P 2415 2435 -F 0 "#PWR0119" H 2415 2185 60 0001 C CNN +F 0 "#PWR0121" H 2415 2185 60 0001 C CNN F 1 "GND" V 2415 2210 60 0000 C CNN F 2 "" H 2415 2435 60 0000 C CNN F 3 "" H 2415 2435 60 0000 C CNN @@ -77,10 +78,10 @@ F 3 "" H 2415 2435 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0120 +L +5V #PWR0122 U 1 1 553DA938 P 2415 2535 -F 0 "#PWR0120" H 2415 2385 60 0001 C CNN +F 0 "#PWR0122" H 2415 2385 60 0001 C CNN F 1 "+5V" V 2415 2755 60 0000 C CNN F 2 "" H 2415 2535 60 0000 C CNN F 3 "" H 2415 2535 60 0000 C CNN @@ -92,10 +93,10 @@ pinMotorLeftPWM Text GLabel 2410 2735 0 39 Input ~ 0 pinMotorLeftDir $Comp -L +5V #PWR0121 +L +5V #PWR0123 U 1 1 553DB240 P 1680 2835 -F 0 "#PWR0121" H 1680 2685 60 0001 C CNN +F 0 "#PWR0123" H 1680 2685 60 0001 C CNN F 1 "+5V" V 1680 3055 60 0000 C CNN F 2 "" H 1680 2835 60 0000 C CNN F 3 "" H 1680 2835 60 0000 C CNN @@ -103,10 +104,10 @@ F 3 "" H 1680 2835 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L GND #PWR0122 +L GND #PWR0124 U 1 1 553DB249 P 2415 2935 -F 0 "#PWR0122" H 2415 2685 60 0001 C CNN +F 0 "#PWR0124" H 2415 2685 60 0001 C CNN F 1 "GND" V 2415 2710 60 0000 C CNN F 2 "" H 2415 2935 60 0000 C CNN F 3 "" H 2415 2935 60 0000 C CNN @@ -120,7 +121,7 @@ U 1 1 553DEB14 P 3590 5535 F 0 "Dual2" H 3540 4585 60 0000 C CNN F 1 "MC33926" H 3560 6635 60 0000 C CNN -F 2 "ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse" H 3740 5585 60 0001 C CNN +F 2 "ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe" H 3740 5585 60 0001 C CNN F 3 "" H 3740 5585 60 0000 C CNN 1 3590 5535 1 0 0 -1 @@ -130,10 +131,10 @@ pinMotorMowSense Text GLabel 2395 4685 0 39 Output ~ 0 pinMotorMowFault $Comp -L GND #PWR0123 +L GND #PWR0125 U 1 1 553DEB1E P 2400 4785 -F 0 "#PWR0123" H 2400 4535 60 0001 C CNN +F 0 "#PWR0125" H 2400 4535 60 0001 C CNN F 1 "GND" V 2400 4560 60 0000 C CNN F 2 "" H 2400 4785 60 0000 C CNN F 3 "" H 2400 4785 60 0000 C CNN @@ -141,10 +142,10 @@ F 3 "" H 2400 4785 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0124 +L +5V #PWR0126 U 1 1 553DEB24 P 2400 4885 -F 0 "#PWR0124" H 2400 4735 60 0001 C CNN +F 0 "#PWR0126" H 2400 4735 60 0001 C CNN F 1 "+5V" V 2400 5105 60 0000 C CNN F 2 "" H 2400 4885 60 0000 C CNN F 3 "" H 2400 4885 60 0000 C CNN @@ -160,10 +161,10 @@ NoConn ~ 2740 5285 Text GLabel 2395 5385 0 39 Input ~ 0 pinMotorMowEnable $Comp -L GND #PWR0125 +L GND #PWR0127 U 1 1 553DEB38 P 2400 5685 -F 0 "#PWR0125" H 2400 5435 60 0001 C CNN +F 0 "#PWR0127" H 2400 5435 60 0001 C CNN F 1 "GND" V 2400 5460 60 0000 C CNN F 2 "" H 2400 5685 60 0000 C CNN F 3 "" H 2400 5685 60 0000 C CNN @@ -171,10 +172,10 @@ F 3 "" H 2400 5685 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0126 +L +5V #PWR0128 U 1 1 553DEB3E P 2400 5785 -F 0 "#PWR0126" H 2400 5635 60 0001 C CNN +F 0 "#PWR0128" H 2400 5635 60 0001 C CNN F 1 "+5V" V 2400 6005 60 0000 C CNN F 2 "" H 2400 5785 60 0000 C CNN F 3 "" H 2400 5785 60 0000 C CNN @@ -182,10 +183,10 @@ F 3 "" H 2400 5785 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR0127 +L +5V #PWR0129 U 1 1 553DEB4A P 1530 6085 -F 0 "#PWR0127" H 1530 5935 60 0001 C CNN +F 0 "#PWR0129" H 1530 5935 60 0001 C CNN F 1 "+5V" V 1530 6305 60 0000 C CNN F 2 "" H 1530 6085 60 0000 C CNN F 3 "" H 1530 6085 60 0000 C CNN @@ -193,10 +194,10 @@ F 3 "" H 1530 6085 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L GND #PWR0128 +L GND #PWR0130 U 1 1 553DEB51 P 2400 6185 -F 0 "#PWR0128" H 2400 5935 60 0001 C CNN +F 0 "#PWR0130" H 2400 5935 60 0001 C CNN F 1 "GND" V 2400 5960 60 0000 C CNN F 2 "" H 2400 6185 60 0000 C CNN F 3 "" H 2400 6185 60 0000 C CNN @@ -231,10 +232,10 @@ F 4 "Value" H 10975 1080 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L +24V #PWR0129 +L +24V #PWR0131 U 1 1 553E3A94 P 10435 910 -F 0 "#PWR0129" H 10435 760 60 0001 C CNN +F 0 "#PWR0131" H 10435 760 60 0001 C CNN F 1 "+24V" H 10435 1050 60 0000 C CNN F 2 "" H 10435 910 60 0000 C CNN F 3 "" H 10435 910 60 0000 C CNN @@ -242,10 +243,10 @@ F 3 "" H 10435 910 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0130 +L GND #PWR0132 U 1 1 553E3A9A P 10435 1260 -F 0 "#PWR0130" H 10435 1010 60 0001 C CNN +F 0 "#PWR0132" H 10435 1010 60 0001 C CNN F 1 "GND" H 10435 1110 60 0000 C CNN F 2 "" H 10435 1260 60 0000 C CNN F 3 "" H 10435 1260 60 0000 C CNN @@ -265,10 +266,10 @@ F 4 "Value" H 10965 2015 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L +24V #PWR0131 +L +24V #PWR0133 U 1 1 553E4041 P 10425 1845 -F 0 "#PWR0131" H 10425 1695 60 0001 C CNN +F 0 "#PWR0133" H 10425 1695 60 0001 C CNN F 1 "+24V" H 10425 1985 60 0000 C CNN F 2 "" H 10425 1845 60 0000 C CNN F 3 "" H 10425 1845 60 0000 C CNN @@ -276,10 +277,10 @@ F 3 "" H 10425 1845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0132 +L GND #PWR0134 U 1 1 553E4047 P 10425 2195 -F 0 "#PWR0132" H 10425 1945 60 0001 C CNN +F 0 "#PWR0134" H 10425 1945 60 0001 C CNN F 1 "GND" H 10425 2045 60 0000 C CNN F 2 "" H 10425 2195 60 0000 C CNN F 3 "" H 10425 2195 60 0000 C CNN @@ -3065,7 +3066,7 @@ AF 93 1E FB 28 94 3D 18 23 65 59 AB BA CE C7 AA 8C CE 39 48 93 A6 A7 AA 0A 25 22 6A 4A 85 53 EC 09 AC B9 EB 8C 98 55 A4 4D 31 42 92 31 35 82 3B 60 DF 27 3D EB E9 37 FC E4 A7 4F F8 F5 C7 F5 0E 3D 04 96 50 D8 96 35 42 9C E9 5A A7 8F FB 27 FF DC 2D EF 81 BD BF 1B 22 9B 87 00 88 23 34 49 C4 FA FE 71 0F 3C 75 DF B2 7F C4 7E 07 9C 74 EA 29 98 AD 40 AA 86 14 64 89 65 C7 75 -85 53 4C B1 97 F1 FF 00 89 51 C8 4B C2 DC 5E A4 00 00 00 00 49 45 4E 44 AE 42 60 82 18 +85 53 4C B1 97 F1 FF 00 89 51 C8 4B C2 DC 5E A4 00 00 00 00 49 45 4E 44 AE 42 60 82 4F EndData $EndBitmap $Bitmap @@ -3531,7 +3532,7 @@ D7 62 CA 0A 72 F0 D6 4E DE 76 16 26 57 F8 0F 6C DE FB 25 1F D8 68 1E 01 AA 61 28 E3 08 01 79 BF 07 2F 7E 60 B3 1B 1C BC 5E BA 2F 85 97 94 D6 C2 47 D1 0E EF B9 C0 57 A3 59 D6 CC 94 6B 1D B7 0F 85 FF C6 86 DF 19 D7 CC C0 BB DD 16 35 D3 A5 4D 8D AC 19 82 D7 C8 C8 C8 C8 A8 10 6D 93 08 99 F1 18 8C A6 4D 07 DE E0 44 58 CD 11 23 23 23 23 23 23 23 23 23 23 23 23 23 23 25 FD -7F 58 5B 3B A6 13 40 A6 96 00 00 00 00 49 45 4E 44 AE 42 60 82 23 +7F 58 5B 3B A6 13 40 A6 96 00 00 00 00 49 45 4E 44 AE 42 60 82 19 EndData $EndBitmap $Sheet @@ -3716,10 +3717,10 @@ Wire Wire Line 1740 2980 1740 2835 Connection ~ 1740 2835 $Comp -L GND #PWR0133 +L GND #PWR0135 U 1 1 5558B071 P 1740 3470 -F 0 "#PWR0133" H 1740 3220 60 0001 C CNN +F 0 "#PWR0135" H 1740 3220 60 0001 C CNN F 1 "GND" V 1740 3245 60 0000 C CNN F 2 "" H 1740 3470 60 0000 C CNN F 3 "" H 1740 3470 60 0000 C CNN @@ -3729,10 +3730,10 @@ $EndComp Wire Wire Line 1740 3470 1740 3380 $Comp -L GND #PWR0134 +L GND #PWR0136 U 1 1 5558B77B P 1570 6795 -F 0 "#PWR0134" H 1570 6545 60 0001 C CNN +F 0 "#PWR0136" H 1570 6545 60 0001 C CNN F 1 "GND" V 1570 6570 60 0000 C CNN F 2 "" H 1570 6795 60 0000 C CNN F 3 "" H 1570 6795 60 0000 C CNN @@ -3755,10 +3756,10 @@ F 5 "Value" H 1980 6505 60 0001 C CNN "Bestelllink" 1 0 0 -1 $EndComp $Comp -L GND #PWR0135 +L GND #PWR0137 U 1 1 5558BA10 P 1980 6795 -F 0 "#PWR0135" H 1980 6545 60 0001 C CNN +F 0 "#PWR0137" H 1980 6545 60 0001 C CNN F 1 "GND" V 1980 6570 60 0000 C CNN F 2 "" H 1980 6795 60 0000 C CNN F 3 "" H 1980 6795 60 0000 C CNN @@ -3784,10 +3785,10 @@ F 5 "Value" H 2195 3255 60 0001 C CNN "Bestelllink" 1 0 0 -1 $EndComp $Comp -L GND #PWR0136 +L GND #PWR0138 U 1 1 5558C056 P 2195 3545 -F 0 "#PWR0136" H 2195 3295 60 0001 C CNN +F 0 "#PWR0138" H 2195 3295 60 0001 C CNN F 1 "GND" V 2195 3320 60 0000 C CNN F 2 "" H 2195 3545 60 0000 C CNN F 3 "" H 2195 3545 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch b/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch index 2ec6d78b3..6bd8a3159 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -17,10 +18,10 @@ Comment3 "" Comment4 "" $EndDescr $Comp -L GND #PWR024 +L GND #PWR027 U 1 1 553AD719 P 4655 2910 -F 0 "#PWR024" H 4655 2660 60 0001 C CNN +F 0 "#PWR027" H 4655 2660 60 0001 C CNN F 1 "GND" V 4655 2685 60 0000 C CNN F 2 "" H 4655 2910 60 0000 C CNN F 3 "" H 4655 2910 60 0000 C CNN @@ -28,10 +29,10 @@ F 3 "" H 4655 2910 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR025 +L +5V #PWR028 U 1 1 553AD72D P 6280 2810 -F 0 "#PWR025" H 6280 2660 60 0001 C CNN +F 0 "#PWR028" H 6280 2660 60 0001 C CNN F 1 "+5V" V 6280 3025 60 0000 C CNN F 2 "" H 6280 2810 60 0000 C CNN F 3 "" H 6280 2810 60 0000 C CNN @@ -63,10 +64,10 @@ Wire Wire Line Wire Wire Line 4535 3110 6315 3110 $Comp -L GND #PWR026 +L GND #PWR029 U 1 1 553B1AA7 P 4655 3435 -F 0 "#PWR026" H 4655 3185 60 0001 C CNN +F 0 "#PWR029" H 4655 3185 60 0001 C CNN F 1 "GND" V 4655 3210 60 0000 C CNN F 2 "" H 4655 3435 60 0000 C CNN F 3 "" H 4655 3435 60 0000 C CNN @@ -74,10 +75,10 @@ F 3 "" H 4655 3435 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR027 +L +5V #PWR030 U 1 1 553B1AAD P 6305 3335 -F 0 "#PWR027" H 6305 3185 60 0001 C CNN +F 0 "#PWR030" H 6305 3185 60 0001 C CNN F 1 "+5V" V 6305 3550 60 0000 C CNN F 2 "" H 6305 3335 60 0000 C CNN F 3 "" H 6305 3335 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch b/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch index 06d9feaac..cf725189a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -17,10 +18,10 @@ Comment3 "" Comment4 "" $EndDescr $Comp -L +5V #PWR028 +L +5V #PWR031 U 1 1 553A971E P 3735 2085 -F 0 "#PWR028" H 3735 1935 60 0001 C CNN +F 0 "#PWR031" H 3735 1935 60 0001 C CNN F 1 "+5V" V 3735 2300 60 0000 C CNN F 2 "" H 3735 2085 60 0000 C CNN F 3 "" H 3735 2085 60 0000 C CNN @@ -40,10 +41,10 @@ F 4 "Value" H 3210 2185 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR029 +L GND #PWR032 U 1 1 553A97A2 P 3730 2185 -F 0 "#PWR029" H 3730 1935 60 0001 C CNN +F 0 "#PWR032" H 3730 1935 60 0001 C CNN F 1 "GND" V 3730 1960 60 0000 C CNN F 2 "" H 3730 2185 60 0000 C CNN F 3 "" H 3730 2185 60 0000 C CNN @@ -59,10 +60,10 @@ Wire Wire Line Wire Wire Line 3560 2285 4070 2285 $Comp -L +5V #PWR030 +L +5V #PWR033 U 1 1 553AAAF0 P 3735 2495 -F 0 "#PWR030" H 3735 2345 60 0001 C CNN +F 0 "#PWR033" H 3735 2345 60 0001 C CNN F 1 "+5V" V 3735 2710 60 0000 C CNN F 2 "" H 3735 2495 60 0000 C CNN F 3 "" H 3735 2495 60 0000 C CNN @@ -82,10 +83,10 @@ F 4 "Value" H 3210 2595 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR031 +L GND #PWR034 U 1 1 553AAAFD P 3730 2595 -F 0 "#PWR031" H 3730 2345 60 0001 C CNN +F 0 "#PWR034" H 3730 2345 60 0001 C CNN F 1 "GND" V 3730 2370 60 0000 C CNN F 2 "" H 3730 2595 60 0000 C CNN F 3 "" H 3730 2595 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch b/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch index a1e182d72..77179905a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -29,10 +30,10 @@ F 4 "Value" H 5395 3070 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L +5V #PWR093 +L +5V #PWR096 U 1 1 5540D156 P 5395 2410 -F 0 "#PWR093" H 5395 2260 60 0001 C CNN +F 0 "#PWR096" H 5395 2260 60 0001 C CNN F 1 "+5V" H 5395 2550 60 0000 C CNN F 2 "" H 5395 2410 60 0000 C CNN F 3 "" H 5395 2410 60 0000 C CNN @@ -42,10 +43,10 @@ $EndComp Wire Wire Line 5395 2470 5395 2410 $Comp -L GND #PWR094 +L GND #PWR097 U 1 1 5540D459 P 5395 3790 -F 0 "#PWR094" H 5395 3540 60 0001 C CNN +F 0 "#PWR097" H 5395 3540 60 0001 C CNN F 1 "GND" H 5395 3640 60 0000 C CNN F 2 "" H 5395 3790 60 0000 C CNN F 3 "" H 5395 3790 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch b/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch index e660c5c5d..0ac588bb9 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -29,10 +30,10 @@ F 4 "Value" H 4515 2720 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR032 +L GND #PWR035 U 1 1 553B76CF P 5090 2720 -F 0 "#PWR032" H 5090 2470 60 0001 C CNN +F 0 "#PWR035" H 5090 2470 60 0001 C CNN F 1 "GND" V 5090 2500 60 0000 C CNN F 2 "" H 5090 2720 60 0000 C CNN F 3 "" H 5090 2720 60 0000 C CNN @@ -40,10 +41,10 @@ F 3 "" H 5090 2720 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR033 +L +5V #PWR036 U 1 1 553B771E P 5090 2620 -F 0 "#PWR033" H 5090 2470 60 0001 C CNN +F 0 "#PWR036" H 5090 2470 60 0001 C CNN F 1 "+5V" V 5090 2830 60 0000 C CNN F 2 "" H 5090 2620 60 0000 C CNN F 3 "" H 5090 2620 60 0000 C CNN @@ -71,10 +72,10 @@ F 4 "Value" H 4515 3125 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR034 +L GND #PWR037 U 1 1 553BA34A P 5090 3125 -F 0 "#PWR034" H 5090 2875 60 0001 C CNN +F 0 "#PWR037" H 5090 2875 60 0001 C CNN F 1 "GND" V 5090 2905 60 0000 C CNN F 2 "" H 5090 3125 60 0000 C CNN F 3 "" H 5090 3125 60 0000 C CNN @@ -82,10 +83,10 @@ F 3 "" H 5090 3125 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR035 +L +5V #PWR038 U 1 1 553BA350 P 5090 3025 -F 0 "#PWR035" H 5090 2875 60 0001 C CNN +F 0 "#PWR038" H 5090 2875 60 0001 C CNN F 1 "+5V" V 5090 3235 60 0000 C CNN F 2 "" H 5090 3025 60 0000 C CNN F 3 "" H 5090 3025 60 0000 C CNN @@ -113,10 +114,10 @@ F 4 "Value" H 4515 3530 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR036 +L GND #PWR039 U 1 1 553BC8E6 P 5090 3530 -F 0 "#PWR036" H 5090 3280 60 0001 C CNN +F 0 "#PWR039" H 5090 3280 60 0001 C CNN F 1 "GND" V 5090 3310 60 0000 C CNN F 2 "" H 5090 3530 60 0000 C CNN F 3 "" H 5090 3530 60 0000 C CNN @@ -124,10 +125,10 @@ F 3 "" H 5090 3530 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR037 +L +5V #PWR040 U 1 1 553BC8EC P 5090 3430 -F 0 "#PWR037" H 5090 3280 60 0001 C CNN +F 0 "#PWR040" H 5090 3280 60 0001 C CNN F 1 "+5V" V 5090 3640 60 0000 C CNN F 2 "" H 5090 3430 60 0000 C CNN F 3 "" H 5090 3430 60 0000 C CNN @@ -155,10 +156,10 @@ F 4 "Value" H 4510 3900 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR038 +L GND #PWR041 U 1 1 553BF1BA P 5085 3900 -F 0 "#PWR038" H 5085 3650 60 0001 C CNN +F 0 "#PWR041" H 5085 3650 60 0001 C CNN F 1 "GND" V 5085 3680 60 0000 C CNN F 2 "" H 5085 3900 60 0000 C CNN F 3 "" H 5085 3900 60 0000 C CNN @@ -166,10 +167,10 @@ F 3 "" H 5085 3900 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR039 +L +5V #PWR042 U 1 1 553BF1C0 P 5085 3800 -F 0 "#PWR039" H 5085 3650 60 0001 C CNN +F 0 "#PWR042" H 5085 3650 60 0001 C CNN F 1 "+5V" V 5085 4010 60 0000 C CNN F 2 "" H 5085 3800 60 0000 C CNN F 3 "" H 5085 3800 60 0000 C CNN @@ -197,10 +198,10 @@ F 4 "Value" H 4505 4325 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR040 +L GND #PWR043 U 1 1 553C1029 P 5080 4325 -F 0 "#PWR040" H 5080 4075 60 0001 C CNN +F 0 "#PWR043" H 5080 4075 60 0001 C CNN F 1 "GND" V 5080 4105 60 0000 C CNN F 2 "" H 5080 4325 60 0000 C CNN F 3 "" H 5080 4325 60 0000 C CNN @@ -208,10 +209,10 @@ F 3 "" H 5080 4325 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR041 +L +5V #PWR044 U 1 1 553C102F P 5080 4225 -F 0 "#PWR041" H 5080 4075 60 0001 C CNN +F 0 "#PWR044" H 5080 4075 60 0001 C CNN F 1 "+5V" V 5080 4435 60 0000 C CNN F 2 "" H 5080 4225 60 0000 C CNN F 3 "" H 5080 4225 60 0000 C CNN @@ -239,10 +240,10 @@ F 4 "Value" H 4505 4735 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR042 +L GND #PWR045 U 1 1 553C32DE P 5080 4735 -F 0 "#PWR042" H 5080 4485 60 0001 C CNN +F 0 "#PWR045" H 5080 4485 60 0001 C CNN F 1 "GND" V 5080 4515 60 0000 C CNN F 2 "" H 5080 4735 60 0000 C CNN F 3 "" H 5080 4735 60 0000 C CNN @@ -250,10 +251,10 @@ F 3 "" H 5080 4735 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR043 +L +5V #PWR046 U 1 1 553C32E4 P 5080 4635 -F 0 "#PWR043" H 5080 4485 60 0001 C CNN +F 0 "#PWR046" H 5080 4485 60 0001 C CNN F 1 "+5V" V 5080 4845 60 0000 C CNN F 2 "" H 5080 4635 60 0000 C CNN F 3 "" H 5080 4635 60 0000 C CNN @@ -281,10 +282,10 @@ F 4 "Value" H 4505 5155 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR044 +L GND #PWR047 U 1 1 553C5710 P 5080 5155 -F 0 "#PWR044" H 5080 4905 60 0001 C CNN +F 0 "#PWR047" H 5080 4905 60 0001 C CNN F 1 "GND" V 5080 4935 60 0000 C CNN F 2 "" H 5080 5155 60 0000 C CNN F 3 "" H 5080 5155 60 0000 C CNN @@ -292,10 +293,10 @@ F 3 "" H 5080 5155 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR045 +L +5V #PWR048 U 1 1 553C5716 P 5080 5055 -F 0 "#PWR045" H 5080 4905 60 0001 C CNN +F 0 "#PWR048" H 5080 4905 60 0001 C CNN F 1 "+5V" V 5080 5265 60 0000 C CNN F 2 "" H 5080 5055 60 0000 C CNN F 3 "" H 5080 5055 60 0000 C CNN @@ -325,10 +326,10 @@ F 4 "Value" H 4500 5570 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR046 +L GND #PWR049 U 1 1 5558F7C6 P 5075 5570 -F 0 "#PWR046" H 5075 5320 60 0001 C CNN +F 0 "#PWR049" H 5075 5320 60 0001 C CNN F 1 "GND" V 5075 5350 60 0000 C CNN F 2 "" H 5075 5570 60 0000 C CNN F 3 "" H 5075 5570 60 0000 C CNN @@ -336,10 +337,10 @@ F 3 "" H 5075 5570 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR047 +L +5V #PWR050 U 1 1 5558F7CC P 5075 5470 -F 0 "#PWR047" H 5075 5320 60 0001 C CNN +F 0 "#PWR050" H 5075 5320 60 0001 C CNN F 1 "+5V" V 5075 5680 60 0000 C CNN F 2 "" H 5075 5470 60 0000 C CNN F 3 "" H 5075 5470 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch b/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch index 7c6334881..dc7f2c8d5 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -31,10 +32,10 @@ F 4 "Value" H 2660 2480 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR018 +L GND #PWR021 U 1 1 553AEB8F P 4405 2430 -F 0 "#PWR018" H 4405 2180 60 0001 C CNN +F 0 "#PWR021" H 4405 2180 60 0001 C CNN F 1 "GND" V 4405 2205 60 0000 C CNN F 2 "" H 4405 2430 60 0000 C CNN F 3 "" H 4405 2430 60 0000 C CNN @@ -42,10 +43,10 @@ F 3 "" H 4405 2430 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR019 +L +5V #PWR022 U 1 1 553AEBA4 P 3310 2330 -F 0 "#PWR019" H 3310 2180 60 0001 C CNN +F 0 "#PWR022" H 3310 2180 60 0001 C CNN F 1 "+5V" V 3310 2545 60 0000 C CNN F 2 "" H 3310 2330 60 0000 C CNN F 3 "" H 3310 2330 60 0000 C CNN @@ -77,10 +78,10 @@ F 4 "Value" H 2660 3040 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR020 +L GND #PWR023 U 1 1 553AF416 P 4405 2990 -F 0 "#PWR020" H 4405 2740 60 0001 C CNN +F 0 "#PWR023" H 4405 2740 60 0001 C CNN F 1 "GND" V 4405 2765 60 0000 C CNN F 2 "" H 4405 2990 60 0000 C CNN F 3 "" H 4405 2990 60 0000 C CNN @@ -88,10 +89,10 @@ F 3 "" H 4405 2990 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR021 +L +5V #PWR024 U 1 1 553AF41C P 3310 2890 -F 0 "#PWR021" H 3310 2740 60 0001 C CNN +F 0 "#PWR024" H 3310 2740 60 0001 C CNN F 1 "+5V" V 3310 3105 60 0000 C CNN F 2 "" H 3310 2890 60 0000 C CNN F 3 "" H 3310 2890 60 0000 C CNN @@ -123,10 +124,10 @@ F 4 "Value" H 2650 3605 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR022 +L GND #PWR025 U 1 1 553AFE26 P 4395 3555 -F 0 "#PWR022" H 4395 3305 60 0001 C CNN +F 0 "#PWR025" H 4395 3305 60 0001 C CNN F 1 "GND" V 4395 3330 60 0000 C CNN F 2 "" H 4395 3555 60 0000 C CNN F 3 "" H 4395 3555 60 0000 C CNN @@ -134,10 +135,10 @@ F 3 "" H 4395 3555 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR023 +L +5V #PWR026 U 1 1 553AFE2C P 3300 3455 -F 0 "#PWR023" H 3300 3305 60 0001 C CNN +F 0 "#PWR026" H 3300 3305 60 0001 C CNN F 1 "+5V" V 3300 3670 60 0000 C CNN F 2 "" H 3300 3455 60 0000 C CNN F 3 "" H 3300 3455 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch b/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch index 33dc7782c..ee6a34fdb 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -29,10 +30,10 @@ F 4 "R: SUMMER TDB 05" H 2165 1300 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L GND #PWR0153 +L GND #PWR0155 U 1 1 55401A25 P 1615 1200 -F 0 "#PWR0153" H 1615 950 60 0001 C CNN +F 0 "#PWR0155" H 1615 950 60 0001 C CNN F 1 "GND" V 1615 985 60 0000 C CNN F 2 "" H 1615 1200 60 0000 C CNN F 3 "" H 1615 1200 60 0000 C CNN @@ -81,10 +82,10 @@ F 4 "Value" H 2410 2220 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0154 +L +3.3V #PWR0156 U 1 1 553CB63B P 2775 2220 -F 0 "#PWR0154" H 2775 2180 30 0001 C CNN +F 0 "#PWR0156" H 2775 2180 30 0001 C CNN F 1 "+3.3V" V 2775 2385 30 0000 C CNN F 2 "" H 2775 2220 60 0000 C CNN F 3 "" H 2775 2220 60 0000 C CNN @@ -92,10 +93,10 @@ F 3 "" H 2775 2220 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0155 +L +5V #PWR0157 U 1 1 553CB667 P 2770 2650 -F 0 "#PWR0155" H 2770 2500 60 0001 C CNN +F 0 "#PWR0157" H 2770 2500 60 0001 C CNN F 1 "+5V" V 2770 2860 60 0000 C CNN F 2 "" H 2770 2650 60 0000 C CNN F 3 "" H 2770 2650 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch b/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch index 823d2723d..ba38ccaec 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -19,97 +20,71 @@ $EndDescr $Comp L DC-DC_Stepdown U7 U 1 1 553E5460 -P 4055 1115 -F 0 "U7" H 4055 1115 60 0000 C CNN -F 1 "DC 5V" H 4055 930 39 0000 C CNN -F 2 "ACS712:DC_DC_DSN2596_mit_Bohrloch_doppelte_Lochreihe" H 4055 1115 60 0001 C CNN -F 3 "" H 4055 1115 60 0000 C CNN -F 4 "Value" H 4055 1115 60 0001 C CNN "Bestellnummer" - 1 4055 1115 +P 4630 1115 +F 0 "U7" H 4630 1115 60 0000 C CNN +F 1 "DC 5V" H 4630 930 39 0000 C CNN +F 2 "ACS712:DC_DC_DSN2596_mit_Bohrloch_doppelte_Lochreihe" H 4630 1115 60 0001 C CNN +F 3 "" H 4630 1115 60 0000 C CNN +F 4 "Value" H 4630 1115 60 0001 C CNN "Bestellnummer" + 1 4630 1115 1 0 0 -1 $EndComp $Comp -L GND #PWR0156 +L GND #PWR0158 U 1 1 553E58DC -P 4455 965 -F 0 "#PWR0156" H 4455 715 60 0001 C CNN -F 1 "GND" H 4455 815 60 0000 C CNN -F 2 "" H 4455 965 60 0000 C CNN -F 3 "" H 4455 965 60 0000 C CNN - 1 4455 965 +P 5030 965 +F 0 "#PWR0158" H 5030 715 60 0001 C CNN +F 1 "GND" H 5030 815 60 0000 C CNN +F 2 "" H 5030 965 60 0000 C CNN +F 3 "" H 5030 965 60 0000 C CNN + 1 5030 965 1 0 0 1 $EndComp $Comp -L GND #PWR0157 +L GND #PWR0159 U 1 1 553E58FB -P 3655 965 -F 0 "#PWR0157" H 3655 715 60 0001 C CNN -F 1 "GND" H 3655 815 60 0000 C CNN -F 2 "" H 3655 965 60 0000 C CNN -F 3 "" H 3655 965 60 0000 C CNN - 1 3655 965 +P 4230 965 +F 0 "#PWR0159" H 4230 715 60 0001 C CNN +F 1 "GND" H 4230 815 60 0000 C CNN +F 2 "" H 4230 965 60 0000 C CNN +F 3 "" H 4230 965 60 0000 C CNN + 1 4230 965 1 0 0 1 $EndComp Wire Wire Line - 4405 1015 4455 1015 + 4980 1015 5030 1015 Wire Wire Line - 4455 1015 4455 965 + 5030 1015 5030 965 Wire Wire Line - 3705 1015 3655 1015 + 4280 1015 4230 1015 Wire Wire Line - 3655 1015 3655 965 -$Comp -L DIODE ZD2 -U 1 1 553E5DC0 -P 6155 1620 -F 0 "ZD2" V 6155 1720 40 0000 C CNN -F 1 "ZD-5W 5,1 Optional" V 6155 1250 40 0000 C CNN -F 2 "ACS712:Diode_ligend_RM10" H 6155 1620 60 0001 C CNN -F 3 "" H 6155 1620 60 0000 C CNN -F 4 "R: ZD-5W 5,1" H 6155 1620 60 0001 C CNN "Bestellnummer" - 1 6155 1620 - 0 -1 -1 0 -$EndComp + 4230 1015 4230 965 $Comp L CP1 C8 U 1 1 553E5E05 -P 5655 1490 -F 0 "C8" H 5705 1590 50 0000 L CNN -F 1 "100uF" H 5705 1390 50 0000 L CNN -F 2 "ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0" H 5655 1490 60 0001 C CNN -F 3 "" H 5655 1490 60 0000 C CNN -F 4 "R: RAD FC 100/50" H 5655 1490 60 0001 C CNN "Bestellnummer" - 1 5655 1490 +P 6255 1490 +F 0 "C8" H 6305 1590 50 0000 L CNN +F 1 "100uF" H 6305 1390 50 0000 L CNN +F 2 "ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0" H 6255 1490 60 0001 C CNN +F 3 "" H 6255 1490 60 0000 C CNN +F 4 "R: RAD FC 100/50" H 6255 1490 60 0001 C CNN "Bestellnummer" + 1 6255 1490 1 0 0 -1 $EndComp Wire Wire Line - 4975 1215 6425 1215 + 5945 1215 6425 1215 Wire Wire Line - 6155 1215 6155 1420 -Wire Wire Line - 5655 1215 5655 1290 -Connection ~ 5655 1215 -$Comp -L R R25 -U 1 1 553E6E97 -P 6155 2265 -F 0 "R25" H 6275 2265 40 0000 C CNN -F 1 "0" V 6162 2266 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM15mm" V 6085 2265 30 0001 C CNN -F 3 "" H 6155 2265 30 0000 C CNN -F 4 "Value" H 6155 2265 60 0001 C CNN "Bestellnummer" - 1 6155 2265 - 1 0 0 -1 -$EndComp + 6255 1215 6255 1290 +Connection ~ 6255 1215 $Comp -L GND #PWR0158 +L GND #PWR0160 U 1 1 553E7071 -P 6155 2590 -F 0 "#PWR0158" H 6155 2340 60 0001 C CNN -F 1 "GND" H 6155 2440 60 0000 C CNN -F 2 "" H 6155 2590 60 0000 C CNN -F 3 "" H 6155 2590 60 0000 C CNN - 1 6155 2590 +P 5340 1980 +F 0 "#PWR0160" H 5340 1730 60 0001 C CNN +F 1 "GND" H 5340 1830 60 0000 C CNN +F 2 "" H 5340 1980 60 0000 C CNN +F 3 "" H 5340 1980 60 0000 C CNN + 1 5340 1980 1 0 0 -1 $EndComp $Comp @@ -123,24 +98,21 @@ F 3 "" H 6725 1215 60 0000 C CNN 1 6725 1215 1 0 0 -1 $EndComp -Connection ~ 6155 1215 Wire Wire Line - 6155 2515 6155 2590 -Wire Wire Line - 6155 1820 6155 2015 + 5340 1755 5340 1980 $Comp -L GND #PWR0159 +L GND #PWR0161 U 1 1 553E76F0 -P 5655 1765 -F 0 "#PWR0159" H 5655 1515 60 0001 C CNN -F 1 "GND" H 5655 1615 60 0000 C CNN -F 2 "" H 5655 1765 60 0000 C CNN -F 3 "" H 5655 1765 60 0000 C CNN - 1 5655 1765 +P 6255 1765 +F 0 "#PWR0161" H 6255 1515 60 0001 C CNN +F 1 "GND" H 6255 1615 60 0000 C CNN +F 2 "" H 6255 1765 60 0000 C CNN +F 3 "" H 6255 1765 60 0000 C CNN + 1 6255 1765 1 0 0 -1 $EndComp Wire Wire Line - 5655 1690 5655 1765 + 6255 1690 6255 1765 Text GLabel 7205 1215 2 60 Output ~ 0 Power5 Wire Wire Line @@ -148,97 +120,60 @@ Wire Wire Line $Comp L DC-DC_Stepdown U6 U 1 1 553E7CE8 -P 4040 3445 -F 0 "U6" H 4040 3445 60 0000 C CNN -F 1 "DC 3,3V" H 4040 3260 39 0000 C CNN -F 2 "ACS712:DC_DC_DSN2596_mit_Bohrloch_doppelte_Lochreihe" H 4040 3445 60 0001 C CNN -F 3 "" H 4040 3445 60 0000 C CNN -F 4 "Value" H 4040 3445 60 0001 C CNN "Bestellnummer" - 1 4040 3445 +P 4640 3445 +F 0 "U6" H 4640 3445 60 0000 C CNN +F 1 "DC 3,3V" H 4640 3260 39 0000 C CNN +F 2 "ACS712:DC_DC_DSN2596_mit_Bohrloch_doppelte_Lochreihe" H 4640 3445 60 0001 C CNN +F 3 "" H 4640 3445 60 0000 C CNN +F 4 "Value" H 4640 3445 60 0001 C CNN "Bestellnummer" + 1 4640 3445 1 0 0 -1 $EndComp $Comp -L GND #PWR0160 +L GND #PWR0162 U 1 1 553E7CEE -P 4440 3295 -F 0 "#PWR0160" H 4440 3045 60 0001 C CNN -F 1 "GND" H 4440 3145 60 0000 C CNN -F 2 "" H 4440 3295 60 0000 C CNN -F 3 "" H 4440 3295 60 0000 C CNN - 1 4440 3295 +P 5040 3295 +F 0 "#PWR0162" H 5040 3045 60 0001 C CNN +F 1 "GND" H 5040 3145 60 0000 C CNN +F 2 "" H 5040 3295 60 0000 C CNN +F 3 "" H 5040 3295 60 0000 C CNN + 1 5040 3295 1 0 0 1 $EndComp $Comp -L GND #PWR0161 +L GND #PWR0163 U 1 1 553E7CF4 -P 3640 3295 -F 0 "#PWR0161" H 3640 3045 60 0001 C CNN -F 1 "GND" H 3640 3145 60 0000 C CNN -F 2 "" H 3640 3295 60 0000 C CNN -F 3 "" H 3640 3295 60 0000 C CNN - 1 3640 3295 +P 4240 3295 +F 0 "#PWR0163" H 4240 3045 60 0001 C CNN +F 1 "GND" H 4240 3145 60 0000 C CNN +F 2 "" H 4240 3295 60 0000 C CNN +F 3 "" H 4240 3295 60 0000 C CNN + 1 4240 3295 1 0 0 1 $EndComp Wire Wire Line - 4390 3345 4440 3345 + 4990 3345 5040 3345 Wire Wire Line - 4440 3345 4440 3295 + 5040 3345 5040 3295 Wire Wire Line - 3690 3345 3640 3345 + 4290 3345 4240 3345 Wire Wire Line - 3640 3345 3640 3295 -$Comp -L DIODE ZD1 -U 1 1 553E7CFF -P 6230 3950 -F 0 "ZD1" V 6230 4050 40 0000 C CNN -F 1 "ZD-5W 3,3V Optional" V 6230 3545 40 0000 C CNN -F 2 "ACS712:Diode_ligend_RM10" H 6230 3950 60 0001 C CNN -F 3 "" H 6230 3950 60 0000 C CNN -F 4 "R: ZD-5W 3,3V" H 6230 3950 60 0001 C CNN "Bestellnummer" - 1 6230 3950 - 0 -1 -1 0 -$EndComp + 4240 3345 4240 3295 $Comp L CP1 C7 U 1 1 553E7D06 -P 5730 3820 -F 0 "C7" H 5780 3920 50 0000 L CNN -F 1 "100uF" H 5780 3720 50 0000 L CNN -F 2 "ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0" H 5730 3820 60 0001 C CNN -F 3 "" H 5730 3820 60 0000 C CNN -F 4 "R: RAD FC 100/50" H 5730 3820 60 0001 C CNN "Bestellnummer" - 1 5730 3820 +P 6275 3820 +F 0 "C7" H 6325 3920 50 0000 L CNN +F 1 "100uF" H 6325 3720 50 0000 L CNN +F 2 "ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0" H 6275 3820 60 0001 C CNN +F 3 "" H 6275 3820 60 0000 C CNN +F 4 "R: RAD FC 100/50" H 6275 3820 60 0001 C CNN "Bestellnummer" + 1 6275 3820 1 0 0 -1 $EndComp Wire Wire Line - 6230 3545 6230 3750 -Wire Wire Line - 5730 3620 5730 3545 -Connection ~ 5730 3545 -$Comp -L R R24 -U 1 1 553E7D11 -P 6230 4595 -F 0 "R24" H 6350 4595 40 0000 C CNN -F 1 "0" V 6237 4596 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM15mm" V 6160 4595 30 0001 C CNN -F 3 "" H 6230 4595 30 0000 C CNN -F 4 "Value" H 6230 4595 60 0001 C CNN "Bestellnummer" - 1 6230 4595 - 1 0 0 -1 -$EndComp -$Comp -L GND #PWR0162 -U 1 1 553E7D17 -P 6230 4920 -F 0 "#PWR0162" H 6230 4670 60 0001 C CNN -F 1 "GND" H 6230 4770 60 0000 C CNN -F 2 "" H 6230 4920 60 0000 C CNN -F 3 "" H 6230 4920 60 0000 C CNN - 1 6230 4920 - 1 0 0 -1 -$EndComp + 6275 3620 6275 3545 +Connection ~ 6275 3545 $Comp L JUMPER JP10 U 1 1 553E7D1D @@ -251,31 +186,26 @@ F 4 "Value" H 6800 3545 60 0001 C CNN "Bestellnummer" 1 6800 3545 1 0 0 -1 $EndComp -Connection ~ 6230 3545 -Wire Wire Line - 6230 4845 6230 4920 -Wire Wire Line - 6230 4150 6230 4345 $Comp -L GND #PWR0163 +L GND #PWR0164 U 1 1 553E7D26 -P 5730 4095 -F 0 "#PWR0163" H 5730 3845 60 0001 C CNN -F 1 "GND" H 5730 3945 60 0000 C CNN -F 2 "" H 5730 4095 60 0000 C CNN -F 3 "" H 5730 4095 60 0000 C CNN - 1 5730 4095 +P 6275 4095 +F 0 "#PWR0164" H 6275 3845 60 0001 C CNN +F 1 "GND" H 6275 3945 60 0000 C CNN +F 2 "" H 6275 4095 60 0000 C CNN +F 3 "" H 6275 4095 60 0000 C CNN + 1 6275 4095 1 0 0 -1 $EndComp Wire Wire Line - 5730 4020 5730 4095 + 6275 4020 6275 4095 Wire Wire Line 7100 3545 7280 3545 $Comp -L +3.3V #PWR0164 +L +3.3V #PWR0165 U 1 1 553E8B9E P 7280 3545 -F 0 "#PWR0164" H 7280 3505 30 0001 C CNN +F 0 "#PWR0165" H 7280 3505 30 0001 C CNN F 1 "+3.3V" V 7280 3715 30 0000 C CNN F 2 "" H 7280 3545 60 0000 C CNN F 3 "" H 7280 3545 60 0000 C CNN @@ -285,97 +215,60 @@ $EndComp $Comp L DC-DC_Stepdown U1 U 1 1 553E9122 -P 4010 5670 -F 0 "U1" H 4010 5670 60 0000 C CNN -F 1 "DC 10V" H 4010 5485 39 0000 C CNN -F 2 "ACS712:DC_DC_DSN2596_mit_Bohrloch_doppelte_Lochreihe" H 4010 5670 60 0001 C CNN -F 3 "" H 4010 5670 60 0000 C CNN -F 4 "Value" H 4010 5670 60 0001 C CNN "Bestellnummer" - 1 4010 5670 +P 4645 5670 +F 0 "U1" H 4645 5670 60 0000 C CNN +F 1 "DC 10V" H 4645 5485 39 0000 C CNN +F 2 "ACS712:DC_DC_DSN2596_mit_Bohrloch_doppelte_Lochreihe" H 4645 5670 60 0001 C CNN +F 3 "" H 4645 5670 60 0000 C CNN +F 4 "Value" H 4645 5670 60 0001 C CNN "Bestellnummer" + 1 4645 5670 1 0 0 -1 $EndComp $Comp -L GND #PWR0165 +L GND #PWR0166 U 1 1 553E9128 -P 4410 5520 -F 0 "#PWR0165" H 4410 5270 60 0001 C CNN -F 1 "GND" H 4410 5370 60 0000 C CNN -F 2 "" H 4410 5520 60 0000 C CNN -F 3 "" H 4410 5520 60 0000 C CNN - 1 4410 5520 +P 5045 5520 +F 0 "#PWR0166" H 5045 5270 60 0001 C CNN +F 1 "GND" H 5045 5370 60 0000 C CNN +F 2 "" H 5045 5520 60 0000 C CNN +F 3 "" H 5045 5520 60 0000 C CNN + 1 5045 5520 1 0 0 1 $EndComp $Comp -L GND #PWR0166 +L GND #PWR0167 U 1 1 553E912E -P 3610 5520 -F 0 "#PWR0166" H 3610 5270 60 0001 C CNN -F 1 "GND" H 3610 5370 60 0000 C CNN -F 2 "" H 3610 5520 60 0000 C CNN -F 3 "" H 3610 5520 60 0000 C CNN - 1 3610 5520 +P 4245 5520 +F 0 "#PWR0167" H 4245 5270 60 0001 C CNN +F 1 "GND" H 4245 5370 60 0000 C CNN +F 2 "" H 4245 5520 60 0000 C CNN +F 3 "" H 4245 5520 60 0000 C CNN + 1 4245 5520 1 0 0 1 $EndComp Wire Wire Line - 4360 5570 4410 5570 + 4995 5570 5045 5570 Wire Wire Line - 4410 5570 4410 5520 + 5045 5570 5045 5520 Wire Wire Line - 3660 5570 3610 5570 + 4295 5570 4245 5570 Wire Wire Line - 3610 5570 3610 5520 -$Comp -L DIODE ZD3 -U 1 1 553E9139 -P 6170 6175 -F 0 "ZD3" V 6170 6275 40 0000 C CNN -F 1 "ZD-5W 12V Optional" V 6170 5775 40 0000 C CNN -F 2 "ACS712:Diode_ligend_RM10" H 6170 6175 60 0001 C CNN -F 3 "" H 6170 6175 60 0000 C CNN -F 4 "R: ZD-5W 12V" H 6170 6175 60 0001 C CNN "Bestellnummer" - 1 6170 6175 - 0 -1 -1 0 -$EndComp + 4245 5570 4245 5520 $Comp L CP1 C2 U 1 1 553E9140 -P 5670 6045 -F 0 "C2" H 5720 6145 50 0000 L CNN -F 1 "100uF" H 5720 5945 50 0000 L CNN -F 2 "ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0" H 5670 6045 60 0001 C CNN -F 3 "" H 5670 6045 60 0000 C CNN -F 4 "R: RAD FC 100/50" H 5670 6045 60 0001 C CNN "Bestellnummer" - 1 5670 6045 +P 6270 6045 +F 0 "C2" H 6320 6145 50 0000 L CNN +F 1 "100uF" H 6320 5945 50 0000 L CNN +F 2 "ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0" H 6270 6045 60 0001 C CNN +F 3 "" H 6270 6045 60 0000 C CNN +F 4 "R: RAD FC 100/50" H 6270 6045 60 0001 C CNN "Bestellnummer" + 1 6270 6045 1 0 0 -1 $EndComp Wire Wire Line - 6170 5770 6170 5975 -Wire Wire Line - 5670 5845 5670 5770 -Connection ~ 5670 5770 -$Comp -L R R26 -U 1 1 553E914B -P 6170 6820 -F 0 "R26" H 6285 6820 40 0000 C CNN -F 1 "0" V 6177 6821 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM15mm" V 6100 6820 30 0001 C CNN -F 3 "" H 6170 6820 30 0000 C CNN -F 4 "Value" H 6170 6820 60 0001 C CNN "Bestellnummer" - 1 6170 6820 - 1 0 0 -1 -$EndComp -$Comp -L GND #PWR0167 -U 1 1 553E9151 -P 6170 7145 -F 0 "#PWR0167" H 6170 6895 60 0001 C CNN -F 1 "GND" H 6170 6995 60 0000 C CNN -F 2 "" H 6170 7145 60 0000 C CNN -F 3 "" H 6170 7145 60 0000 C CNN - 1 6170 7145 - 1 0 0 -1 -$EndComp + 6270 5770 6270 5845 +Connection ~ 6270 5770 $Comp L JUMPER JP1 U 1 1 553E9158 @@ -388,88 +281,334 @@ F 4 "Value" H 6740 5770 60 0001 C CNN "Bestellnummer" 1 6740 5770 1 0 0 -1 $EndComp -Connection ~ 6170 5770 -Wire Wire Line - 6170 7070 6170 7145 -Wire Wire Line - 6170 6375 6170 6570 $Comp L GND #PWR0168 U 1 1 553E9161 -P 5670 6320 -F 0 "#PWR0168" H 5670 6070 60 0001 C CNN -F 1 "GND" H 5670 6170 60 0000 C CNN -F 2 "" H 5670 6320 60 0000 C CNN -F 3 "" H 5670 6320 60 0000 C CNN - 1 5670 6320 +P 6270 6320 +F 0 "#PWR0168" H 6270 6070 60 0001 C CNN +F 1 "GND" H 6270 6170 60 0000 C CNN +F 2 "" H 6270 6320 60 0000 C CNN +F 3 "" H 6270 6320 60 0000 C CNN + 1 6270 6320 1 0 0 -1 $EndComp Wire Wire Line - 5670 6245 5670 6320 + 6270 6245 6270 6320 Wire Wire Line 7040 5770 7220 5770 Text GLabel 7220 5770 2 60 Output ~ 0 Power -Wire Wire Line - 3705 1215 3410 1215 Wire Wire Line 3410 1215 3410 5770 -Wire Wire Line - 2915 3545 3690 3545 -Wire Wire Line - 3410 5770 3660 5770 Connection ~ 3410 3545 Text HLabel 2915 3545 0 60 Input ~ 0 Stepdownwandler_24V_In $Comp +L F_10A PRFA3 +U 1 1 555B2389 +P 5745 1215 +F 0 "PRFA3" H 5565 1295 40 0000 C CNN +F 1 "PFRA 040" H 5645 1135 40 0000 C CNN +F 2 "ACS712:PRFA_500_stehend" H 5745 1215 60 0001 C CNN +F 3 "" H 5745 1215 60 0000 C CNN +F 4 "R: PFRA 040" H 5745 1215 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040" H 5745 1215 60 0001 C CNN "Bestelllink" + 1 5745 1215 + 1 0 0 -1 +$EndComp +Wire Wire Line + 5905 3545 6500 3545 +$Comp +L F_10A PRFA4 +U 1 1 555B2AC8 +P 5675 5770 +F 0 "PRFA4" H 5495 5850 40 0000 C CNN +F 1 "PFRA 040" H 5575 5690 40 0000 C CNN +F 2 "ACS712:PRFA_500_stehend" H 5675 5770 60 0001 C CNN +F 3 "" H 5675 5770 60 0000 C CNN +F 4 "R: PFRA 040" H 5675 5770 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040" H 5675 5770 60 0001 C CNN "Bestelllink" + 1 5675 5770 + 1 0 0 -1 +$EndComp +Wire Wire Line + 4995 5770 5475 5770 +Wire Wire Line + 5875 5770 6440 5770 +Wire Wire Line + 4980 1215 5545 1215 +$Comp +L DIODE DBY13 +U 1 1 5571FCFE +P 4645 1505 +F 0 "DBY13" H 4645 1605 40 0000 C CNN +F 1 "BY 500/1000" H 4645 1405 40 0000 C CNN +F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4645 1505 60 0001 C CNN +F 3 "" H 4645 1505 60 0000 C CNN + 1 4645 1505 + -1 0 0 1 +$EndComp +$Comp +L DIODE DBY14 +U 1 1 557200E3 +P 5340 1555 +F 0 "DBY14" H 5340 1655 40 0000 C CNN +F 1 "BY 500/1000" H 5340 1455 40 0000 C CNN +F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 5340 1555 60 0001 C CNN +F 3 "" H 5340 1555 60 0000 C CNN + 1 5340 1555 + 0 -1 -1 0 +$EndComp +Wire Wire Line + 5340 1355 5340 1215 +Connection ~ 5340 1215 +Wire Wire Line + 4845 1505 5150 1505 +Wire Wire Line + 5150 1505 5150 1215 +Connection ~ 5150 1215 +Wire Wire Line + 4445 1505 4140 1505 +Wire Wire Line + 4140 1215 4140 1600 +Connection ~ 4140 1215 +$Comp +L F_10A PRFA6 +U 1 1 557204F7 +P 3825 1215 +F 0 "PRFA6" H 3645 1295 40 0000 C CNN +F 1 "PFRA 040" H 3725 1135 40 0000 C CNN +F 2 "ACS712:PRFA_500_stehend" H 3825 1215 60 0001 C CNN +F 3 "" H 3825 1215 60 0000 C CNN +F 4 "R: PFRA 040" H 3825 1215 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040" H 3825 1215 60 0001 C CNN "Bestelllink" + 1 3825 1215 + 1 0 0 -1 +$EndComp +Wire Wire Line + 3410 1215 3625 1215 +Wire Wire Line + 4025 1215 4280 1215 +$Comp +L 15KEXXC DKE5 +U 1 1 5572085B +P 4140 1700 +F 0 "DKE5" H 4090 1775 50 0000 L BNN +F 1 "15KE33CA" H 4090 1565 50 0000 L BNN +F 2 "ACS712:Diode_15KE33CA" H 4140 1850 50 0001 C CNN +F 3 "" H 4140 1700 60 0000 C CNN + 1 4140 1700 + 0 1 1 0 +$EndComp +$Comp +L GND #PWR0169 +U 1 1 55720CD0 +P 4140 1980 +F 0 "#PWR0169" H 4140 1730 60 0001 C CNN +F 1 "GND" H 4140 1830 60 0000 C CNN +F 2 "" H 4140 1980 60 0000 C CNN +F 3 "" H 4140 1980 60 0000 C CNN + 1 4140 1980 + 1 0 0 -1 +$EndComp +Connection ~ 4140 1505 +Wire Wire Line + 4140 1980 4140 1900 +Text Notes 6490 -55 0 60 ~ 0 +Jürgen von 6.6.2015 \n3v 400ma eingang ausgang \n5v max 400ma eingang ausgang \n10v max 400ma eingang ausgang\n\nden 100µF ELKO kannst du durch einen 330nF Kerko ersetzen\ndie ELKOS setzen wir z.T an einer anderen Stelle im Board ein\nwo es mehr sinn macht das gehen wir nochmal an +$Comp L F_10A PRFA5 -U 1 1 555B1C87 -P 4965 3545 -F 0 "PRFA5" H 4785 3625 40 0000 C CNN -F 1 "PFRA 185" H 4865 3465 40 0000 C CNN -F 2 "ACS712:PRFA_500_stehend" H 4965 3545 60 0001 C CNN -F 3 "" H 4965 3545 60 0000 C CNN -F 4 "R: PFRA 185" H 4965 3545 60 0001 C CNN "Bestellnummer" -F 5 "http://www.reichelt.de/index.html?ACTION=3;ARTICLE=35184;SEARCH=PFRA%20185" H 4965 3545 60 0001 C CNN "Bestelllink" - 1 4965 3545 +U 1 1 5575F491 +P 5705 3545 +F 0 "PRFA5" H 5525 3625 40 0000 C CNN +F 1 "PFRA 040" H 5605 3465 40 0000 C CNN +F 2 "ACS712:PRFA_500_stehend" H 5705 3545 60 0001 C CNN +F 3 "" H 5705 3545 60 0000 C CNN +F 4 "R: PFRA 040" H 5705 3545 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040" H 5705 3545 60 0001 C CNN "Bestelllink" + 1 5705 3545 1 0 0 -1 $EndComp +Wire Wire Line + 4990 3545 5505 3545 +Wire Wire Line + 2915 3545 3655 3545 $Comp -L F_10A PRFA3 -U 1 1 555B2389 -P 4775 1215 -F 0 "PRFA3" H 4595 1295 40 0000 C CNN -F 1 "PFRA 185" H 4675 1135 40 0000 C CNN -F 2 "ACS712:PRFA_500_stehend" H 4775 1215 60 0001 C CNN -F 3 "" H 4775 1215 60 0000 C CNN -F 4 "R: PFRA 185" H 4775 1215 60 0001 C CNN "Bestellnummer" -F 5 "http://www.reichelt.de/index.html?ACTION=3;ARTICLE=35184;SEARCH=PFRA%20185" H 4775 1215 60 0001 C CNN "Bestelllink" - 1 4775 1215 +L F_10A PRFA8 +U 1 1 5575FF8A +P 3855 3545 +F 0 "PRFA8" H 3675 3625 40 0000 C CNN +F 1 "PFRA 040" H 3755 3465 40 0000 C CNN +F 2 "" H 3855 3545 60 0001 C CNN +F 3 "" H 3855 3545 60 0000 C CNN +F 4 "R: PFRA 040" H 3855 3545 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040" H 3855 3545 60 0001 C CNN "Bestelllink" + 1 3855 3545 + 1 0 0 -1 +$EndComp +$Comp +L GND #PWR0170 +U 1 1 55760550 +P 5365 4300 +F 0 "#PWR0170" H 5365 4050 60 0001 C CNN +F 1 "GND" H 5365 4150 60 0000 C CNN +F 2 "" H 5365 4300 60 0000 C CNN +F 3 "" H 5365 4300 60 0000 C CNN + 1 5365 4300 1 0 0 -1 $EndComp Wire Wire Line - 5165 3545 6500 3545 + 5365 4075 5365 4300 +$Comp +L DIODE DBY16 +U 1 1 55760557 +P 4670 3825 +F 0 "DBY16" H 4670 3925 40 0000 C CNN +F 1 "BY 500/1000" H 4670 3725 40 0000 C CNN +F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4670 3825 60 0001 C CNN +F 3 "" H 4670 3825 60 0000 C CNN + 1 4670 3825 + -1 0 0 1 +$EndComp +$Comp +L DIODE DBY18 +U 1 1 5576055D +P 5365 3875 +F 0 "DBY18" H 5365 3975 40 0000 C CNN +F 1 "BY 500/1000" H 5365 3775 40 0000 C CNN +F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 5365 3875 60 0001 C CNN +F 3 "" H 5365 3875 60 0000 C CNN + 1 5365 3875 + 0 -1 -1 0 +$EndComp Wire Wire Line - 4390 3545 4765 3545 + 4870 3825 5175 3825 +Wire Wire Line + 4470 3825 4165 3825 $Comp -L F_10A PRFA4 -U 1 1 555B2AC8 -P 4870 5770 -F 0 "PRFA4" H 4690 5850 40 0000 C CNN -F 1 "PFRA 185" H 4770 5690 40 0000 C CNN -F 2 "ACS712:PRFA_500_stehend" H 4870 5770 60 0001 C CNN -F 3 "" H 4870 5770 60 0000 C CNN -F 4 "R: PFRA 185" H 4870 5770 60 0001 C CNN "Bestellnummer" -F 5 "http://www.reichelt.de/index.html?ACTION=3;ARTICLE=35184;SEARCH=PFRA%20185" H 4870 5770 60 0001 C CNN "Bestelllink" - 1 4870 5770 +L 15KEXXC DKE7 +U 1 1 55760568 +P 4165 4020 +F 0 "DKE7" H 4115 4095 50 0000 L BNN +F 1 "15KE33CA" H 4115 3885 50 0000 L BNN +F 2 "ACS712:Diode_15KE33CA" H 4165 4170 50 0001 C CNN +F 3 "" H 4165 4020 60 0000 C CNN + 1 4165 4020 + 0 1 1 0 +$EndComp +$Comp +L GND #PWR0171 +U 1 1 5576056E +P 4165 4300 +F 0 "#PWR0171" H 4165 4050 60 0001 C CNN +F 1 "GND" H 4165 4150 60 0000 C CNN +F 2 "" H 4165 4300 60 0000 C CNN +F 3 "" H 4165 4300 60 0000 C CNN + 1 4165 4300 + 1 0 0 -1 +$EndComp +Connection ~ 4165 3825 +Wire Wire Line + 4165 4300 4165 4220 +Wire Wire Line + 5365 3675 5365 3545 +Connection ~ 5365 3545 +Wire Wire Line + 5175 3825 5175 3545 +Connection ~ 5175 3545 +Wire Wire Line + 4055 3545 4290 3545 +Wire Wire Line + 4165 3545 4165 3920 +Connection ~ 4165 3545 +$Comp +L GND #PWR0172 +U 1 1 55761997 +P 5340 6525 +F 0 "#PWR0172" H 5340 6275 60 0001 C CNN +F 1 "GND" H 5340 6375 60 0000 C CNN +F 2 "" H 5340 6525 60 0000 C CNN +F 3 "" H 5340 6525 60 0000 C CNN + 1 5340 6525 + 1 0 0 -1 +$EndComp +Wire Wire Line + 5340 6300 5340 6525 +$Comp +L DIODE DBY17 +U 1 1 5576199E +P 5340 6100 +F 0 "DBY17" H 5340 6200 40 0000 C CNN +F 1 "BY 500/1000" H 5340 6000 40 0000 C CNN +F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 5340 6100 60 0001 C CNN +F 3 "" H 5340 6100 60 0000 C CNN + 1 5340 6100 + 0 -1 -1 0 +$EndComp +Wire Wire Line + 5340 5900 5340 5770 +Connection ~ 5340 5770 +$Comp +L DIODE DBY15 +U 1 1 55761C96 +P 4645 6050 +F 0 "DBY15" H 4645 6150 40 0000 C CNN +F 1 "BY 500/1000" H 4645 5950 40 0000 C CNN +F 2 "ACS712:Diode_liegend_BY500_1000_RM15" H 4645 6050 60 0001 C CNN +F 3 "" H 4645 6050 60 0000 C CNN + 1 4645 6050 + -1 0 0 1 +$EndComp +Wire Wire Line + 4845 6050 5150 6050 +Wire Wire Line + 4445 6050 4140 6050 +$Comp +L 15KEXXC DKE6 +U 1 1 55761C9E +P 4140 6245 +F 0 "DKE6" H 4090 6320 50 0000 L BNN +F 1 "15KE33CA" H 4090 6110 50 0000 L BNN +F 2 "ACS712:Diode_15KE33CA" H 4140 6395 50 0001 C CNN +F 3 "" H 4140 6245 60 0000 C CNN + 1 4140 6245 + 0 1 1 0 +$EndComp +$Comp +L GND #PWR0173 +U 1 1 55761CA4 +P 4140 6525 +F 0 "#PWR0173" H 4140 6275 60 0001 C CNN +F 1 "GND" H 4140 6375 60 0000 C CNN +F 2 "" H 4140 6525 60 0000 C CNN +F 3 "" H 4140 6525 60 0000 C CNN + 1 4140 6525 1 0 0 -1 $EndComp +Connection ~ 4140 6050 +Wire Wire Line + 4140 6525 4140 6445 Wire Wire Line - 4360 5770 4670 5770 + 5150 6050 5150 5770 +Connection ~ 5150 5770 +Wire Wire Line + 4140 5770 4140 6145 +Connection ~ 4140 5770 +$Comp +L F_10A PRFA7 +U 1 1 55762018 +P 3830 5770 +F 0 "PRFA7" H 3650 5850 40 0000 C CNN +F 1 "PFRA 040" H 3730 5690 40 0000 C CNN +F 2 "ACS712:PRFA_500_stehend" H 3830 5770 60 0001 C CNN +F 3 "" H 3830 5770 60 0000 C CNN +F 4 "R: PFRA 040" H 3830 5770 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040" H 3830 5770 60 0001 C CNN "Bestelllink" + 1 3830 5770 + 1 0 0 -1 +$EndComp Wire Wire Line - 5070 5770 6440 5770 -Text Notes 4835 5335 0 60 ~ 0 -pfra Sicherung müssen von dem Wert her noch angepasst werden + 3410 5770 3630 5770 Wire Wire Line - 4405 1215 4575 1215 + 4030 5770 4295 5770 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch b/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch index 142244cbf..79fa1f39a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -60,10 +61,10 @@ pinLawnBackSend Text GLabel 2140 1615 2 39 Output ~ 0 pinLawnBackRecv $Comp -L +5V #PWR071 +L +5V #PWR074 U 1 1 553E3A32 P 1515 795 -F 0 "#PWR071" H 1515 645 60 0001 C CNN +F 0 "#PWR074" H 1515 645 60 0001 C CNN F 1 "+5V" V 1515 1015 60 0000 C CNN F 2 "" H 1515 795 60 0000 C CNN F 3 "" H 1515 795 60 0000 C CNN @@ -71,10 +72,10 @@ F 3 "" H 1515 795 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR072 +L GND #PWR075 U 1 1 553E3A49 P 1510 895 -F 0 "#PWR072" H 1510 645 60 0001 C CNN +F 0 "#PWR075" H 1510 645 60 0001 C CNN F 1 "GND" V 1510 670 60 0000 C CNN F 2 "" H 1510 895 60 0000 C CNN F 3 "" H 1510 895 60 0000 C CNN @@ -96,21 +97,21 @@ $EndComp Text GLabel 1515 995 2 39 Output ~ 0 pinTilt $Comp -L +5V #PWR073 +L +5V #PWR076 U 1 1 553E7056 -P 1510 1855 -F 0 "#PWR073" H 1510 1705 60 0001 C CNN -F 1 "+5V" V 1510 2075 60 0000 C CNN -F 2 "" H 1510 1855 60 0000 C CNN -F 3 "" H 1510 1855 60 0000 C CNN - 1 1510 1855 +P 2545 1855 +F 0 "#PWR076" H 2545 1705 60 0001 C CNN +F 1 "+5V" V 2545 2075 60 0000 C CNN +F 2 "" H 2545 1855 60 0000 C CNN +F 3 "" H 2545 1855 60 0000 C CNN + 1 2545 1855 0 1 -1 0 $EndComp $Comp -L GND #PWR074 +L GND #PWR077 U 1 1 553E705C P 1505 1955 -F 0 "#PWR074" H 1505 1705 60 0001 C CNN +F 0 "#PWR077" H 1505 1705 60 0001 C CNN F 1 "GND" V 1505 1730 60 0000 C CNN F 2 "" H 1505 1955 60 0000 C CNN F 3 "" H 1505 1955 60 0000 C CNN @@ -126,16 +127,17 @@ F 1 "MowRpm" V 1080 1955 40 0000 C CNN F 2 "ACS712:Pin_Header_Straight_1x03" H 1030 1955 60 0001 C CNN F 3 "" H 1030 1955 60 0000 C CNN F 4 "Value" H 1030 1955 60 0001 C CNN "Bestellnummer" +F 5 "Value" H 1030 1955 60 0001 C CNN "Bestelllink" 1 1030 1955 -1 0 0 -1 $EndComp -Text GLabel 1510 2055 2 39 Output ~ 0 +Text GLabel 2135 2055 2 39 Output ~ 0 pinMotorMowRpm $Comp -L +5V #PWR075 +L +5V #PWR078 U 1 1 553E917A P 1505 2265 -F 0 "#PWR075" H 1505 2115 60 0001 C CNN +F 0 "#PWR078" H 1505 2115 60 0001 C CNN F 1 "+5V" V 1505 2485 60 0000 C CNN F 2 "" H 1505 2265 60 0000 C CNN F 3 "" H 1505 2265 60 0000 C CNN @@ -143,10 +145,10 @@ F 3 "" H 1505 2265 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR076 +L GND #PWR079 U 1 1 553E9180 P 1500 2365 -F 0 "#PWR076" H 1500 2115 60 0001 C CNN +F 0 "#PWR079" H 1500 2115 60 0001 C CNN F 1 "GND" V 1500 2140 60 0000 C CNN F 2 "" H 1500 2365 60 0000 C CNN F 3 "" H 1500 2365 60 0000 C CNN @@ -168,10 +170,10 @@ $EndComp Text GLabel 1505 2465 2 39 Output ~ 0 pinRain $Comp -L +5V #PWR077 +L +5V #PWR080 U 1 1 553EA88B P 1500 2645 -F 0 "#PWR077" H 1500 2495 60 0001 C CNN +F 0 "#PWR080" H 1500 2495 60 0001 C CNN F 1 "+5V" V 1500 2865 60 0000 C CNN F 2 "" H 1500 2645 60 0000 C CNN F 3 "" H 1500 2645 60 0000 C CNN @@ -179,10 +181,10 @@ F 3 "" H 1500 2645 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR078 +L GND #PWR081 U 1 1 553EA891 P 1495 2745 -F 0 "#PWR078" H 1495 2495 60 0001 C CNN +F 0 "#PWR081" H 1495 2495 60 0001 C CNN F 1 "GND" V 1495 2520 60 0000 C CNN F 2 "" H 1495 2745 60 0000 C CNN F 3 "" H 1495 2745 60 0000 C CNN @@ -220,10 +222,10 @@ pinBumperRight Text GLabel 1495 3350 2 39 Output ~ 0 pinBumperLeft $Comp -L GND #PWR079 +L GND #PWR082 U 1 1 553ECD4C P 1495 3050 -F 0 "#PWR079" H 1495 2800 60 0001 C CNN +F 0 "#PWR082" H 1495 2800 60 0001 C CNN F 1 "GND" V 1495 2825 60 0000 C CNN F 2 "" H 1495 3050 60 0000 C CNN F 3 "" H 1495 3050 60 0000 C CNN @@ -243,10 +245,10 @@ F 4 "Value" H 1010 3770 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +5V #PWR080 +L +5V #PWR083 U 1 1 553F049F P 1540 3570 -F 0 "#PWR080" H 1540 3420 60 0001 C CNN +F 0 "#PWR083" H 1540 3420 60 0001 C CNN F 1 "+5V" V 1540 3790 60 0000 C CNN F 2 "" H 1540 3570 60 0000 C CNN F 3 "" H 1540 3570 60 0000 C CNN @@ -254,10 +256,10 @@ F 3 "" H 1540 3570 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR081 +L GND #PWR084 U 1 1 553F04A5 P 1535 3670 -F 0 "#PWR081" H 1535 3420 60 0001 C CNN +F 0 "#PWR084" H 1535 3420 60 0001 C CNN F 1 "GND" V 1535 3445 60 0000 C CNN F 2 "" H 1535 3670 60 0000 C CNN F 3 "" H 1535 3670 60 0000 C CNN @@ -283,10 +285,10 @@ F 4 "Value" H 995 4490 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +5V #PWR082 +L +5V #PWR085 U 1 1 553F2197 P 1485 4240 -F 0 "#PWR082" H 1485 4090 60 0001 C CNN +F 0 "#PWR085" H 1485 4090 60 0001 C CNN F 1 "+5V" V 1485 4460 60 0000 C CNN F 2 "" H 1485 4240 60 0000 C CNN F 3 "" H 1485 4240 60 0000 C CNN @@ -294,10 +296,10 @@ F 3 "" H 1485 4240 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR083 +L GND #PWR086 U 1 1 553F219D P 1480 4340 -F 0 "#PWR083" H 1480 4090 60 0001 C CNN +F 0 "#PWR086" H 1480 4090 60 0001 C CNN F 1 "GND" V 1480 4115 60 0000 C CNN F 2 "" H 1480 4340 60 0000 C CNN F 3 "" H 1480 4340 60 0000 C CNN @@ -325,10 +327,10 @@ F 4 "Value" H 5585 1220 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR084 +L +3.3V #PWR087 U 1 1 553FC409 P 5895 1705 -F 0 "#PWR084" H 5895 1665 30 0001 C CNN +F 0 "#PWR087" H 5895 1665 30 0001 C CNN F 1 "+3.3V" H 5895 1815 30 0000 C CNN F 2 "" H 5895 1705 60 0000 C CNN F 3 "" H 5895 1705 60 0000 C CNN @@ -348,10 +350,10 @@ F 4 "Value" H 4835 1225 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +5V #PWR085 +L +5V #PWR088 U 1 1 553FE1B9 P 5145 1710 -F 0 "#PWR085" H 5145 1560 60 0001 C CNN +F 0 "#PWR088" H 5145 1560 60 0001 C CNN F 1 "+5V" H 5145 1870 60 0000 C CNN F 2 "" H 5145 1710 60 0000 C CNN F 3 "" H 5145 1710 60 0000 C CNN @@ -371,10 +373,10 @@ F 4 "Value" H 4045 1245 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L GND #PWR086 +L GND #PWR089 U 1 1 553FFF8E P 4355 1730 -F 0 "#PWR086" H 4355 1480 60 0001 C CNN +F 0 "#PWR089" H 4355 1480 60 0001 C CNN F 1 "GND" H 4355 1565 60 0000 C CNN F 2 "" H 4355 1730 60 0000 C CNN F 3 "" H 4355 1730 60 0000 C CNN @@ -384,22 +386,10 @@ $EndComp Text Notes 5340 700 2 39 ~ 0 Abgriff 5V, 3V, GND $Comp -L CONN_01X08 P38 -U 1 1 55401F07 -P 7075 1195 -F 0 "P38" H 7075 1645 50 0000 C CNN -F 1 "Status LEDs GND" V 7175 1195 50 0000 C CNN -F 2 "ACS712:Pin_Header_Straight_1x08" H 7075 1195 60 0001 C CNN -F 3 "" H 7075 1195 60 0000 C CNN -F 4 "Value" H 7075 1195 60 0001 C CNN "Bestellnummer" - 1 7075 1195 - -1 0 0 -1 -$EndComp -$Comp -L GND #PWR087 +L GND #PWR090 U 1 1 55401F1D P 7385 1680 -F 0 "#PWR087" H 7385 1430 60 0001 C CNN +F 0 "#PWR090" H 7385 1430 60 0001 C CNN F 1 "GND" H 7385 1515 60 0000 C CNN F 2 "" H 7385 1680 60 0000 C CNN F 3 "" H 7385 1680 60 0000 C CNN @@ -407,21 +397,10 @@ F 3 "" H 7385 1680 60 0000 C CNN -1 0 0 -1 $EndComp $Comp -L CONN_01X08 P7 -U 1 1 55403386 -P 8100 1225 -F 0 "P7" H 8100 1675 50 0000 C CNN -F 1 "Status LEDs" V 8200 1225 50 0000 C CNN -F 2 "ACS712:Pin_Header_Straight_1x08" H 8100 1225 60 0001 C CNN -F 3 "" H 8100 1225 60 0000 C CNN - 1 8100 1225 - -1 0 0 -1 -$EndComp -$Comp -L GND #PWR088 +L GND #PWR091 U 1 1 55403610 P 8425 875 -F 0 "#PWR088" H 8425 625 60 0001 C CNN +F 0 "#PWR091" H 8425 625 60 0001 C CNN F 1 "GND" V 8425 650 60 0000 C CNN F 2 "" H 8425 875 60 0000 C CNN F 3 "" H 8425 875 60 0000 C CNN @@ -459,10 +438,10 @@ Power5 Text GLabel 8675 2215 2 39 Output ~ 0 LedPin-5v $Comp -L +24V #PWR089 +L +24V #PWR092 U 1 1 5540858D P 7835 2500 -F 0 "#PWR089" H 7835 2350 60 0001 C CNN +F 0 "#PWR092" H 7835 2350 60 0001 C CNN F 1 "+24V" V 7835 2750 60 0000 C CNN F 2 "" H 7835 2500 60 0000 C CNN F 3 "" H 7835 2500 60 0000 C CNN @@ -498,10 +477,10 @@ $EndComp Text GLabel 8675 2730 2 39 Output ~ 0 LedPin-3V $Comp -L +3.3V #PWR090 +L +3.3V #PWR093 U 1 1 55409ED6 P 7840 2730 -F 0 "#PWR090" H 7840 2690 30 0001 C CNN +F 0 "#PWR093" H 7840 2690 30 0001 C CNN F 1 "+3.3V" V 7840 2910 30 0000 C CNN F 2 "" H 7840 2730 60 0000 C CNN F 3 "" H 7840 2730 60 0000 C CNN @@ -513,10 +492,10 @@ LED Rechner:\nhttp://www.elektronik-kompendium.de/sites/bau/1109111.htm\n\nZ-Dio Text Notes 4110 4200 0 39 ~ 0 LED Anzeigen - Hardware:\n\nLed 3V grün - Betriebsanzeige Versorgungsspannung\nLED 24V grün - Betriebsanzeige Versorgungsspannung R2 für 12 V anpassen\nLED 5V grün - Betriebsanzeige Versorgungsspannung\nLED Station - gelb - Statusanzeige ob Mover in Ladestation\n\n----------------------------------------------------------\n\nLED Anzeigen - Software:\n\nDual LED z.B:\nDual LED grün. Dauerlicht - Mover innerhalb Perimeter\nDual LED grün+rot = Orange - Dauerlicht Mover außerhalb Perimeter\nDual LED grün+rot = Orange - Blinkt Mover findet Perimeter nicht oder sucht danach\nDual LED rot = Blinkt Fehler kurzseitig Überlast Antriebmotor Treibe oder Mähmotor. \nDual LED rot - Dauerlicht - Fehler muß für weiterfahren durch drücken \nvon Button zurückgesetzt werden\n----------------------------------------------------------\n\nLED Status - grün Dauerlicht - warte auf Eingabe\n\nLED Status - grün blinken 1 bis 5 mal hintereinander\nmit länger Pause dazwischen für Anzeige in welchen\nBetriebsmodi sich der Mover befindet $Comp -L +5V #PWR091 +L +5V #PWR094 U 1 1 55571675 P 1490 5020 -F 0 "#PWR091" H 1490 4870 60 0001 C CNN +F 0 "#PWR094" H 1490 4870 60 0001 C CNN F 1 "+5V" V 1490 5240 60 0000 C CNN F 2 "" H 1490 5020 60 0000 C CNN F 3 "" H 1490 5020 60 0000 C CNN @@ -524,10 +503,10 @@ F 3 "" H 1490 5020 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR092 +L GND #PWR095 U 1 1 5557167B P 1485 5120 -F 0 "#PWR092" H 1485 4870 60 0001 C CNN +F 0 "#PWR095" H 1485 4870 60 0001 C CNN F 1 "GND" V 1485 4895 60 0000 C CNN F 2 "" H 1485 5120 60 0000 C CNN F 3 "" H 1485 5120 60 0000 C CNN @@ -567,11 +546,11 @@ Wire Wire Line Wire Wire Line 1385 995 1515 995 Wire Wire Line - 1380 1855 1510 1855 + 1380 1855 2545 1855 Wire Wire Line 1380 1955 1505 1955 Wire Wire Line - 1380 2055 1510 2055 + 1380 2055 2135 2055 Wire Wire Line 1375 2265 1505 2265 Wire Wire Line @@ -751,4 +730,50 @@ Wire Wire Line 1345 4640 1800 4640 Wire Wire Line 1345 4740 1800 4740 +$Comp +L R R41 +U 1 1 5566DACB +P 2220 1950 +F 0 "R41" V 2270 2195 40 0000 C CNN +F 1 "4,7K" V 2227 1951 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM10mm" V 2150 1950 30 0001 C CNN +F 3 "" H 2220 1950 30 0000 C CNN + 1 2220 1950 + 0 -1 -1 0 +$EndComp +Wire Wire Line + 1970 1950 1970 2055 +Connection ~ 1970 2055 +Wire Wire Line + 2470 1950 2470 1855 +Connection ~ 2470 1855 +$Comp +L CONN_01X09 P7 +U 1 1 556A48CF +P 8100 1275 +F 0 "P7" H 8100 1775 50 0000 C CNN +F 1 "Status LEDs" V 8200 1275 50 0000 C CNN +F 2 "ACS712:Pin_Header_Straight_1x09" H 8100 1275 60 0001 C CNN +F 3 "" H 8100 1275 60 0000 C CNN + 1 8100 1275 + -1 0 0 -1 +$EndComp +$Comp +L CONN_01X09 P38 +U 1 1 556A5011 +P 7075 1245 +F 0 "P38" H 7075 1745 50 0000 C CNN +F 1 "Status LEDs GND" V 7175 1245 50 0000 C CNN +F 2 "ACS712:Pin_Header_Straight_1x09" H 7075 1245 60 0001 C CNN +F 3 "" H 7075 1245 60 0000 C CNN + 1 7075 1245 + -1 0 0 -1 +$EndComp +Wire Wire Line + 7275 1645 7385 1645 +Connection ~ 7385 1645 +Text GLabel 8430 1675 2 39 Output ~ 0 +Led-BT +Wire Wire Line + 8300 1675 8430 1675 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch b/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch index 3392cb3e4..70cc498c3 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -168,10 +169,10 @@ F 4 "Value" H 6745 5010 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L GND #PWR0169 +L GND #PWR0174 U 1 1 553A83F5 P 7520 5580 -F 0 "#PWR0169" H 7520 5330 60 0001 C CNN +F 0 "#PWR0174" H 7520 5330 60 0001 C CNN F 1 "GND" H 7520 5430 60 0000 C CNN F 2 "" H 7520 5580 60 0000 C CNN F 3 "" H 7520 5580 60 0000 C CNN @@ -270,10 +271,10 @@ F 4 "Value" H 7990 2000 60 0001 C CNN "Bestellnummer" 0 -1 -1 0 $EndComp $Comp -L GND #PWR0170 +L GND #PWR0175 U 1 1 553E5900 P 8090 2595 -F 0 "#PWR0170" H 8090 2345 60 0001 C CNN +F 0 "#PWR0175" H 8090 2345 60 0001 C CNN F 1 "GND" V 8090 2380 60 0000 C CNN F 2 "" H 8090 2595 60 0000 C CNN F 3 "" H 8090 2595 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch b/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch index e30d63470..7217fabd9 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -50,10 +51,10 @@ Verpols.B.aus Text HLabel 4385 1835 0 60 Input ~ 0 Verpol.s.B.in $Comp -L GND #PWR0171 +L GND #PWR0176 U 1 1 553AAF15 P 5095 3155 -F 0 "#PWR0171" H 5095 2905 60 0001 C CNN +F 0 "#PWR0176" H 5095 2905 60 0001 C CNN F 1 "GND" H 5095 3005 60 0000 C CNN F 2 "" H 5095 3155 60 0000 C CNN F 3 "" H 5095 3155 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch b/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch index c2ff0ff44..1f10298f5 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -49,10 +50,10 @@ Verpols.L.aus Text HLabel 4385 1835 0 60 Input ~ 0 Verpol.s.L.in $Comp -L GND #PWR0178 +L GND #PWR0181 U 1 1 553AC2ED P 5095 3155 -F 0 "#PWR0178" H 5095 2905 60 0001 C CNN +F 0 "#PWR0181" H 5095 2905 60 0001 C CNN F 1 "GND" H 5095 3005 60 0000 C CNN F 2 "" H 5095 3155 60 0000 C CNN F 3 "" H 5095 3155 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/Diode_15KE33CA.kicad_mod b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/Diode_15KE33CA.kicad_mod index cdb76fdc7..81a60bf1c 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/Diode_15KE33CA.kicad_mod +++ b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/Diode_15KE33CA.kicad_mod @@ -1,4 +1,4 @@ -(module Diode_15KE33CA (layer F.Cu) (tedit 55548248) +(module Diode_15KE33CA (layer F.Cu) (tedit 55624909) (descr "Diode, DO-15 package") (fp_text reference KE2 (at 0 0.127) (layer F.SilkS) (effects (font (thickness 0.3048))) @@ -24,8 +24,8 @@ (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS)) - (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS)) + (pad 1 thru_hole circle (at -6 0) (size 2.2 2.2) (drill 1.2) (layers *.Cu *.Mask F.SilkS)) + (pad 2 thru_hole circle (at 6 0) (size 2.2 2.2) (drill 1.2) (layers *.Cu *.Mask F.SilkS)) (model walter/pth_diodes/diode_do35.wrl (at (xyz 0 0 0)) (scale (xyz 1.6 1.6 1.6)) diff --git a/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe.kicad_mod b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe.kicad_mod new file mode 100644 index 000000000..9a3b8fbdc --- /dev/null +++ b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe.kicad_mod @@ -0,0 +1,78 @@ +(module MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe (layer F.Cu) (tedit 54DFA4B1) + (fp_text reference MC_33926_31polig (at 26.416 -31.877) (layer F.SilkS) + (effects (font (size 1.5 1.5) (thickness 0.15))) + ) + (fp_text value VAL** (at 19.431 -23.876) (layer F.SilkS) + (effects (font (size 1.5 1.5) (thickness 0.15))) + ) + (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) + (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) + (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) + (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) + (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) + (pad 24 thru_hole circle (at 35.052 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 23 thru_hole circle (at 31.496 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 22 thru_hole circle (at 27.94 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 21 thru_hole circle (at 24.384 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 20 thru_hole circle (at 20.828 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole circle (at 17.272 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 1 thru_hole circle (at 5.08 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 2 thru_hole circle (at 7.62 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 3 thru_hole circle (at 10.16 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 4 thru_hole circle (at 12.7 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 5 thru_hole circle (at 15.24 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 6 thru_hole circle (at 17.78 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 7 thru_hole circle (at 20.32 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 8 thru_hole circle (at 22.86 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 9 thru_hole circle (at 25.4 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 10 thru_hole circle (at 27.94 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 11 thru_hole circle (at 30.48 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 12 thru_hole circle (at 33.02 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 13 thru_hole circle (at 35.56 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 14 thru_hole circle (at 38.1 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 15 thru_hole circle (at 40.64 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 16 thru_hole circle (at 43.18 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 17 thru_hole circle (at 45.72 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 18 thru_hole circle (at 48.26 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole circle (at 17.272 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 20 thru_hole circle (at 20.828 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 21 thru_hole circle (at 24.384 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 22 thru_hole circle (at 27.94 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 23 thru_hole circle (at 31.496 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 24 thru_hole circle (at 35.052 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 25 thru_hole circle (at 17.78 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 26 thru_hole circle (at 20.32 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 27 thru_hole circle (at 27.94 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 28 thru_hole circle (at 30.48 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 29 thru_hole circle (at 33.02 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 30 thru_hole circle (at 40.64 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 31 thru_hole circle (at 43.18 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 6.2865 -13.3985) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 47.0535 -13.3985) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (model walter/pin_strip/pin_socket_18.wrl + (at (xyz 1.05 1.49 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) + (model walter/pin_strip/pin_socket_11.wrl + (at (xyz 1.2 1.39 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) + (model walter/pin_strip/pin_socket_8.wrl + (at (xyz 1.03 0.57 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) +) diff --git a/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe_Uwe_Test.kicad_mod b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe_Uwe_Test.kicad_mod new file mode 100644 index 000000000..aab957a98 --- /dev/null +++ b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe_Uwe_Test.kicad_mod @@ -0,0 +1,109 @@ +(module MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe_Uwe_Test (layer F.Cu) (tedit 556B7A70) + (fp_text reference MC_33926_31polig (at 26.416 -31.877) (layer F.SilkS) + (effects (font (size 1.5 1.5) (thickness 0.15))) + ) + (fp_text value VAL** (at 19.431 -23.876) (layer F.SilkS) + (effects (font (size 1.5 1.5) (thickness 0.15))) + ) + (fp_line (start 35.052 -8.128) (end 35.052 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 32.512 -8.128) (end 32.512 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 29.972 -8.128) (end 29.972 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 27.432 -8.128) (end 27.432 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 24.892 -8.128) (end 24.892 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 22.352 -8.128) (end 22.352 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 19.812 -8.128) (end 19.812 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 17.272 -8.128) (end 17.272 -6.35) (layer F.SilkS) (width 0.15)) + (fp_line (start 17.272 -15.494) (end 17.272 -10.668) (layer F.SilkS) (width 0.15)) + (fp_line (start 20.828 -15.494) (end 20.828 -10.668) (layer F.SilkS) (width 0.15)) + (fp_line (start 24.384 -15.494) (end 24.384 -10.668) (layer F.SilkS) (width 0.15)) + (fp_line (start 27.94 -15.494) (end 27.94 -10.668) (layer F.SilkS) (width 0.15)) + (fp_line (start 35.052 -15.494) (end 35.052 -10.668) (layer F.SilkS) (width 0.15)) + (fp_line (start 31.496 -10.668) (end 31.496 -15.494) (layer F.SilkS) (width 0.15)) + (fp_line (start 14.224 -11.938) (end 36.83 -11.938) (layer F.SilkS) (width 0.15)) + (fp_line (start 14.224 -14.478) (end 36.83 -14.478) (layer F.SilkS) (width 0.15)) + (fp_line (start 35.56 -10.16) (end 35.56 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 33.02 -10.16) (end 33.02 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 30.48 -10.16) (end 30.48 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 27.94 -10.16) (end 27.94 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 25.4 -10.16) (end 25.4 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 22.86 -10.16) (end 22.86 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 20.32 -10.16) (end 20.32 -8.89) (layer F.SilkS) (width 0.15)) + (fp_line (start 17.78 -8.89) (end 17.78 -11.43) (layer F.SilkS) (width 0.15)) + (fp_line (start 17.78 -11.43) (end 17.78 -10.16) (layer F.SilkS) (width 0.15)) + (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) + (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) + (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) + (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) + (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) + (pad 19 thru_hole oval (at 31.75 -10.16) (size 4 1.524) (drill oval 3.048 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole oval (at 24.13 -10.16) (size 4 1.524) (drill oval 3.048 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole oval (at 35.433 -10.2235) (size 2.286 1.524) (drill oval 1.524 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole oval (at 20.447 -10.2235) (size 2.286 1.524) (drill oval 1.524 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole oval (at 27.94 -10.2235) (size 2.286 1.524) (drill oval 1.524 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole oval (at 17.653 -10.2235) (size 2.286 1.524) (drill oval 1.524 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 24 thru_hole circle (at 35.052 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 23 thru_hole circle (at 31.496 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 22 thru_hole circle (at 27.94 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 21 thru_hole circle (at 24.384 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 20 thru_hole circle (at 20.828 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole circle (at 17.272 -11.938) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 1 thru_hole circle (at 5.08 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 2 thru_hole circle (at 7.62 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 3 thru_hole circle (at 10.16 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 4 thru_hole circle (at 12.7 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 5 thru_hole circle (at 15.24 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 6 thru_hole circle (at 17.78 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 7 thru_hole circle (at 20.32 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 8 thru_hole circle (at 22.86 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 9 thru_hole circle (at 25.4 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 10 thru_hole circle (at 27.94 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 11 thru_hole circle (at 30.48 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 12 thru_hole circle (at 33.02 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 13 thru_hole circle (at 35.56 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 14 thru_hole circle (at 38.1 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 15 thru_hole circle (at 40.64 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 16 thru_hole circle (at 43.18 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 17 thru_hole circle (at 45.72 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 18 thru_hole circle (at 48.26 -37.846) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 19 thru_hole circle (at 17.272 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 20 thru_hole circle (at 20.828 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 21 thru_hole circle (at 24.384 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 22 thru_hole circle (at 27.94 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 23 thru_hole circle (at 31.496 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 24 thru_hole circle (at 35.052 -14.478) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 25 thru_hole circle (at 17.78 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 26 thru_hole circle (at 20.32 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 27 thru_hole circle (at 27.94 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 28 thru_hole circle (at 30.48 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 29 thru_hole circle (at 33.02 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 30 thru_hole circle (at 40.64 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 31 thru_hole circle (at 43.18 -35.306) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 6.2865 -13.3985) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 47.0535 -13.3985) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (model walter/pin_strip/pin_socket_18.wrl + (at (xyz 1.05 1.49 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) + (model walter/pin_strip/pin_socket_11.wrl + (at (xyz 1.2 1.39 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) + (model walter/pin_strip/pin_socket_8.wrl + (at (xyz 1.03 0.57 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) +) diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn index e69de29bb..108fd7ccc 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn @@ -0,0 +1,30 @@ +Ref,Qnty,Value,Sch lib name,footprint,Description,Vendor +"B1, B2, B3, B4, B5, B6, B7, B8, B15, B16, B17, B18, ",12,"Bohrloch_3,2mm","ardumower mega shield svn-cache/Bohrloch_3,2mm","ACS712:Bohrloch_3,2mm",, +"B12, B13, B14, B9, B10, B11, ",6,"Bohrloch_6,5mm","ardumower mega shield svn-cache/Bohrloch_3,2mm","ACS712:Bohrloch_6,5mm",, +"BY3, BY4, BY1, BY2, BY7, BY8, BY5, BY6, BY11, BY12, BY9, BY10, ",12,BY 500/1000,ardumower mega shield svn-cache/DIODE,ACS712:Diode_liegend_BY500_1000_RM15,, +"C1, C4, C6, ",3,MP3-Y2 10N Rastermass 15mm,ardumower mega shield svn-cache/Kondensator,ACS712:Kondensator_cnp_18x5mm,, +"C10, C11, ",2,10uF 16V,ardumower mega shield svn-cache/CP1,ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0,, +"C3, ",1,"1,0uF",ardumower mega shield svn-cache/CP1,ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0,, +"C5, ",1,1000uF,ardumower mega shield svn-cache/CP1,Capacitors_ThroughHole:C_Radial_D16_L31.5_P7.5,, +"C8, C7, C2, ",3,100uF,ardumower mega shield svn-cache/CP1,ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0,, +"C9, ",1,22uF,ardumower mega shield svn-cache/CP1,ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0,, +"CC1, ",1,100 nF,ardumower mega shield svn-cache/Kondensator,Capacitors_ThroughHole:C_Disc_D3_P2.5,, +"CC45, CC2, CC3, CC5, CC20, CC10, CC8, CC9, CC13, CC11, CC12, CC16, CC14, CC15, CC19, CC17, CC18, CC7, CC21, CC24, CC22, CC23, CC27, CC25, CC26, CC30, CC28, CC29, CC33, CC31, CC32, CC36, CC34, CC35, CC39, CC37, CC38, CC4, CC41, CC6, CC40, CC44, CC42, CC43, ",44,100nF,ardumower mega shield svn-cache/Kondensator,Capacitors_ThroughHole:C_Disc_D3_P2.5,, +"D10, D11, D5, D6, D14, D15, ",6,1N4148,ardumower mega shield svn-cache/DIODE,ACS712:Diode_ligend_RM10,, +"D16, D13, ",2,1N5819,ardumower mega shield svn-cache/DIODE,ACS712:Diode_ligend_RM10,, +"D8, ",1,BlueLED,ardumower mega shield svn-cache/CONN_2,ACS712:Diode_LED_5mm_round_vertical,, +"Dual1, Dual2, ",2,MC33926,ardumower mega shield svn-cache/MC33926,ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse,, +"EF1, ",1,F_5A,ardumower mega shield svn-cache/F_10A,ACS712:Fuseholder_Reichelt_PL112000,, +"EF2, ",1,F_10A,ardumower mega shield svn-cache/F_10A,ACS712:Fuseholder_Reichelt_PL112000,, +"JP1, ",1,pwr 10V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP10, ",1,"pwr 3,3V",ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP11, ",1,pwr 5V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP12, ",1,pwrAA5.0V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP13, ",1,Meas3.3V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP14, ",1,Meas5.0V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP15, ",1,MeasA3.3V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP16, ",1,M1FB,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP2, ",1,Key,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP3, ",1,"pwrAA3,3",ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP8, ",1,Blue5.0V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, +"JP9, ",1,Blue3.3V,ardumower mega shield svn-cache/JUMPER,ACS712:Pin_Header_Straight_1x02,, diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib index a61283449..7db07c042 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib @@ -279,6 +279,42 @@ X P8 8 -200 -350 150 R 50 50 1 1 P ENDDRAW ENDDEF # +# CONN_01X09 +# +DEF CONN_01X09 P 0 40 Y N 1 F N +F0 "P" 0 500 50 H V C CNN +F1 "CONN_01X09" 100 0 50 V V C CNN +F2 "" 0 0 60 H V C CNN +F3 "" 0 0 60 H V C CNN +$FPLIST + Pin_Header_Straight_1X09 + Pin_Header_Angled_1X09 + Socket_Strip_Straight_1X09 + Socket_Strip_Angled_1X09 +$ENDFPLIST +DRAW +S -50 -395 10 -405 0 1 0 N +S -50 -295 10 -305 0 1 0 N +S -50 -195 10 -205 0 1 0 N +S -50 -95 10 -105 0 1 0 N +S -50 5 10 -5 0 1 0 N +S -50 105 10 95 0 1 0 N +S -50 205 10 195 0 1 0 N +S -50 305 10 295 0 1 0 N +S -50 405 10 395 0 1 0 N +S -50 450 50 -450 0 1 0 N +X P1 1 -200 400 150 R 50 50 1 1 P +X P2 2 -200 300 150 R 50 50 1 1 P +X P3 3 -200 200 150 R 50 50 1 1 P +X P4 4 -200 100 150 R 50 50 1 1 P +X P5 5 -200 0 150 R 50 50 1 1 P +X P6 6 -200 -100 150 R 50 50 1 1 P +X P7 7 -200 -200 150 R 50 50 1 1 P +X P8 8 -200 -300 150 R 50 50 1 1 P +X P9 9 -200 -400 150 R 50 50 1 1 P +ENDDRAW +ENDDEF +# # CONN_2 # DEF CONN_2 P 0 40 Y N 1 F N diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.cmp b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.cmp index 01cc32db9..3d7742287 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.cmp +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.cmp @@ -1,4 +1,4 @@ -Cmp-Mod V01 Created by Cvpcb (2015-05-08 BZR 5647)-product date = 23.05.2015 17:07:26 +Cmp-Mod V01 Created by Cvpcb (2015-05-08 BZR 5647)-product date = 08.06.2015 21:57:17 BeginCmp TimeStamp = /553D2376/553D2728; @@ -126,90 +126,6 @@ ValeurCmp = Bohrloch_3,2mm; IdModule = ACS712:Bohrloch_3,2mm; EndCmp -BeginCmp -TimeStamp = /553D8AD9/5542A35A/554BE91C; -Reference = BY1; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/5542A35A/554BE91E; -Reference = BY2; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/5542A35A/554BE913; -Reference = BY3; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/5542A35A/554BE915; -Reference = BY4; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D3EE8/554BE91B; -Reference = BY5; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM10; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D3EE8/554BE91D; -Reference = BY6; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM10; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D3EE8/5542A3D9; -Reference = BY7; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM10; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D3EE8/5542A4FC; -Reference = BY8; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM10; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D4C79/5542A6A6; -Reference = BY9; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D4C79/5542A6AC; -Reference = BY10; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D4C79/554BE914; -Reference = BY11; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D4C79/554BE916; -Reference = BY12; -ValeurCmp = BY 500/1000; -IdModule = ACS712:Diode_liegend_BY500_1000_RM15; -EndCmp - BeginCmp TimeStamp = /553D8AD9/5542A35A/554BE928; Reference = C1; @@ -287,10 +203,24 @@ ValeurCmp = 10uF 16V; IdModule = ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0; EndCmp +BeginCmp +TimeStamp = /553D8AD9/5543A988/55723D66; +Reference = C12; +ValeurCmp = 2200uF 63V; +IdModule = ; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D9DA2/55723BFA; +Reference = C13; +ValeurCmp = 2200uF 63V; +IdModule = ; +EndCmp + BeginCmp TimeStamp = /5558C608; Reference = CC1; -ValeurCmp = 100 nF; +ValeurCmp = 100nF; IdModule = Capacitors_ThroughHole:C_Disc_D3_P2.5; EndCmp @@ -316,10 +246,10 @@ IdModule = Capacitors_ThroughHole:C_Disc_D3_P2.5; EndCmp BeginCmp -TimeStamp = /554BCB67/5558A3B2; +TimeStamp = /55722368; Reference = CC5; -ValeurCmp = 100nF; -IdModule = Capacitors_ThroughHole:C_Disc_D3_P2.5; +ValeurCmp = 100nf; +IdModule = ; EndCmp BeginCmp @@ -420,13 +350,6 @@ ValeurCmp = 100nF; IdModule = Capacitors_ThroughHole:C_Disc_D3_P2.5; EndCmp -BeginCmp -TimeStamp = /554C1C35/5558A184; -Reference = CC20; -ValeurCmp = 100nF; -IdModule = Capacitors_ThroughHole:C_Disc_D3_P2.5; -EndCmp - BeginCmp TimeStamp = /5558DDF4/555CF76F; Reference = CC21; @@ -602,6 +525,34 @@ ValeurCmp = 100nF; IdModule = Capacitors_ThroughHole:C_Disc_D3_P2.5; EndCmp +BeginCmp +TimeStamp = /557628C2; +Reference = D1; +ValeurCmp = MBR 1045; +IdModule = ACS712:MBR1045; +EndCmp + +BeginCmp +TimeStamp = /55764E0D; +Reference = D2; +ValeurCmp = MBR 1045; +IdModule = ACS712:MBR1045; +EndCmp + +BeginCmp +TimeStamp = /557673DD; +Reference = D3; +ValeurCmp = MBR 1045; +IdModule = ACS712:MBR1045; +EndCmp + +BeginCmp +TimeStamp = /5576E06B; +Reference = D4; +ValeurCmp = 1N4148; +IdModule = ACS712:Diode_ligend_RM10; +EndCmp + BeginCmp TimeStamp = /553C8677/553C96CC; Reference = D5; @@ -616,13 +567,6 @@ ValeurCmp = 1N4148; IdModule = ACS712:Diode_ligend_RM10; EndCmp -BeginCmp -TimeStamp = /553BDA33/553C450A; -Reference = D8; -ValeurCmp = BlueLED; -IdModule = ACS712:Diode_LED_5mm_round_vertical; -EndCmp - BeginCmp TimeStamp = /54C6AF0E; Reference = D10; @@ -665,18 +609,193 @@ ValeurCmp = 1N5819; IdModule = ACS712:Diode_ligend_RM10; EndCmp +BeginCmp +TimeStamp = /553D8AD9/5542A35A/554BE91C; +Reference = DBY1; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/5542A35A/554BE91E; +Reference = DBY2; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/5542A35A/554BE913; +Reference = DBY3; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/5542A35A/554BE915; +Reference = DBY4; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D3EE8/554BE91B; +Reference = DBY5; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM10; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D3EE8/554BE91D; +Reference = DBY6; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM10; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D3EE8/5542A3D9; +Reference = DBY7; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM10; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D3EE8/5542A4FC; +Reference = DBY8; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM10; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D4C79/5542A6A6; +Reference = DBY9; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D4C79/5542A6AC; +Reference = DBY10; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D4C79/554BE914; +Reference = DBY11; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D4C79/554BE916; +Reference = DBY12; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553E526C/5571FCFE; +Reference = DBY13; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553E526C/557200E3; +Reference = DBY14; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553E526C/55761C96; +Reference = DBY15; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553E526C/55760557; +Reference = DBY16; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553E526C/5576199E; +Reference = DBY17; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /553E526C/5576055D; +Reference = DBY18; +ValeurCmp = BY 500/1000; +IdModule = ACS712:Diode_liegend_BY500_1000_RM15; +EndCmp + +BeginCmp +TimeStamp = /5541A8DB; +Reference = DKE1; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + +BeginCmp +TimeStamp = /5540B0B9; +Reference = DKE2; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/5543A988/5543B245; +Reference = DKE3; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + +BeginCmp +TimeStamp = /553D8AD9/554D9DA2/554BE926; +Reference = DKE4; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + +BeginCmp +TimeStamp = /553E526C/5572085B; +Reference = DKE5; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + +BeginCmp +TimeStamp = /553E526C/55761C9E; +Reference = DKE6; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + +BeginCmp +TimeStamp = /553E526C/55760568; +Reference = DKE7; +ValeurCmp = 15KE33CA; +IdModule = ACS712:Diode_15KE33CA; +EndCmp + BeginCmp TimeStamp = /553D8AD9/553D8D88; Reference = Dual1; ValeurCmp = MC33926; -IdModule = ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse; +IdModule = ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe; EndCmp BeginCmp TimeStamp = /553D8AD9/553DEB14; Reference = Dual2; ValeurCmp = MC33926; -IdModule = ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse; +IdModule = ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe; EndCmp BeginCmp @@ -784,34 +903,6 @@ ValeurCmp = RELAY_2RT; IdModule = ACS712:Relais_DPDT_Schrack-RT2_RM5mm_3D_Kontaktbelegung_geändert_FIN40.52.9_6V; EndCmp -BeginCmp -TimeStamp = /5541A8DB; -Reference = KE1; -ValeurCmp = 15KE33CA; -IdModule = ACS712:Diode_15KE33CA; -EndCmp - -BeginCmp -TimeStamp = /5540B0B9; -Reference = KE2; -ValeurCmp = 15KE33CA; -IdModule = ACS712:Diode_15KE33CA; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/5543A988/5543B245; -Reference = KE3; -ValeurCmp = 15KE33CA; -IdModule = ACS712:Diode_15KE33CA; -EndCmp - -BeginCmp -TimeStamp = /553D8AD9/554D9DA2/554BE926; -Reference = KE4; -ValeurCmp = 15KE33CA; -IdModule = ACS712:Diode_15KE33CA; -EndCmp - BeginCmp TimeStamp = /551BB55E; Reference = LP32; @@ -890,10 +981,10 @@ IdModule = ACS712:Pin_Header_Straight_1x04; EndCmp BeginCmp -TimeStamp = /553DFC0F/55403386; +TimeStamp = /553DFC0F/556A48CF; Reference = P7; ValeurCmp = Status LEDs; -IdModule = ACS712:Pin_Header_Straight_1x08; +IdModule = ACS712:Pin_Header_Straight_1x09; EndCmp BeginCmp @@ -1107,10 +1198,10 @@ IdModule = ACS712:Anschlussklemme_RM5,08-RM7,62; EndCmp BeginCmp -TimeStamp = /553DFC0F/55401F07; +TimeStamp = /553DFC0F/556A5011; Reference = P38; ValeurCmp = Status LEDs GND; -IdModule = ACS712:Pin_Header_Straight_1x08; +IdModule = ACS712:Pin_Header_Straight_1x09; EndCmp BeginCmp @@ -1207,24 +1298,45 @@ EndCmp BeginCmp TimeStamp = /553E526C/555B2389; Reference = PRFA3; -ValeurCmp = PFRA 185; +ValeurCmp = PFRA 040; IdModule = ACS712:PRFA_500_stehend; EndCmp BeginCmp TimeStamp = /553E526C/555B2AC8; Reference = PRFA4; -ValeurCmp = PFRA 185; +ValeurCmp = PFRA 040; IdModule = ACS712:PRFA_500_stehend; EndCmp BeginCmp -TimeStamp = /553E526C/555B1C87; +TimeStamp = /553E526C/5575F491; Reference = PRFA5; -ValeurCmp = PFRA 185; +ValeurCmp = PFRA 040; +IdModule = ACS712:PRFA_500_stehend; +EndCmp + +BeginCmp +TimeStamp = /553E526C/557204F7; +Reference = PRFA6; +ValeurCmp = PFRA 040; +IdModule = ACS712:PRFA_500_stehend; +EndCmp + +BeginCmp +TimeStamp = /553E526C/55762018; +Reference = PRFA7; +ValeurCmp = PFRA 040; IdModule = ACS712:PRFA_500_stehend; EndCmp +BeginCmp +TimeStamp = /553E526C/5575FF8A; +Reference = PRFA8; +ValeurCmp = PFRA 040; +IdModule = ; +EndCmp + BeginCmp TimeStamp = /54B46879; Reference = Q1; @@ -1421,27 +1533,6 @@ ValeurCmp = 100; IdModule = ACS712:Resistor_Horizontal_RM10mm; EndCmp -BeginCmp -TimeStamp = /553E526C/553E7D11; -Reference = R24; -ValeurCmp = 0; -IdModule = ACS712:Resistor_Horizontal_RM15mm; -EndCmp - -BeginCmp -TimeStamp = /553E526C/553E6E97; -Reference = R25; -ValeurCmp = 0; -IdModule = ACS712:Resistor_Horizontal_RM15mm; -EndCmp - -BeginCmp -TimeStamp = /553E526C/553E914B; -Reference = R26; -ValeurCmp = 0; -IdModule = ACS712:Resistor_Horizontal_RM15mm; -EndCmp - BeginCmp TimeStamp = /553A1252/553AC2EC; Reference = R27; @@ -1540,31 +1631,38 @@ ValeurCmp = 4,7K; IdModule = ACS712:Resistor_Horizontal_RM10mm; EndCmp +BeginCmp +TimeStamp = /553DFC0F/5566DACB; +Reference = R41; +ValeurCmp = 4,7K; +IdModule = ACS712:Resistor_Horizontal_RM10mm; +EndCmp + BeginCmp TimeStamp = /5478A23C; Reference = RP1; -ValeurCmp = 150; +ValeurCmp = 220R; IdModule = ACS712:DIP-16__300; EndCmp BeginCmp TimeStamp = /54B686DE; Reference = RP2; -ValeurCmp = 150; +ValeurCmp = 220R; IdModule = ACS712:DIP-16__300; EndCmp BeginCmp TimeStamp = /54994E69; Reference = RR1; -ValeurCmp = C0,1uF; +ValeurCmp = (0,01uF) 10nF; IdModule = ACS712:Kondensatorenleiste_8er_9pin_3D; EndCmp BeginCmp TimeStamp = /5499A2BD; Reference = RR2; -ValeurCmp = C0,1uF; +ValeurCmp = (0,01uF) 10nF; IdModule = ACS712:Kondensatorenleiste_8er_9pin_3D; EndCmp @@ -1638,27 +1736,6 @@ ValeurCmp = Wlan_ESP8266; IdModule = ACS712:Wlan_ESP8266_3D; EndCmp -BeginCmp -TimeStamp = /553E526C/553E7CFF; -Reference = ZD1; -ValeurCmp = ZD-5W 3,3V Optional; -IdModule = ACS712:Diode_ligend_RM10; -EndCmp - -BeginCmp -TimeStamp = /553E526C/553E5DC0; -Reference = ZD2; -ValeurCmp = ZD-5W 5,1 Optional; -IdModule = ACS712:Diode_ligend_RM10; -EndCmp - -BeginCmp -TimeStamp = /553E526C/553E9139; -Reference = ZD3; -ValeurCmp = ZD-5W 12V Optional; -IdModule = ACS712:Diode_ligend_RM10; -EndCmp - BeginCmp TimeStamp = /554BCB67/554BCD9F; Reference = ZD4; diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb index 6cbf9df71..b9cb14b5b 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb @@ -1,14 +1,14 @@ (kicad_pcb (version 4) (host pcbnew "(2015-05-08 BZR 5647)-product") (general - (links 653) + (links 663) (no_connects 0) (area 12.624999 30.404999 284.555001 144.855001) (thickness 1.6) - (drawings 198) - (tracks 2785) + (drawings 204) + (tracks 2837) (zones 0) - (modules 242) + (modules 240) (nets 191) ) @@ -217,90 +217,90 @@ (net 104 "Voltage measurement") (net 105 "Net-(Dual2-Pad9)") (net 106 "Net-(P44-Pad4)") - (net 107 "Net-(D8-Pad2)") - (net 108 "Net-(LP32-Pad2)") - (net 109 "Net-(LP33-Pad2)") - (net 110 "Net-(LP34-Pad2)") - (net 111 "Net-(LP35-Pad2)") - (net 112 Charg_Pin) - (net 113 "Net-(RP1-Pad12)") - (net 114 "Net-(LP36-Pad2)") - (net 115 ReservePin49) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB) - (net 122 "Net-(C1-Pad2)") - (net 123 "Net-(C4-Pad2)") - (net 124 "Net-(C6-Pad2)") - (net 125 "Net-(C9-Pad2)") - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V") - (net 127 "Net-(D11-Pad1)") - (net 128 "Net-(D13-Pad2)") - (net 129 "Net-(D14-Pad1)") - (net 130 "Net-(D14-Pad2)") - (net 131 "Net-(D16-Pad2)") - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin) - (net 134 "Net-(EF2-Pad1)") - (net 135 +3V3) - (net 136 "Net-(K3-Pad5)") - (net 137 "Net-(K3-Pad12)") - (net 138 /Ladespannung/Ladespannung) - (net 139 pinMotorMowRpm) - (net 140 "Net-(Q2-PadG)") - (net 141 "Net-(Q3-PadG)") - (net 142 "Net-(Q4-PadB)") - (net 143 "Net-(Q5-PadG)") - (net 144 pinUndervoltageSwitch) - (net 145 /Batteriespannung/Batteriespannung) - (net 146 /Verpols.L/Verpols.L.aus) - (net 147 "Net-(JP2-Pad2)") - (net 148 "Net-(R22-Pad1)") - (net 149 Reset) - (net 150 ReserveAD10) - (net 151 "Net-(PRFA3-Pad2)") - (net 152 "Net-(PRFA4-Pad2)") - (net 153 "Net-(PRFA5-Pad2)") - (net 154 SDA1) - (net 155 "Net-(B1-Pad1)") - (net 156 "Net-(B2-Pad1)") - (net 157 "Net-(B3-Pad1)") - (net 158 "Net-(B4-Pad1)") - (net 159 "Net-(B5-Pad1)") - (net 160 "Net-(B6-Pad1)") - (net 161 "Net-(B7-Pad1)") - (net 162 "Net-(B8-Pad1)") - (net 163 "Net-(B15-Pad1)") - (net 164 "Net-(B16-Pad1)") - (net 165 "Net-(B17-Pad1)") - (net 166 "Net-(B18-Pad1)") - (net 167 "Net-(Dual1-Pad1)") - (net 168 "Net-(Dual1-Pad11)") - (net 169 "Net-(Dual1-Pad12)") - (net 170 "Net-(Dual2-Pad1)") - (net 171 "Net-(Dual2-Pad11)") - (net 172 "Net-(Dual2-Pad12)") - (net 173 "Net-(K3-Pad3)") - (net 174 "Net-(K3-Pad14)") - (net 175 pinBatterySwitch) - (net 176 "Net-(SHIELD1-PadAREF)") - (net 177 "Net-(SHIELD1-Pad5V_4)") - (net 178 "Net-(SHIELD1-Pad5V_5)") - (net 179 "Net-(SHIELD1-PadSDA1)") - (net 180 "Net-(SHIELD1-PadSCL1)") - (net 181 "Net-(SHIELD1-PadIORE)") - (net 182 "Net-(SHIELD1-PadFREI)") - (net 183 "Net-(U11-PadRese)") - (net 184 "Net-(U11-PadGP_0)") - (net 185 "Net-(U11-PadGP_2)") - (net 186 "Net-(U8-PadDS)") - (net 187 "Net-(U8-PadSQ)") - (net 188 "Net-(U8-PadBat)") - (net 189 SCL2) - (net 190 "Net-(CC45-Pad1)") + (net 107 "Net-(LP32-Pad2)") + (net 108 "Net-(LP33-Pad2)") + (net 109 "Net-(LP34-Pad2)") + (net 110 "Net-(LP35-Pad2)") + (net 111 Charg_Pin) + (net 112 "Net-(RP1-Pad12)") + (net 113 "Net-(LP36-Pad2)") + (net 114 ReservePin49) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB) + (net 121 "Net-(C1-Pad2)") + (net 122 "Net-(C4-Pad2)") + (net 123 "Net-(C6-Pad2)") + (net 124 "Net-(C9-Pad2)") + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V") + (net 126 "Net-(D11-Pad1)") + (net 127 "Net-(D13-Pad2)") + (net 128 "Net-(D14-Pad1)") + (net 129 "Net-(D14-Pad2)") + (net 130 "Net-(D16-Pad2)") + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin) + (net 133 "Net-(EF2-Pad1)") + (net 134 +3V3) + (net 135 "Net-(K3-Pad5)") + (net 136 "Net-(K3-Pad12)") + (net 137 /Ladespannung/Ladespannung) + (net 138 pinMotorMowRpm) + (net 139 "Net-(Q2-PadG)") + (net 140 "Net-(Q3-PadG)") + (net 141 "Net-(Q4-PadB)") + (net 142 "Net-(Q5-PadG)") + (net 143 pinUndervoltageSwitch) + (net 144 /Batteriespannung/Batteriespannung) + (net 145 /Verpols.L/Verpols.L.aus) + (net 146 "Net-(JP2-Pad2)") + (net 147 "Net-(R22-Pad1)") + (net 148 Reset) + (net 149 ReserveAD10) + (net 150 "Net-(PRFA3-Pad2)") + (net 151 "Net-(PRFA4-Pad2)") + (net 152 "Net-(PRFA5-Pad2)") + (net 153 "Net-(B1-Pad1)") + (net 154 "Net-(B2-Pad1)") + (net 155 "Net-(B3-Pad1)") + (net 156 "Net-(B4-Pad1)") + (net 157 "Net-(B5-Pad1)") + (net 158 "Net-(B6-Pad1)") + (net 159 "Net-(B7-Pad1)") + (net 160 "Net-(B8-Pad1)") + (net 161 "Net-(B15-Pad1)") + (net 162 "Net-(B16-Pad1)") + (net 163 "Net-(B17-Pad1)") + (net 164 "Net-(B18-Pad1)") + (net 165 "Net-(Dual1-Pad1)") + (net 166 "Net-(Dual1-Pad11)") + (net 167 "Net-(Dual1-Pad12)") + (net 168 "Net-(Dual2-Pad1)") + (net 169 "Net-(Dual2-Pad11)") + (net 170 "Net-(Dual2-Pad12)") + (net 171 "Net-(K3-Pad3)") + (net 172 "Net-(K3-Pad14)") + (net 173 pinBatterySwitch) + (net 174 "Net-(SHIELD1-PadAREF)") + (net 175 "Net-(SHIELD1-Pad5V_4)") + (net 176 "Net-(SHIELD1-Pad5V_5)") + (net 177 "Net-(SHIELD1-PadSDA1)") + (net 178 "Net-(SHIELD1-PadSCL1)") + (net 179 "Net-(SHIELD1-PadIORE)") + (net 180 "Net-(SHIELD1-PadFREI)") + (net 181 "Net-(U11-PadRese)") + (net 182 "Net-(U11-PadGP_0)") + (net 183 "Net-(U11-PadGP_2)") + (net 184 "Net-(U8-PadDS)") + (net 185 "Net-(U8-PadSQ)") + (net 186 "Net-(U8-PadBat)") + (net 187 SCL2) + (net 188 "Net-(CC45-Pad1)") + (net 189 Led-BT) + (net 190 SDA1) (net_class Default "Dies ist die voreingestellte Netzklasse." (clearance 0.254) @@ -330,6 +330,7 @@ (add_net GND) (add_net GPS_RX) (add_net GPS_TX) + (add_net Led-BT) (add_net Led-Status) (add_net LedPin-24v) (add_net LedPin-3V) @@ -363,7 +364,6 @@ (add_net "Net-(D16-Pad2)") (add_net "Net-(D5-Pad2)") (add_net "Net-(D6-Pad2)") - (add_net "Net-(D8-Pad2)") (add_net "Net-(Dual1-Pad1)") (add_net "Net-(Dual1-Pad11)") (add_net "Net-(Dual1-Pad12)") @@ -533,15 +533,15 @@ (fp_line (start 7.62 5.08) (end -7.62 5.08) (layer F.SilkS) (width 0.15)) (fp_line (start -7.62 5.08) (end -7.62 -5.08) (layer F.SilkS) (width 0.15)) (pad 3 thru_hole circle (at -6.35 1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad 2 thru_hole circle (at -6.35 -1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 1 thru_hole circle (at -6.35 -3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad 4 thru_hole circle (at -6.35 3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 5 thru_hole circle (at 6.35 -3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 6 thru_hole circle (at 6.35 -1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 93 "Net-(P45-Pad4)")) (pad 7 thru_hole circle (at 6.35 1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -560,7 +560,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 155 "Net-(B1-Pad1)")) + (net 153 "Net-(B1-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54CFC05E) (tstamp 54CFBF37) @@ -573,7 +573,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 156 "Net-(B2-Pad1)")) + (net 154 "Net-(B2-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E24096) (tstamp 54CFBF3C) @@ -586,7 +586,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 157 "Net-(B3-Pad1)")) + (net 155 "Net-(B3-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E2407C) (tstamp 54CFBF41) @@ -599,7 +599,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 158 "Net-(B4-Pad1)")) + (net 156 "Net-(B4-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E2408A) (tstamp 54CFBF46) @@ -612,7 +612,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 159 "Net-(B5-Pad1)")) + (net 157 "Net-(B5-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E23E80) (tstamp 54CFBF4B) @@ -625,7 +625,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 160 "Net-(B6-Pad1)")) + (net 158 "Net-(B6-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54CFC10D) (tstamp 54CFBF50) @@ -638,7 +638,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 161 "Net-(B7-Pad1)")) + (net 159 "Net-(B7-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E24090) (tstamp 54CFBF55) @@ -651,7 +651,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 162 "Net-(B8-Pad1)")) + (net 160 "Net-(B8-Pad1)")) ) (module ACS712:INA169 (layer F.Cu) (tedit 5553C4FE) (tstamp 54E5DD27) @@ -677,21 +677,21 @@ (pad 3 thru_hole circle (at 5.08 7.62 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 54 pinChargeCurrent)) (pad 5 thru_hole circle (at -1.778 -6.604 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 4 thru_hole circle (at 1.524 -6.604 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) (pad "" thru_hole circle (at -8.89 7.62 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad "" thru_hole circle (at 8.89 7.62 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad "" thru_hole circle (at -8.89 -8.128 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad "" thru_hole circle (at 8.89 -8.128 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad 4 thru_hole circle (at 2.54 7.62 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) (pad 5 thru_hole circle (at 0 7.62 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 5 thru_hole circle (at 0 5.08 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 4 thru_hole circle (at 2.54 5.08 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548949) (tstamp 551BBD9D) @@ -712,7 +712,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 32 pinOdometryLeft)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 108 "Net-(LP32-Pad2)")) + (net 107 "Net-(LP32-Pad2)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548986) (tstamp 551BBC63) @@ -733,7 +733,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 33 pinOdometryLeft2)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 109 "Net-(LP33-Pad2)")) + (net 108 "Net-(LP33-Pad2)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 555489B5) (tstamp 551BBC6D) @@ -754,7 +754,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 30 pinOdometryRight)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 110 "Net-(LP34-Pad2)")) + (net 109 "Net-(LP34-Pad2)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548A52) (tstamp 551BBD56) @@ -775,7 +775,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 31 pinOdometryRight2)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 111 "Net-(LP35-Pad2)")) + (net 110 "Net-(LP35-Pad2)")) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE47) @@ -788,7 +788,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 10 10) (drill 6.5) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE4C) @@ -801,7 +801,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 10 10) (drill 6.5) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE51) @@ -814,7 +814,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 10 10) (drill 6.5) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE56) @@ -883,7 +883,7 @@ (fp_line (start 43.18 0) (end 0 0) (layer F.SilkS) (width 0.15)) (fp_line (start 0 0) (end 0 -21.59) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 41.91 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (pad 1 thru_hole circle (at 41.91 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 4 thru_hole circle (at 1.27 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -892,9 +892,9 @@ (net 46 +24V)) (pad ~ thru_hole circle (at 6.34 -19.04 90) (size 3.1 3.1) (drill 3.1) (layers *.Cu *.Mask F.SilkS)) (pad 2 thru_hole circle (at 39.37 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (pad 2 thru_hole circle (at 36.83 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (pad 1 thru_hole circle (at 39.37 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole circle (at 36.83 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -936,7 +936,7 @@ (fp_line (start 43.18 0) (end 0 0) (layer F.SilkS) (width 0.15)) (fp_line (start 0 0) (end 0 -21.59) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 41.91 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (pad 1 thru_hole circle (at 41.91 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 4 thru_hole circle (at 1.27 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -945,9 +945,9 @@ (net 46 +24V)) (pad ~ thru_hole circle (at 6.34 -19.04 90) (size 3.1 3.1) (drill 3.1) (layers *.Cu *.Mask F.SilkS)) (pad 2 thru_hole circle (at 39.37 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (pad 2 thru_hole circle (at 36.83 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (pad 1 thru_hole circle (at 39.37 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole circle (at 36.83 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -989,7 +989,7 @@ (fp_line (start 43.18 0) (end 0 0) (layer F.SilkS) (width 0.15)) (fp_line (start 0 0) (end 0 -21.59) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 41.91 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (pad 1 thru_hole circle (at 41.91 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 4 thru_hole circle (at 1.27 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -998,9 +998,9 @@ (net 46 +24V)) (pad ~ thru_hole circle (at 6.34 -19.04 90) (size 3.1 3.1) (drill 3.1) (layers *.Cu *.Mask F.SilkS)) (pad 2 thru_hole circle (at 39.37 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (pad 2 thru_hole circle (at 36.83 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (pad 1 thru_hole circle (at 39.37 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole circle (at 36.83 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -1025,7 +1025,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 163 "Net-(B15-Pad1)")) + (net 161 "Net-(B15-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 552B9D97) (tstamp 552B9CEA) @@ -1038,7 +1038,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 164 "Net-(B16-Pad1)")) + (net 162 "Net-(B16-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 552BA26E) (tstamp 552B9CEF) @@ -1051,7 +1051,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 165 "Net-(B17-Pad1)")) + (net 163 "Net-(B17-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 552BA269) (tstamp 552B9CF4) @@ -1064,7 +1064,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 166 "Net-(B18-Pad1)")) + (net 164 "Net-(B18-Pad1)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548967) (tstamp 5531190E) @@ -1083,9 +1083,9 @@ (fp_line (start 1.524 0.381) (end 1.524 -0.381) (layer F.SilkS) (width 0.15)) (fp_line (start 1.524 -0.381) (end -1.524 -0.381) (layer F.SilkS) (width 0.15)) (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 114 "Net-(LP36-Pad2)")) + (net 113 "Net-(LP36-Pad2)")) ) (module Transistors_TO-220:TO-220_FET-GDS_Vertical (layer F.Cu) (tedit 5553DB93) (tstamp 554E6204) @@ -1121,9 +1121,9 @@ (pad D thru_hole oval (at 0 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (pad G thru_hole oval (at -2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (pad S thru_hole oval (at 2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Transistors_TO-220.3dshapes/TO-220_FET-GDS_Vertical.wrl (at (xyz 0 0 0)) (scale (xyz 0.3937 0.3937 0.3937)) @@ -1162,11 +1162,11 @@ (fp_line (start 0 -3.048) (end -5.334 -3.048) (layer F.SilkS) (width 0.15)) (fp_line (start 0 -3.048) (end 5.334 -3.048) (layer F.SilkS) (width 0.15)) (pad D thru_hole oval (at 0 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad G thru_hole oval (at -2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 143 "Net-(Q5-PadG)")) + (net 142 "Net-(Q5-PadG)")) (pad S thru_hole oval (at 2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Transistors_TO-220.3dshapes/TO-220_FET-GDS_Vertical.wrl (at (xyz 0 0 0)) (scale (xyz 0.3937 0.3937 0.3937)) @@ -1193,9 +1193,9 @@ (fp_line (start 8.89 0) (end 7.62 0) (layer B.SilkS) (width 0.15)) (fp_line (start -8.89 0) (end -7.62 0) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 122 "Net-(C1-Pad2)")) + (net 121 "Net-(C1-Pad2)")) (pad 2 thru_hole circle (at 10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (model Resistors_ThroughHole.3dshapes/Resistor_Horizontal_RM20mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1222,9 +1222,9 @@ (fp_line (start 8.89 0) (end 7.62 0) (layer B.SilkS) (width 0.15)) (fp_line (start -8.89 0) (end -7.62 0) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -10 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 123 "Net-(C4-Pad2)")) + (net 122 "Net-(C4-Pad2)")) (pad 2 thru_hole circle (at 10 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (model Resistors_ThroughHole.3dshapes/Resistor_Horizontal_RM20mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1251,9 +1251,9 @@ (fp_line (start 8.89 0) (end 7.62 0) (layer B.SilkS) (width 0.15)) (fp_line (start -8.89 0) (end -7.62 0) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 124 "Net-(C6-Pad2)")) + (net 123 "Net-(C6-Pad2)")) (pad 2 thru_hole circle (at 10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (model Resistors_ThroughHole.3dshapes/Resistor_Horizontal_RM20mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1477,9 +1477,9 @@ (fp_line (start 6.35 0) (end 5.08 0) (layer F.SilkS) (width 0.15)) (fp_line (start -6.35 0) (end -5.08 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -7.5 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad 2 thru_hole circle (at 7.5 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 107 "Net-(D8-Pad2)")) + (net 189 Led-BT)) (model Resistors_ThroughHole/Resistor_Horizontal_RM15mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1708,7 +1708,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 138 /Ladespannung/Ladespannung)) + (net 137 /Ladespannung/Ladespannung)) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 51 pinChargeVoltage)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -1774,7 +1774,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (pad 2 thru_hole circle (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 70 StationLed)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -1840,9 +1840,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 127 "Net-(D11-Pad1)")) + (net 126 "Net-(D11-Pad1)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1870,9 +1870,9 @@ (fp_line (start 9.017 -2.54) (end 9.017 2.54) (layer B.SilkS) (width 0.24892)) (fp_line (start 9.017 2.54) (end -9.017 2.54) (layer B.SilkS) (width 0.24892)) (pad 1 thru_hole circle (at -7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (pad 2 thru_hole circle (at 7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 122 "Net-(C1-Pad2)")) + (net 121 "Net-(C1-Pad2)")) (model walter/capacitors/cnp_18x5mm.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -1900,9 +1900,9 @@ (fp_line (start 9.017 -2.54) (end 9.017 2.54) (layer B.SilkS) (width 0.24892)) (fp_line (start 9.017 2.54) (end -9.017 2.54) (layer B.SilkS) (width 0.24892)) (pad 1 thru_hole circle (at -7.62 0 270) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (pad 2 thru_hole circle (at 7.62 0 270) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 123 "Net-(C4-Pad2)")) + (net 122 "Net-(C4-Pad2)")) (model walter/capacitors/cnp_18x5mm.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -1930,9 +1930,9 @@ (fp_line (start 9.017 -2.54) (end 9.017 2.54) (layer B.SilkS) (width 0.24892)) (fp_line (start 9.017 2.54) (end -9.017 2.54) (layer B.SilkS) (width 0.24892)) (pad 1 thru_hole circle (at -7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 2 thru_hole circle (at 7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 124 "Net-(C6-Pad2)")) + (net 123 "Net-(C6-Pad2)")) (model walter/capacitors/cnp_18x5mm.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -1971,7 +1971,7 @@ (pad 1 thru_hole circle (at -2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (pad 2 thru_hole circle (at 2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin)) (model walter/crystal/crystal_hc-49u_horiz.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -2010,7 +2010,7 @@ (pad 1 thru_hole circle (at -2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (pad 2 thru_hole circle (at 2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin)) (model walter/crystal/crystal_hc-49u_horiz.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -2054,9 +2054,9 @@ (pad 19 thru_hole oval (at 81.28 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 60 RX1)) (pad 20 thru_hole oval (at 83.82 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad 21 thru_hole oval (at 86.36 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad AD15 thru_hole oval (at 91.44 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 31 pinOdometryRight2)) (pad AD14 thru_hole oval (at 88.9 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2076,13 +2076,13 @@ (pad AD10 thru_hole oval (at 78.74 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 103 "Net-(RP2-Pad11)")) (pad AD11 thru_hole oval (at 81.28 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad AD5 thru_hole oval (at 63.5 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 98 "Net-(RP1-Pad14)")) (pad AD4 thru_hole oval (at 60.96 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 97 "Net-(RP1-Pad13)")) (pad AD3 thru_hole oval (at 58.42 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 113 "Net-(RP1-Pad12)")) + (net 112 "Net-(RP1-Pad12)")) (pad AD0 thru_hole oval (at 50.8 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 94 "Net-(RP1-Pad9)")) (pad AD1 thru_hole oval (at 53.34 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2098,7 +2098,7 @@ (pad 3V3 thru_hole oval (at 35.56 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 82 PowerA3,3)) (pad RST thru_hole oval (at 33.02 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 149 Reset)) + (net 148 Reset)) (pad 0 thru_hole oval (at 63.5 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 76 ReservePin0)) (pad 1 thru_hole oval (at 60.96 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2108,7 +2108,7 @@ (pad 3 thru_hole oval (at 55.88 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 8 pinMotorRightPWM)) (pad 4 thru_hole oval (at 53.34 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 144 pinUndervoltageSwitch)) + (net 143 pinUndervoltageSwitch)) (pad 5 thru_hole oval (at 50.8 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 3 pinMotorLeftPWM)) (pad 6 thru_hole oval (at 48.26 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2130,7 +2130,7 @@ (pad GND3 thru_hole oval (at 26.416 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad AREF thru_hole oval (at 23.876 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 176 "Net-(SHIELD1-PadAREF)")) + (net 174 "Net-(SHIELD1-PadAREF)")) (pad 5V thru_hole oval (at 38.1 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 74 "Net-(JP12-Pad2)")) (pad "" thru_hole circle (at 96.52 2.54 270) (size 3.937 3.937) (drill 3.175) (layers *.Cu *.Mask B.SilkS)) @@ -2154,9 +2154,9 @@ (pad 29 thru_hole circle (at 96.52 40.64) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 12 pinMotorMowDir)) (pad 5V_4 thru_hole circle (at 93.98 50.8) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 177 "Net-(SHIELD1-Pad5V_4)")) + (net 175 "Net-(SHIELD1-Pad5V_4)")) (pad 5V_5 thru_hole circle (at 96.52 50.8) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 178 "Net-(SHIELD1-Pad5V_5)")) + (net 176 "Net-(SHIELD1-Pad5V_5)")) (pad 31 thru_hole circle (at 96.52 38.1) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 2 pinMotorLeftDir)) (pad 30 thru_hole circle (at 93.98 38.1) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2196,7 +2196,7 @@ (pad 48 thru_hole circle (at 93.98 15.24) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 45 pinUserSwitch3)) (pad 49 thru_hole circle (at 96.52 15.24) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 115 ReservePin49)) + (net 114 ReservePin49)) (pad 50 thru_hole circle (at 93.98 12.7) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 52 pinChargingEnable)) (pad 51 thru_hole circle (at 96.52 12.7) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2210,13 +2210,13 @@ (pad GND5 thru_hole circle (at 96.52 7.62) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad SDA1 thru_hole oval (at 21.336 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 179 "Net-(SHIELD1-PadSDA1)")) + (net 177 "Net-(SHIELD1-PadSDA1)")) (pad SCL1 thru_hole oval (at 18.796 50.8 270) (size 2.54 1.524) (drill 0.812) (layers *.Cu *.Mask B.SilkS) - (net 180 "Net-(SHIELD1-PadSCL1)")) + (net 178 "Net-(SHIELD1-PadSCL1)")) (pad IORE thru_hole oval (at 30.48 2.54 270) (size 2.54 1.524) (drill 0.812) (layers *.Cu *.Mask B.SilkS) - (net 181 "Net-(SHIELD1-PadIORE)")) + (net 179 "Net-(SHIELD1-PadIORE)")) (pad FREI thru_hole oval (at 27.94 2.54 270) (size 2.54 1.524) (drill 0.812) (layers *.Cu *.Mask B.SilkS) - (net 182 "Net-(SHIELD1-PadFREI)")) + (net 180 "Net-(SHIELD1-PadFREI)")) (model ../../../../../Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/arduino_mega_header.wrl (at (xyz 1.95 1.05 0)) (scale (xyz 1 1 1)) @@ -2307,17 +2307,17 @@ (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (pad VCC thru_hole circle (at 3.81 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad RX thru_hole oval (at 3.81 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 106 "Net-(P44-Pad4)")) (pad Rese thru_hole oval (at 1.27 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 183 "Net-(U11-PadRese)")) + (net 181 "Net-(U11-PadRese)")) (pad GP_0 thru_hole oval (at 1.27 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 184 "Net-(U11-PadGP_0)")) + (net 182 "Net-(U11-PadGP_0)")) (pad CH_P thru_hole oval (at -1.27 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad GP_2 thru_hole oval (at -1.27 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 185 "Net-(U11-PadGP_2)")) + (net 183 "Net-(U11-PadGP_2)")) (pad TX thru_hole oval (at -3.81 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 60 RX1)) (pad GND thru_hole oval (at -3.81 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) @@ -2337,7 +2337,7 @@ (fp_text reference RR1 (at -6.858 -2.54) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value C0,1uF (at -1.016 -2.54) (layer F.SilkS) hide + (fp_text value "(0,01uF) 10nF" (at -1.016 -2.54) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -8.89 -1.27) (end 11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2356,7 +2356,7 @@ (pad 4 thru_hole oval (at -2.54 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 96 "Net-(RP1-Pad11)")) (pad 5 thru_hole oval (at 0 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 113 "Net-(RP1-Pad12)")) + (net 112 "Net-(RP1-Pad12)")) (pad 6 thru_hole oval (at 2.54 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 97 "Net-(RP1-Pad13)")) (pad 7 thru_hole oval (at 5.08 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -2380,7 +2380,7 @@ (fp_text reference RR2 (at 9.906 2.54 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value C0,1uF (at -1.016 -2.54 180) (layer F.SilkS) hide + (fp_text value "(0,01uF) 10nF" (at -1.016 -2.54 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -8.89 -1.27) (end 11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2393,15 +2393,15 @@ (pad 1 thru_hole rect (at -10.16 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole oval (at -7.62 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 111 "Net-(LP35-Pad2)")) + (net 110 "Net-(LP35-Pad2)")) (pad 3 thru_hole oval (at -5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 110 "Net-(LP34-Pad2)")) + (net 109 "Net-(LP34-Pad2)")) (pad 4 thru_hole oval (at -2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 109 "Net-(LP33-Pad2)")) + (net 108 "Net-(LP33-Pad2)")) (pad 5 thru_hole oval (at 0 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 108 "Net-(LP32-Pad2)")) + (net 107 "Net-(LP32-Pad2)")) (pad 6 thru_hole oval (at 2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 114 "Net-(LP36-Pad2)")) + (net 113 "Net-(LP36-Pad2)")) (pad 7 thru_hole oval (at 5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 103 "Net-(RP2-Pad11)")) (pad 8 thru_hole oval (at 7.62 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -2423,7 +2423,7 @@ (fp_text reference RP1 (at 8.636 0.127 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 150 (at 3.81 0.127 180) (layer F.SilkS) hide + (fp_text value 220R (at 3.81 0.127 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -11.43 -1.27) (end -11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2457,7 +2457,7 @@ (pad 11 thru_hole circle (at 3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 96 "Net-(RP1-Pad11)")) (pad 12 thru_hole circle (at 1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 113 "Net-(RP1-Pad12)")) + (net 112 "Net-(RP1-Pad12)")) (pad 13 thru_hole circle (at -1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 97 "Net-(RP1-Pad13)")) (pad 14 thru_hole circle (at -3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) @@ -2481,7 +2481,7 @@ (fp_text reference RP2 (at 8.128 0.254 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 150 (at 3.81 0.127 180) (layer F.SilkS) hide + (fp_text value 220R (at 3.81 0.127 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -11.43 -1.27) (end -11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2501,9 +2501,9 @@ (pad 4 thru_hole circle (at -1.27 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 32 pinOdometryLeft)) (pad 5 thru_hole circle (at 1.27 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad 6 thru_hole circle (at 3.81 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 150 ReserveAD10)) + (net 149 ReserveAD10)) (pad 7 thru_hole circle (at 6.35 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 51 pinChargeVoltage)) (pad 8 thru_hole circle (at 8.89 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) @@ -2515,7 +2515,7 @@ (pad 11 thru_hole circle (at 3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 103 "Net-(RP2-Pad11)")) (pad 12 thru_hole circle (at 1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad 13 thru_hole circle (at -1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 32 pinOdometryLeft)) (pad 14 thru_hole circle (at -3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) @@ -2531,204 +2531,6 @@ ) ) - (module ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse (layer F.Cu) (tedit 555490C5) (tstamp 5551967F) - (at 265.43 130.81 90) - (path /553D8AD9/553D8D88) - (fp_text reference Dual1 (at 26.416 -31.877 90) (layer F.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_text value MC33926 (at 19.431 -23.876 90) (layer F.SilkS) hide - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) - (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole circle (at 5.08 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 167 "Net-(Dual1-Pad1)")) - (pad 2 thru_hole circle (at 7.62 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 3 thru_hole circle (at 10.16 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 4 thru_hole circle (at 12.7 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 2 pinMotorLeftDir)) - (pad 5 thru_hole circle (at 15.24 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 3 pinMotorLeftPWM)) - (pad 6 thru_hole circle (at 17.78 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 7 thru_hole circle (at 20.32 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 8 thru_hole circle (at 22.86 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 4 pinMotorLeftFault)) - (pad 9 thru_hole circle (at 25.4 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 5 pinMotorLeftSense)) - (pad 10 thru_hole circle (at 27.94 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 6 pinMotorEnable)) - (pad 11 thru_hole circle (at 30.48 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 168 "Net-(Dual1-Pad11)")) - (pad 12 thru_hole circle (at 33.02 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 169 "Net-(Dual1-Pad12)")) - (pad 13 thru_hole circle (at 35.56 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 7 pinMotorRightDir)) - (pad 14 thru_hole circle (at 38.1 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 8 pinMotorRightPWM)) - (pad 15 thru_hole circle (at 40.64 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 16 thru_hole circle (at 43.18 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 17 thru_hole circle (at 45.72 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 9 pinMotorRightFault)) - (pad 18 thru_hole circle (at 48.26 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 10 pinMotorRightSense)) - (pad 19 thru_hole circle (at 17.272 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) - (pad 20 thru_hole circle (at 20.828 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) - (pad 21 thru_hole circle (at 24.384 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 22 thru_hole circle (at 27.94 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) - (pad 23 thru_hole circle (at 31.496 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) - (pad 24 thru_hole circle (at 35.052 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) - (pad 25 thru_hole circle (at 17.78 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 26 thru_hole circle (at 20.32 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 27 thru_hole circle (at 27.94 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 28 thru_hole circle (at 30.48 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 29 thru_hole circle (at 33.02 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 30 thru_hole circle (at 40.64 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 31 thru_hole circle (at 43.18 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 6.2865 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 47.0535 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (model walter/pin_strip/pin_socket_18.wrl - (at (xyz 1.05 1.49 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_11.wrl - (at (xyz 1.2 1.39 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_8.wrl - (at (xyz 1.03 0.57 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse (layer F.Cu) (tedit 55548F7F) (tstamp 555196B3) - (at 265.43 82.55 90) - (path /553D8AD9/553DEB14) - (fp_text reference Dual2 (at 26.416 -31.877 90) (layer F.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_text value MC33926 (at 19.431 -23.876 90) (layer F.SilkS) hide - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) - (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole circle (at 5.08 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 170 "Net-(Dual2-Pad1)")) - (pad 2 thru_hole circle (at 7.62 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 3 thru_hole circle (at 10.16 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 4 thru_hole circle (at 12.7 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 12 pinMotorMowDir)) - (pad 5 thru_hole circle (at 15.24 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 13 pinMotorMowPWM)) - (pad 6 thru_hole circle (at 17.78 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 7 thru_hole circle (at 20.32 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 8 thru_hole circle (at 22.86 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 14 pinMotorMowFault)) - (pad 9 thru_hole circle (at 25.4 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 105 "Net-(Dual2-Pad9)")) - (pad 10 thru_hole circle (at 27.94 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 11 pinMotorMowEnable)) - (pad 11 thru_hole circle (at 30.48 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 171 "Net-(Dual2-Pad11)")) - (pad 12 thru_hole circle (at 33.02 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 172 "Net-(Dual2-Pad12)")) - (pad 13 thru_hole circle (at 35.56 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 12 pinMotorMowDir)) - (pad 14 thru_hole circle (at 38.1 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 13 pinMotorMowPWM)) - (pad 15 thru_hole circle (at 40.64 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 16 thru_hole circle (at 43.18 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 17 thru_hole circle (at 45.72 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 14 pinMotorMowFault)) - (pad 18 thru_hole circle (at 48.26 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 15 pinMotorMowSense)) - (pad 19 thru_hole circle (at 17.272 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) - (pad 20 thru_hole circle (at 20.828 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) - (pad 21 thru_hole circle (at 24.384 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 22 thru_hole circle (at 27.94 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) - (pad 23 thru_hole circle (at 31.496 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) - (pad 24 thru_hole circle (at 35.052 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) - (pad 25 thru_hole circle (at 17.78 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 26 thru_hole circle (at 20.32 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 27 thru_hole circle (at 27.94 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 28 thru_hole circle (at 30.48 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 29 thru_hole circle (at 33.02 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 30 thru_hole circle (at 40.64 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 31 thru_hole circle (at 43.18 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 6.2865 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 47.0535 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (model walter/pin_strip/pin_socket_18.wrl - (at (xyz 1.05 1.49 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_11.wrl - (at (xyz 1.2 1.39 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_8.wrl - (at (xyz 1.03 0.57 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Fuseholder_Reichelt_PL112000 (layer F.Cu) (tedit 5554969A) (tstamp 55519E0D) (at 61.468 136.144 180) (descr "Fuseholder, 5x20, Semi closed, horizontal, Casing 10x25mm,") @@ -2760,9 +2562,9 @@ (fp_line (start 11.99896 -5.00126) (end -11.99896 -5.00126) (layer F.SilkS) (width 0.15)) (fp_line (start -11.99896 -5.00126) (end -11.99896 -1.89992) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole oval (at 11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (pad 1 thru_hole oval (at -11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) - (net 138 /Ladespannung/Ladespannung)) + (net 137 /Ladespannung/Ladespannung)) (pad ~ thru_hole circle (at 0 0 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (model walter/misc_comp/fuse_cq-200c.wrl (at (xyz 0 0 0)) @@ -2804,7 +2606,7 @@ (pad 2 thru_hole oval (at 11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) (net 84 "Net-(EF2-Pad2)")) (pad 1 thru_hole oval (at -11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) - (net 134 "Net-(EF2-Pad1)")) + (net 133 "Net-(EF2-Pad1)")) (pad ~ thru_hole circle (at 0 0 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (model walter/misc_comp/fuse_cq-200c.wrl (at (xyz 0 0 0)) @@ -2949,15 +2751,15 @@ ) ) - (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer F.Cu) (tedit 54CA02D6) (tstamp 5551A664) + (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer F.Cu) (tedit 5560D4FC) (tstamp 5551A664) (at 53.086 127.381 90) (descr "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, radial,") (tags "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, Elko, Electrolytkondensator, Kondensator gepolt, Durchmesser 6,3mm, radial,") (path /553A6702/553A7C73) - (fp_text reference C9 (at 5.715 0 180) (layer F.SilkS) + (fp_text reference C9 (at 1.27 4.318 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 22uF (at 7.62 0 180) (layer F.SilkS) + (fp_text value 22uF (at 7.62 0 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0.26924 -2.19964) (end 0.26924 -1.19888) (layer F.SilkS) (width 0.15)) @@ -2969,13 +2771,13 @@ (fp_line (start 0.26924 -1.30048) (end 0.26924 -1.19888) (layer F.Cu) (width 0.15)) (fp_circle (center 1.27 0) (end 4.4196 0) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 2.54 0 90) (size 1.50114 1.50114) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (pad 1 thru_hole circle (at 0 0 90) (size 1.50114 1.50114) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (pad 1 thru_hole circle (at -1.27 0 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (pad 2 thru_hole circle (at 3.81 0 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (model Capacitors_ThroughHole.3dshapes/C_Radial_D6.3_L11.2_P2.5.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3010,13 +2812,13 @@ (fp_line (start -7.7 -5.9) (end 7.7 -5.9) (layer F.SilkS) (width 0.381)) (fp_line (start -7.7 -5.9) (end -7.7 5.3) (layer F.SilkS) (width 0.381)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 2 thru_hole circle (at 3.81 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (pad 1 thru_hole rect (at -1.27 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (model walter/conn_gmkds/gmkds_3-2-7,62.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3051,13 +2853,13 @@ (fp_line (start -7.7 -5.9) (end 7.7 -5.9) (layer F.SilkS) (width 0.381)) (fp_line (start -7.7 -5.9) (end -7.7 5.3) (layer F.SilkS) (width 0.381)) (pad 1 thru_hole rect (at -3.81 0) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (pad 2 thru_hole circle (at 3.81 0) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole rect (at -1.27 0) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (pad 1 thru_hole rect (at -3.81 0) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (model walter/conn_gmkds/gmkds_3-2-7,62.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3133,13 +2935,13 @@ (fp_line (start -7.7 -5.9) (end 7.7 -5.9) (layer F.SilkS) (width 0.381)) (fp_line (start -7.7 -5.9) (end -7.7 5.3) (layer F.SilkS) (width 0.381)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 2 thru_hole circle (at 3.81 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 134 "Net-(EF2-Pad1)")) + (net 133 "Net-(EF2-Pad1)")) (pad 1 thru_hole rect (at -1.27 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (model walter/conn_gmkds/gmkds_3-2-7,62.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3164,9 +2966,9 @@ (fp_line (start -5.08 -3.81) (end -5.08 3.81) (layer F.SilkS) (width 0.15)) (fp_line (start -5.08 3.81) (end 5.08 3.81) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3193,7 +2995,7 @@ (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3220,7 +3022,7 @@ (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3245,9 +3047,9 @@ (fp_line (start -5.08 -3.81) (end -5.08 3.81) (layer F.SilkS) (width 0.15)) (fp_line (start -5.08 3.81) (end 5.08 3.81) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3431,7 +3233,7 @@ (pad 2 thru_hole oval (at 0 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3462,11 +3264,11 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3507,47 +3309,6 @@ ) ) - (module ACS712:Pin_Header_Straight_1x08 (layer F.Cu) (tedit 555BADF4) (tstamp 5551BAEE) - (at 104.14 127) - (descr "Through hole pin header") - (tags "pin header") - (path /553DFC0F/55403386) - (fp_text reference P7 (at -8.89 -2.54) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value "Status LEDs" (at 0.381 4.572) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -7.62 -1.27) (end 10.16 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 -1.27) (end 10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -7.62 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -7.62 -1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at -8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole oval (at -6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 80 LedPin-3V)) - (pad 3 thru_hole oval (at -3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 28 LedPin-24v)) - (pad 4 thru_hole oval (at -1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 27 LedPin-5v)) - (pad 5 thru_hole oval (at 1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 70 StationLed)) - (pad 6 thru_hole oval (at 3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 69 DuoLED_Grün)) - (pad 7 thru_hole oval (at 6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 59 DuoLED-Rot)) - (pad 8 thru_hole oval (at 8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 29 Led-Status)) - (model Pin_Headers.3dshapes/Pin_Header_Straight_1x08.wrl - (at (xyz 0 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Pin_Header_Straight_1x04 (layer F.Cu) (tedit 55548B00) (tstamp 5551BB00) (at 189.23 43.815 270) (descr "Through hole pin header") @@ -3641,7 +3402,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 35 GPS_TX)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3682,16 +3443,16 @@ ) ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 55548C71) (tstamp 5551BB39) + (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5560CB73) (tstamp 5551BB39) (at 156.21 42.545 270) (descr "Through hole pin header") (tags "pin header") (path /553BB67C/553AAAF7) - (fp_text reference P12 (at -5.461 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text reference P12 (at -5.715 0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value P.Left (at -4.445 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text value P.Left (at -6.35 -0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -1.27 1.27) (end 3.81 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 3.81 1.27) (end 3.81 -1.27) (layer F.SilkS) (width 0.15)) @@ -3750,16 +3511,16 @@ ) ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 55548C26) (tstamp 5551BB56) + (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5560CD2F) (tstamp 5551BB56) (at 166.37 42.545 270) (descr "Through hole pin header") (tags "pin header") (path /553DFC0F/553EA898) - (fp_text reference P14 (at -5.461 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text reference P14 (at -5.715 0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "Meas V" (at -4.445 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text value "Meas V" (at -6.985 -0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -1.27 1.27) (end 3.81 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 3.81 1.27) (end 3.81 -1.27) (layer F.SilkS) (width 0.15)) @@ -3830,7 +3591,7 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 130 "Net-(D14-Pad2)")) + (net 129 "Net-(D14-Pad2)")) (pad 2 thru_hole oval (at 1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl @@ -3871,16 +3632,16 @@ ) ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 55548BDC) (tstamp 5551BB88) + (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5560CBA6) (tstamp 5551BB88) (at 161.29 42.545 270) (descr "Through hole pin header") (tags "pin header") (path /553B6850/553C570A) - (fp_text reference P22 (at -5.461 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text reference P22 (at -5.715 0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Res.AD6 (at -4.445 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text value Res.AD6 (at -6.985 -0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -1.27 1.27) (end 3.81 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 3.81 1.27) (end 3.81 -1.27) (layer F.SilkS) (width 0.15)) @@ -3925,11 +3686,11 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3960,11 +3721,11 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4026,7 +3787,7 @@ (pad 2 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 175 pinBatterySwitch)) + (net 173 pinBatterySwitch)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4290,21 +4051,21 @@ (fp_line (start -10.16 -1.27) (end -10.16 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at -6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 3 thru_hole oval (at -3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 4 thru_hole oval (at -1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 5 thru_hole oval (at 1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 6 thru_hole oval (at 3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 7 thru_hole oval (at 6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 8 thru_hole oval (at 8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x08.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4335,7 +4096,7 @@ (pad 2 thru_hole oval (at 0 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 115 ReservePin49)) + (net 114 ReservePin49)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4343,68 +4104,27 @@ ) ) - (module ACS712:Pin_Header_Straight_1x08 (layer F.Cu) (tedit 555496D8) (tstamp 5551BC51) - (at 104.14 129.54) + (module ACS712:Pin_Header_Straight_1x05 (layer F.Cu) (tedit 555BB971) (tstamp 5551BC63) + (at 211.455 74.93 180) (descr "Through hole pin header") (tags "pin header") - (path /553DFC0F/55401F07) - (fp_text reference P38 (at -8.89 -2.54) (layer F.SilkS) + (path /553DFC0F/553EF93A) + (fp_text reference P40 (at 14.605 0.635 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "Status LEDs GND" (at 3.81 -2.54) (layer F.SilkS) hide + (fp_text value UserSwitsch (at 11.43 -0.635 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_line (start -7.62 -1.27) (end 10.16 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 -1.27) (end 10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -7.62 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -7.62 -1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at -8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole oval (at -6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 3 thru_hole oval (at -3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 4 thru_hole oval (at -1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 5 thru_hole oval (at 1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 6 thru_hole oval (at 3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 7 thru_hole oval (at 6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 8 thru_hole oval (at 8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (model Pin_Headers.3dshapes/Pin_Header_Straight_1x08.wrl - (at (xyz 0 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Pin_Header_Straight_1x05 (layer F.Cu) (tedit 555BB971) (tstamp 5551BC63) - (at 211.455 74.93 180) - (descr "Through hole pin header") - (tags "pin header") - (path /553DFC0F/553EF93A) - (fp_text reference P40 (at 14.605 0.635 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value UserSwitsch (at 11.43 -0.635 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -3.81 -1.27) (end 6.35 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 6.35 -1.27) (end 6.35 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -6.35 -1.27) (end -3.81 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -3.81 -1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -6.35 -1.27) (end -6.35 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at -5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 2 thru_hole oval (at -2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) + (fp_line (start -3.81 -1.27) (end 6.35 -1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start 6.35 -1.27) (end 6.35 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start 6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -6.35 -1.27) (end -3.81 -1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -3.81 -1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -6.35 -1.27) (end -6.35 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) + (pad 1 thru_hole rect (at -5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) + (net 71 Power5)) + (pad 2 thru_hole oval (at -2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 43 pinUserSwitch1)) @@ -4477,7 +4197,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 106 "Net-(P44-Pad4)")) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4512,7 +4232,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 93 "Net-(P45-Pad4)")) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4547,7 +4267,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 93 "Net-(P45-Pad4)")) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4583,15 +4303,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC3B) - (at 109.22 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC3B) (tstamp 5551CC3B) + (at 106.68 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553BDA33/553C3C10) (fp_text reference JP2 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Key (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Key (at 8.89 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4601,9 +4321,9 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 147 "Net-(JP2-Pad2)")) + (net 146 "Net-(JP2-Pad2)")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4611,15 +4331,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC46) - (at 119.38 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC1D) (tstamp 5551CC46) + (at 116.84 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /54C10ED7) (fp_text reference JP3 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value pwrAA3,3 (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value pwrAA3,3 (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4629,7 +4349,7 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 82 PowerA3,3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl @@ -4639,15 +4359,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC51) - (at 114.3 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC2A) (tstamp 5551CC51) + (at 111.76 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553BDA33/553C4C94) (fp_text reference JP8 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Blue5.0V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Blue5.0V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4659,7 +4379,7 @@ (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4667,15 +4387,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC5C) - (at 111.76 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC31) (tstamp 5551CC5C) + (at 109.22 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553BDA33/553C509B) (fp_text reference JP9 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Blue3.3V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Blue3.3V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4685,9 +4405,9 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4715,7 +4435,7 @@ (pad 1 thru_hole rect (at -1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 72 "Net-(C7-Pad1)")) (pad 2 thru_hole oval (at 1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4751,15 +4471,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC7D) - (at 116.84 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC23) (tstamp 5551CC7D) + (at 114.3 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /54B90ACC) (fp_text reference JP12 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value pwrAA5.0V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value pwrAA5.0V (at 11.43 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4779,15 +4499,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC88) - (at 121.92 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC17) (tstamp 5551CC88) + (at 119.38 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /554017E4/553CAB7C) (fp_text reference JP13 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Meas3.3V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Meas3.3V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4797,7 +4517,7 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 104 "Voltage measurement")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl @@ -4807,15 +4527,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC93) - (at 124.46 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC11) (tstamp 5551CC93) + (at 121.92 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /554017E4/553CA94E) (fp_text reference JP14 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Meas5.0V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Meas5.0V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4835,15 +4555,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC9E) - (at 127 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC0A) (tstamp 5551CC9E) + (at 124.46 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /554017E4/553CAB00) (fp_text reference JP15 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value MeasA3.3V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value MeasA3.3V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4863,15 +4583,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CCA9) - (at 129.54 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC43) (tstamp 5551CCA9) + (at 127 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553D8AD9/553E1515) (fp_text reference JP16 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value M1FB (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value M1FB (at 8.89 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4921,17 +4641,17 @@ (pad 9 thru_hole circle (at 0 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) (net 85 "Net-(D10-Pad1)")) (pad 3 thru_hole circle (at 15.24 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 173 "Net-(K3-Pad3)")) + (net 171 "Net-(K3-Pad3)")) (pad 5 thru_hole circle (at 20.32 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 1 thru_hole circle (at 25.4 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 14 thru_hole circle (at 15.24 -7.62) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 174 "Net-(K3-Pad14)")) + (net 172 "Net-(K3-Pad14)")) (pad 12 thru_hole circle (at 20.32 -7.62) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) (pad 16 thru_hole circle (at 25.4 -7.62) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (model walter/relay/relay_40.52_socket.wrl (at (xyz 0.46 0.15 0)) (scale (xyz 1 1 1)) @@ -4939,81 +4659,6 @@ ) ) - (module ACS712:Diode_LED_5mm_round_vertical (layer F.Cu) (tedit 54C41716) (tstamp 5551E57D) - (at 99.06 47.244 270) - (descr "Leuchtdiode, LED, 5mm, round, rund, vertical,") - (tags "Leuchtdiode, LED, 5mm, round, rund, vertical,") - (path /553BDA33/553C450A) - (fp_text reference D8 (at 0 6.35 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value BlueLED (at 0 -5.08 270) (layer F.SilkS) hide - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text user A (at -3.175 1.905 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text user + (at -3.302 -0.762 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -2.54 1.905) (end -2.54 0.762) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 -2.159) (end -2.54 -0.762) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 1.27) (end -1.905 1.651) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.905 1.651) (end -1.524 2.032) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.524 2.032) (end -1.016 2.286) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.016 2.286) (end -0.254 2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.254 2.54) (end 0.127 2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.127 2.54) (end 0.762 2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.762 2.413) (end 1.524 2.032) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.524 2.032) (end 1.778 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.778 1.778) (end 2.159 1.397) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.397 -2.159) (end 1.778 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.778 -1.778) (end 2.032 -1.524) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.032 -1.524) (end 2.159 -1.397) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 -1.27) (end -2.032 -1.524) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.032 -1.524) (end -1.651 -1.905) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.651 -1.905) (end -1.143 -2.286) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.143 -2.286) (end -0.762 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.762 -2.413) (end -0.254 -2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.254 -2.54) (end 0.127 -2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.127 -2.54) (end 0.762 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.762 -2.413) (end 1.397 -2.159) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 1.905) (end -2.159 2.286) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 -2.159) (end -2.032 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.032 -2.413) (end -1.524 -2.794) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.524 -2.794) (end -0.889 -3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.889 -3.048) (end -0.254 -3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.254 -3.175) (end 0.254 -3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.254 -3.175) (end 0.889 -3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.889 -3.048) (end 1.524 -2.794) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.524 -2.794) (end 2.032 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.032 -2.413) (end 2.54 -1.905) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.54 -1.905) (end 2.921 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.921 -1.27) (end 3.048 -0.889) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.048 -0.889) (end 3.175 -0.254) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.175 -0.254) (end 3.175 0.381) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.175 0.381) (end 3.048 0.889) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.048 0.889) (end 2.794 1.524) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.794 1.524) (end 2.413 2.032) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.413 2.032) (end 1.905 2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.905 2.54) (end 1.524 2.794) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.524 2.794) (end 0.889 3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.889 3.048) (end 0.254 3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.254 3.175) (end -0.381 3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.381 3.175) (end -1.016 3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.016 3.048) (end -1.778 2.667) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.778 2.667) (end -2.159 2.286) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole circle (at -1.27 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole rect (at 1.27 0 270) (size 1.69926 1.69926) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 107 "Net-(D8-Pad2)")) - (model LEDs.3dshapes/LED-5MM.wrl - (at (xyz 0 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Diode_ligend_RM10 (layer F.Cu) (tedit 555BB8C2) (tstamp 5551EA57) (at 206.375 83.82) (descr "Diode, DO-41, SOD81, Horizontal, RM 10mm,") @@ -5256,9 +4901,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 140 "Net-(Q2-PadG)")) + (net 139 "Net-(Q2-PadG)")) (pad 2 thru_hole rect (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5292,9 +4937,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (pad 2 thru_hole rect (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5328,9 +4973,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 143 "Net-(Q5-PadG)")) + (net 142 "Net-(Q5-PadG)")) (pad 2 thru_hole rect (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5400,7 +5045,7 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5438,7 +5083,7 @@ (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 0.85 0.85 0.85)) @@ -5472,7 +5117,7 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5510,7 +5155,7 @@ (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 0.85 0.85 0.85)) @@ -5580,7 +5225,7 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 127 "Net-(D11-Pad1)")) + (net 126 "Net-(D11-Pad1)")) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 86 "Net-(D10-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl @@ -5616,9 +5261,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 128 "Net-(D13-Pad2)")) + (net 127 "Net-(D13-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5652,9 +5297,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 130 "Net-(D14-Pad2)")) + (net 129 "Net-(D14-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5690,7 +5335,7 @@ (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) (net 18 pinButton)) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 130 "Net-(D14-Pad2)")) + (net 129 "Net-(D14-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5724,9 +5369,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 131 "Net-(D16-Pad2)")) + (net 130 "Net-(D16-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5788,9 +5433,9 @@ (pad E thru_hole rect (at 1.27 -1.27 270) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad B thru_hole circle (at -1.27 -1.27 270) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 142 "Net-(Q4-PadB)")) + (net 141 "Net-(Q4-PadB)")) (pad C thru_hole circle (at -1.27 1.27 270) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 131 "Net-(D16-Pad2)")) + (net 130 "Net-(D16-Pad2)")) (model Discret.3dshapes/TO92-EBC.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -5820,7 +5465,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5854,7 +5499,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -5884,7 +5529,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5916,7 +5561,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5950,7 +5595,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -5980,7 +5625,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -6014,7 +5659,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -6046,7 +5691,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -6054,7 +5699,7 @@ ) ) - (module Capacitors_ThroughHole:C_Radial_D16_L31.5_P7.5 (layer B.Cu) (tedit 0) (tstamp 55507847) + (module Capacitors_ThroughHole:C_Radial_D16_L31.5_P7.5 (layer B.Cu) (tedit 5560D403) (tstamp 55507847) (at 56.642 88.9) (descr "Radial Electrolytic Capacitor Diameter 16mm x Length 31.5mm, Pitch 7.5mm") (tags "Electrolytic Capacitor") @@ -6062,7 +5707,7 @@ (fp_text reference C5 (at 3.75 9.3) (layer B.SilkS) (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_text value 1000uF (at 3.75 -9.3) (layer B.Fab) + (fp_text value 1000uF (at 3.75 -9.3) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start 3.825 8) (end 3.825 -8) (layer B.SilkS) (width 0.15)) @@ -6168,7 +5813,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 140 "Net-(Q2-PadG)")) + (net 139 "Net-(Q2-PadG)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 1 GND)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6201,9 +5846,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (pad 2 thru_hole circle (at 5.08 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6234,9 +5879,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6267,9 +5912,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 128 "Net-(D13-Pad2)")) + (net 127 "Net-(D13-Pad2)")) (pad 2 thru_hole circle (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6300,9 +5945,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (pad 2 thru_hole circle (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 128 "Net-(D13-Pad2)")) + (net 127 "Net-(D13-Pad2)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6333,7 +5978,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 142 "Net-(Q4-PadB)")) + (net 141 "Net-(Q4-PadB)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 1 GND)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6366,7 +6011,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 143 "Net-(Q5-PadG)")) + (net 142 "Net-(Q5-PadG)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 1 GND)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6399,9 +6044,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 142 "Net-(Q4-PadB)")) + (net 141 "Net-(Q4-PadB)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 144 pinUndervoltageSwitch)) + (net 143 pinUndervoltageSwitch)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6531,7 +6176,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 80 LedPin-3V)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6577,11 +6222,11 @@ (fp_line (start 0 -3.048) (end -5.334 -3.048) (layer F.SilkS) (width 0.15)) (fp_line (start 0 -3.048) (end 5.334 -3.048) (layer F.SilkS) (width 0.15)) (pad D thru_hole oval (at 0 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 138 /Ladespannung/Ladespannung)) + (net 137 /Ladespannung/Ladespannung)) (pad G thru_hole oval (at -2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 140 "Net-(Q2-PadG)")) + (net 139 "Net-(Q2-PadG)")) (pad S thru_hole oval (at 2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (model Transistors_TO-220.3dshapes/TO-220_FET-GDS_Vertical.wrl (at (xyz 0 0 0)) (scale (xyz 0.3937 0.3937 0.3937)) @@ -6708,7 +6353,7 @@ (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (pad VCC thru_hole oval (at 6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (pad GND thru_hole oval (at 3.81 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad TXD thru_hole oval (at 1.27 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) @@ -6716,15 +6361,15 @@ (pad RXD thru_hole oval (at -1.27 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 83 "Net-(R6-Pad2)")) (pad Key thru_hole oval (at -3.81 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 147 "Net-(JP2-Pad2)")) + (net 146 "Net-(JP2-Pad2)")) (pad LED thru_hole oval (at -6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad LED thru_hole oval (at -6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad LED thru_hole oval (at -6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad LED thru_hole oval (at -6.35 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad RXD thru_hole oval (at -3.81 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 83 "Net-(R6-Pad2)")) (pad TXD thru_hole oval (at -1.27 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) @@ -6732,9 +6377,9 @@ (pad GND thru_hole oval (at 1.27 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad VCC thru_hole oval (at 3.81 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (pad Key thru_hole oval (at 6.35 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 147 "Net-(JP2-Pad2)")) + (net 146 "Net-(JP2-Pad2)")) (model Socket_Strips.3dshapes/Socket_Strip_Angled_1x06.wrl (at (xyz 0 0.1 0)) (scale (xyz 1 1 1)) @@ -6742,162 +6387,6 @@ ) ) - (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 5554883F) (tstamp 55548FA8) - (at 56.642 97.282 90) - (descr "Diode, DO-15 package") - (path /5540B0B9) - (fp_text reference KE2 (at 0 0.127 90) (layer F.SilkS) - (effects (font (thickness 0.3048))) - ) - (fp_text value 15KE33CA (at 0 -3.937 90) (layer F.SilkS) hide - (effects (font (thickness 0.3048))) - ) - (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -3.8 -1.8) (end 3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end 3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end -3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole circle (at 6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 46 +24V)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 55549332) (tstamp 5554922A) - (at 233.426 129.54) - (descr "Diode, DO-15 package") - (path /5541A8DB) - (fp_text reference KE1 (at 0 0.127) (layer F.SilkS) - (effects (font (thickness 0.3048))) - ) - (fp_text value 15KE33CA (at 0 -3.937) (layer F.SilkS) hide - (effects (font (thickness 0.3048))) - ) - (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -3.8 -1.8) (end 3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end 3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end -3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Diode_15KE33CA (layer B.Cu) (tedit 5554910B) (tstamp 555494F0) - (at 254.889 97.663 270) - (descr "Diode, DO-15 package") - (path /553D8AD9/5543A988/5543B245) - (fp_text reference KE3 (at 0 -0.127 270) (layer B.SilkS) - (effects (font (size 1.1 1.1) (thickness 0.275)) (justify mirror)) - ) - (fp_text value 15KE33CA (at 0 3.937 270) (layer B.SilkS) hide - (effects (font (thickness 0.3048)) (justify mirror)) - ) - (fp_line (start 2.413 1.778) (end 2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.413 -1.778) (end 2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.286 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.159 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.159 1.778) (end 2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.54 1.778) (end 2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.159 1.778) (end -2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.286 1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.286 -0.635) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -3.8 1.8) (end 3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end 3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end -3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start -3.8 -1.8) (end -3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer B.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer B.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0 270) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) - (pad 2 thru_hole circle (at 6 0 270) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 1 GND)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Diode_15KE33CA (layer B.Cu) (tedit 55548EFB) (tstamp 555497F4) - (at 254.635 48.641 90) - (descr "Diode, DO-15 package") - (path /553D8AD9/554D9DA2/554BE926) - (fp_text reference KE4 (at 0 -0.127 90) (layer B.SilkS) - (effects (font (size 1.1 1.1) (thickness 0.275)) (justify mirror)) - ) - (fp_text value 15KE33CA (at 0 3.937 90) (layer B.SilkS) hide - (effects (font (thickness 0.3048)) (justify mirror)) - ) - (fp_line (start 2.413 1.778) (end 2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.413 -1.778) (end 2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.286 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.159 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.159 1.778) (end 2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.54 1.778) (end 2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.159 1.778) (end -2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.286 1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.286 -0.635) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -3.8 1.8) (end 3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end 3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end -3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start -3.8 -1.8) (end -3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer B.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer B.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) - (pad 2 thru_hole circle (at 6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 1 GND)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5557250E) (tstamp 5557154E) (at 144.78 42.545 270) (descr "Through hole pin header") @@ -6921,7 +6410,7 @@ (pad 2 thru_hole oval (at 0 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 149 Reset)) + (net 148 Reset)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -6962,15 +6451,15 @@ ) ) - (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 54CA02D6) (tstamp 5558B774) + (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 5560D582) (tstamp 5558B774) (at 232.283 79.502) (descr "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, radial,") (tags "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, Elko, Electrolytkondensator, Kondensator gepolt, Durchmesser 6,3mm, radial,") (path /553D8AD9/5558B8D1) - (fp_text reference C10 (at 5.715 0 270) (layer B.SilkS) + (fp_text reference C10 (at 1.143 4.826 270) (layer B.SilkS) (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_text value "10uF 16V" (at 7.62 0 270) (layer B.SilkS) + (fp_text value "10uF 16V" (at 7.62 0 90) (layer B.SilkS) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start 0.26924 2.19964) (end 0.26924 1.19888) (layer B.SilkS) (width 0.15)) @@ -6996,15 +6485,15 @@ ) ) - (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 54CA02D6) (tstamp 5558B77C) + (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 5560D555) (tstamp 5558B77C) (at 233.172 120.65) (descr "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, radial,") (tags "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, Elko, Electrolytkondensator, Kondensator gepolt, Durchmesser 6,3mm, radial,") (path /553D8AD9/5558C050) - (fp_text reference C11 (at 5.715 0 270) (layer B.SilkS) + (fp_text reference C11 (at 0.127 -4.699 270) (layer B.SilkS) (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_text value "10uF 16V" (at 7.62 0 270) (layer B.SilkS) + (fp_text value "10uF 16V" (at 7.62 0 90) (layer B.SilkS) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start 0.26924 2.19964) (end 0.26924 1.19888) (layer B.SilkS) (width 0.15)) @@ -7030,15 +6519,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5558BAEE) (tstamp 5558B782) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560D8C7) (tstamp 5558B782) (at 46.228 83.82 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558C608) - (fp_text reference CC1 (at -1.524 0.508 360) (layer F.SilkS) + (fp_text reference CC1 (at -1.651 0 360) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "100 nF" (at 1.25 2.5 270) (layer F.Fab) hide + (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) @@ -7086,12 +6575,12 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 0) (tstamp 5558B78E) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560D3BA) (tstamp 5558B78E) (at 229.997 120.65 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /553D8AD9/5558AB3B) - (fp_text reference CC3 (at 1.25 -2.5 270) (layer F.SilkS) + (fp_text reference CC3 (at -2.413 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) @@ -7114,43 +6603,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 0) (tstamp 5558B79A) - (at 142.1765 58.1025 180) - (descr "Capacitor 3mm Disc, Pitch 2.5mm") - (tags Capacitor) - (path /554BCB67/5558A3B2) - (fp_text reference CC5 (at 1.25 -2.5 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value 100nF (at 1.25 2.5 180) (layer F.Fab) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 180) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 53 pinBatteryVoltage)) - (pad 2 thru_hole circle (at 2.5 0 180) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl - (at (xyz 0.0492126 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7A6) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D939) (tstamp 5558B7A6) (at 133.35 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555C50C2) - (fp_text reference CC7 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC7 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7170,15 +6631,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7AC) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D910) (tstamp 5558B7AC) (at 138.43 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E6C2) - (fp_text reference CC8 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC8 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7198,15 +6659,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7B2) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D885) (tstamp 5558B7B2) (at 143.51 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E705) - (fp_text reference CC9 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC9 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7226,15 +6687,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7B8) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D860) (tstamp 5558B7B8) (at 148.463 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558DF5E) - (fp_text reference CC10 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC10 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7254,15 +6715,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7BE) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D82C) (tstamp 5558B7BE) (at 153.797 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E80E) - (fp_text reference CC11 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC11 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7282,16 +6743,16 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7C4) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D7F9) (tstamp 5558B7C4) (at 158.75 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E824) - (fp_text reference CC12 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC12 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) @@ -7310,15 +6771,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7CA) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D7C4) (tstamp 5558B7CA) (at 163.703 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E7F8) - (fp_text reference CC13 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC13 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7338,15 +6799,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7D0) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D7A1) (tstamp 5558B7D0) (at 168.91 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAA2) - (fp_text reference CC14 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC14 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7366,15 +6827,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7D6) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D73A) (tstamp 5558B7D6) (at 173.863 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAB8) - (fp_text reference CC15 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC15 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7394,15 +6855,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7DC) - (at 178.943 132.08 90) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D711) (tstamp 5558B7DC) + (at 179.07 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EA8C) - (fp_text reference CC16 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC16 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7422,15 +6883,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7E2) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D5CA) (tstamp 5558B7E2) (at 184.277 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAE4) - (fp_text reference CC17 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC17 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7450,15 +6911,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7E8) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D5A9) (tstamp 5558B7E8) (at 189.23 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAFA) - (fp_text reference CC18 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC18 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7478,15 +6939,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7EE) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D2B1) (tstamp 5558B7EE) (at 194.437 132.207 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EACE) - (fp_text reference CC19 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC19 (at -1.651 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7529,7 +6990,7 @@ (pad 2 thru_hole oval (at 0 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 150 ReserveAD10)) + (net 149 ReserveAD10)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7564,7 +7025,7 @@ (pad 1 thru_hole circle (at -2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 73 "Net-(C8-Pad1)")) (pad 2 thru_hole circle (at 2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (model walter/crystal/crystal_hc-49u.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7599,7 +7060,7 @@ (pad 1 thru_hole circle (at -2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 16 "Net-(C2-Pad1)")) (pad 2 thru_hole circle (at 2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (model walter/crystal/crystal_hc-49u.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7634,7 +7095,7 @@ (pad 1 thru_hole circle (at -2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 72 "Net-(C7-Pad1)")) (pad 2 thru_hole circle (at 2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (model walter/crystal/crystal_hc-49u.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7642,44 +7103,16 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 0) (tstamp 555BB40B) - (at 166.497 50.419 90) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D360) (tstamp 555CEAB9) + (at 186.69 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) - (path /554C1C35/5558A184) - (fp_text reference CC20 (at 1.25 -2.5 90) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (path /5558DDF4/555CF76F) + (fp_text reference CC21 (at 4.064 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 2.5 90) (layer F.Fab) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 90) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 51 pinChargeVoltage)) - (pad 2 thru_hole circle (at 2.5 0 90) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl - (at (xyz 0.0492126 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAB9) - (at 186.69 40.005 270) - (descr "Capacitor 3mm Disc, Pitch 2.5mm") - (tags Capacitor) - (path /5558DDF4/555CF76F) - (fp_text reference CC21 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) - ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide + (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) @@ -7698,15 +7131,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEABF) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D336) (tstamp 555CEABF) (at 181.61 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF79B) - (fp_text reference CC22 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC22 (at 4.064 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7726,15 +7159,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAC5) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D315) (tstamp 555CEAC5) (at 172.974 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7B1) - (fp_text reference CC23 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC23 (at -1.524 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7754,15 +7187,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEACB) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CE8B) (tstamp 555CEACB) (at 163.83 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF785) - (fp_text reference CC24 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC24 (at 3.937 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7782,15 +7215,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAD1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CE8F) (tstamp 555CEAD1) (at 158.75 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7DD) - (fp_text reference CC25 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC25 (at 3.937 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7810,15 +7243,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAD7) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CEB9) (tstamp 555CEAD7) (at 153.416 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7F3) - (fp_text reference CC26 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC26 (at 3.937 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7838,15 +7271,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEADD) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CEEF) (tstamp 555CEADD) (at 147.701 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7C7) - (fp_text reference CC27 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC27 (at 3.937 -0.127 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7866,15 +7299,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAE3) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CF0E) (tstamp 555CEAE3) (at 141.986 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF81F) - (fp_text reference CC28 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC28 (at 3.937 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7894,15 +7327,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAE9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D37E) (tstamp 555CEAE9) (at 191.77 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF835) - (fp_text reference CC29 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC29 (at 4.064 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7922,15 +7355,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAEF) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D397) (tstamp 555CEAEF) (at 197.104 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF809) - (fp_text reference CC30 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC30 (at 4.064 0.127 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7950,15 +7383,15 @@ ) ) - (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 554F2560) (tstamp 555CEAF5) + (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 5560CF7C) (tstamp 555CEAF5) (at 186.69 54.229) (descr "Resistor, Axial, RM 10mm, 1/3W,") (tags "Resistor, Axial, RM 10mm, 1/3W,") (path /553B3D38/555C6E5F) - (fp_text reference R37 (at 0.24892 -3.50012) (layer F.SilkS) + (fp_text reference R37 (at -0.254 -0.127) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) + (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -2.54 -1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) @@ -8016,15 +7449,15 @@ ) ) - (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 554F2560) (tstamp 555CEB01) - (at 186.69 51.562) + (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 5560CF80) (tstamp 555CEB01) + (at 186.69 50.673) (descr "Resistor, Axial, RM 10mm, 1/3W,") (tags "Resistor, Axial, RM 10mm, 1/3W,") (path /553B3D38/555C6EC6) - (fp_text reference R39 (at 0.24892 -3.50012) (layer F.SilkS) + (fp_text reference R39 (at -0.254 0) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) + (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -2.54 -1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) @@ -8138,25 +7571,25 @@ (fp_line (start -13.97 -15.24) (end 12.7 -15.24) (layer F.SilkS) (width 0.15)) (fp_line (start 12.7 -15.24) (end 12.7 11.43) (layer F.SilkS) (width 0.15)) (pad SCL thru_hole rect (at -11.2 -6.35 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad DS thru_hole rect (at -11.2 -8.89 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) (pad SQ thru_hole rect (at -11.2 -11.43 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 187 "Net-(U8-PadSQ)")) + (net 185 "Net-(U8-PadSQ)")) (pad VCC thru_hole rect (at -11.2 -1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad SDA thru_hole rect (at -11.2 -3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad GND thru_hole rect (at -11.2 1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad Bat thru_hole rect (at -11.2 3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 188 "Net-(U8-PadBat)")) + (net 186 "Net-(U8-PadBat)")) (pad DS thru_hole rect (at 10.16 -7.62 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) (pad SDA thru_hole rect (at 10.16 -2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad SCL thru_hole rect (at 10.16 -5.08 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad VCC thru_hole rect (at 10.16 0 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad GND thru_hole rect (at 10.16 2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) @@ -8164,40 +7597,40 @@ (pad ~ thru_hole circle (at 10.3 9 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (pad ~ thru_hole circle (at -11.5 9 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (pad DS thru_hole rect (at -12.7 -8.89 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) (pad SQ thru_hole rect (at -12.7 -11.43 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 187 "Net-(U8-PadSQ)")) + (net 185 "Net-(U8-PadSQ)")) (pad SCL thru_hole rect (at -12.7 -6.35 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad SDA thru_hole rect (at -12.7 -3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad VCC thru_hole rect (at -12.7 -1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad GND thru_hole rect (at -12.7 1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad Bat thru_hole rect (at -12.7 3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 188 "Net-(U8-PadBat)")) + (net 186 "Net-(U8-PadBat)")) (pad GND thru_hole rect (at 11.43 2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad VCC thru_hole rect (at 11.43 0 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad SDA thru_hole rect (at 11.43 -2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 190 SDA1)) (pad SCL thru_hole rect (at 11.43 -5.08 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad DS thru_hole rect (at 11.43 -7.62 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) ) - (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 554F2560) (tstamp 555E48E8) + (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 5560CF66) (tstamp 555E48E8) (at 157.3784 54.9021 180) (descr "Resistor, Axial, RM 10mm, 1/3W,") (tags "Resistor, Axial, RM 10mm, 1/3W,") (path /554BCB67/554C8CE5) - (fp_text reference R12 (at 0.24892 -3.50012 180) (layer F.SilkS) + (fp_text reference R12 (at 0.6604 0.0381 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "47K 0,1%" (at 0.127 0.127 180) (layer F.SilkS) + (fp_text value "47K 0,1%" (at 0.127 0.127 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -2.54 -1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) @@ -8207,7 +7640,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 53 pinBatteryVoltage)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -8222,15 +7655,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F8091) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D003) (tstamp 555F8091) (at 216.535 60.706 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA50B) - (fp_text reference CC31 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC31 (at -2.159 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8250,15 +7683,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F809D) - (at 216.662 66.294 180) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D032) (tstamp 555F809D) + (at 216.535 66.294 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA521) - (fp_text reference CC32 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC32 (at -2.032 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8278,15 +7711,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80A9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D0B1) (tstamp 555F80A9) (at 216.535 72.009 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA4F5) - (fp_text reference CC33 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC33 (at -2.159 -0.127 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8306,15 +7739,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80B5) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D10A) (tstamp 555F80B5) (at 216.535 78.105 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA54D) - (fp_text reference CC34 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC34 (at -2.159 -0.127 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8334,15 +7767,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80C1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D12C) (tstamp 555F80C1) (at 216.535 83.439 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA563) - (fp_text reference CC35 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC35 (at -2.032 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8362,15 +7795,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80CD) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D151) (tstamp 555F80CD) (at 216.535 100.076 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA537) - (fp_text reference CC36 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC36 (at -2.032 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8390,15 +7823,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80D9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D179) (tstamp 555F80D9) (at 216.535 105.664 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA58F) - (fp_text reference CC37 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC37 (at -2.159 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8418,15 +7851,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80E5) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D1F6) (tstamp 555F80E5) (at 216.535 111.379 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA5A5) - (fp_text reference CC38 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC38 (at -2.159 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8446,15 +7879,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80F1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D212) (tstamp 555F80F1) (at 216.535 118.618 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA579) - (fp_text reference CC39 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC39 (at -2.159 -0.127 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8474,12 +7907,12 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 55608E5B) (tstamp 55608FE1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D3F6) (tstamp 55608FE1) (at 98.552 84.201 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609DFC) - (fp_text reference CC4 (at 1.27 0 360) (layer B.SilkS) + (fp_text reference CC4 (at 1.143 -2.413 360) (layer B.SilkS) (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide @@ -8492,7 +7925,7 @@ (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl @@ -8502,26 +7935,26 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 55609635) (tstamp 55608FE7) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D666) (tstamp 55608FE7) (at 162.941 121.92 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609E28) - (fp_text reference CC6 (at 1.25 -2.5 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (fp_text reference CC6 (at -1.524 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) hide - (effects (font (size 1 1) (thickness 0.15))) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide + (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) - (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) + (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 -1.5) (end -0.9 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.9 -1.5) (end -0.9 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) + (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) + (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) + (net 134 +3V3)) + (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl (at (xyz 0.0492126 0 0)) @@ -8530,26 +7963,26 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 556092FB) (tstamp 55608FED) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D645) (tstamp 55608FED) (at 173.863 121.793 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609E3E) - (fp_text reference CC40 (at 1.25 -2.5 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (fp_text reference CC40 (at -1.397 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) hide - (effects (font (size 1 1) (thickness 0.15))) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide + (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) - (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) + (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 -1.5) (end -0.9 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.9 -1.5) (end -0.9 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) + (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) + (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) + (net 134 +3V3)) + (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl (at (xyz 0.0492126 0 0)) @@ -8558,15 +7991,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55608FF3) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D613) (tstamp 55608FF3) (at 179.324 121.92 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609E12) - (fp_text reference CC41 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC41 (at -1.524 0.127 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8576,7 +8009,7 @@ (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl @@ -8614,15 +8047,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55608FFF) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D24B) (tstamp 55608FFF) (at 222.758 127) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5560A639) - (fp_text reference CC43 (at 1.25 2.5) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC43 (at 1.27 -2.286) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8642,15 +8075,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55609005) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D27B) (tstamp 55609005) (at 217.043 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5560A60D) - (fp_text reference CC44 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC44 (at -1.524 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8670,15 +8103,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 556094D1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D3EB) (tstamp 556094D1) (at 101.346 60.96 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /553BDA33/5560BCE1) - (fp_text reference CC45 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC45 (at 1.25 2.5 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8688,7 +8121,7 @@ (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole rect (at 0 0 90) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (pad 2 thru_hole circle (at 2.5 0 90) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl @@ -8698,465 +8131,972 @@ ) ) - (gr_line (start 211.582 97.028) (end 214.122 99.568) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 139.7 40.005) (end 139.065 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 142.24 42.545) (end 139.7 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 140.335 38.1) (end 139.065 38.1) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 142.24 40.005) (end 140.335 38.1) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 142.24 42.545) (end 146.05 42.545) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 146.05 40.005) (end 142.24 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_text GND (at 193.548 42.672) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25))) - ) - (gr_text +5V (at 193.548 40.132) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25))) - ) - (gr_line (start 188.595 42.545) (end 191.516 42.545) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 188.468 40.005) (end 191.516 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_text + (at 58.42 88.9) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) - ) - (gr_text -> (at 267.716 139.446) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) - ) - (gr_text -> (at 267.462 128.27 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) - ) - (gr_text "Read documentation before assembling and operating!" (at 81.534 143.256) (layer F.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.25))) - ) - (gr_line (start 96.52 132.588) (end 96.52 140.716) (angle 90) (layer F.SilkS) (width 0.3)) - (gr_text "LED Status" (at 113.03 140.97 90) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify left)) - ) - (gr_line (start 111.76 132.588) (end 111.76 140.716) (angle 90) (layer F.SilkS) (width 0.3)) - (gr_text "http://www.ardumower.de\nhttps://www.marotronics.de/\n\nPCB layout : V 1.3\nSoftware version : V 500 or higher\nUZ" (at 97.409 107.823) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify left mirror)) + (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 55624909) (tstamp 55625DB4) + (at 233.426 129.54) + (descr "Diode, DO-15 package") + (path /5541A8DB) + (fp_text reference KE1 (at 0 0.127) (layer F.SilkS) + (effects (font (thickness 0.3048))) + ) + (fp_text value 15KE33CA (at 0 -3.937) (layer F.SilkS) + (effects (font (thickness 0.3048))) + ) + (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -3.8 -1.8) (end 3.8 -1.8) 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182.88 116.84) (end 182.88 117.221) (width 0.254) (layer F.Cu) (net 187)) + (segment (start 109.22 52.07) (end 109.22 54.61) (width 0.508) (layer B.Cu) (net 188)) + (segment (start 111.76 52.07) (end 111.76 54.61) (width 0.508) (layer B.Cu) (net 188)) + (via (at 105.664 54.61) (size 0.889) (layers F.Cu B.Cu) (net 188)) + (segment (start 105.664 54.61) (end 105.664 60.96) (width 0.508) (layer F.Cu) (net 188) (tstamp 54D0AF61)) + (segment (start 105.664 60.96) (end 100.33 60.96) (width 0.508) (layer F.Cu) (net 188) (tstamp 54D0AF62)) + (segment (start 105.664 54.61) (end 109.22 54.61) (width 0.508) (layer B.Cu) (net 188)) + (segment (start 109.22 54.61) (end 111.76 54.61) (width 0.508) (layer B.Cu) (net 188) (tstamp 5566D83A)) + (segment (start 92.71 60.96) (end 90.17 63.5) (width 0.508) (layer B.Cu) (net 188) (tstamp 54D0AF6F)) + (segment (start 93.98 60.96) (end 92.71 60.96) (width 0.508) (layer B.Cu) (net 188) (tstamp 54D0AF6E)) + (segment (start 96.647 60.96) (end 93.98 60.96) (width 0.508) (layer B.Cu) (net 188) (tstamp 54D0AF6D)) + (via (at 96.647 60.96) (size 0.889) (layers F.Cu B.Cu) (net 188)) + (segment (start 100.33 60.96) (end 96.647 60.96) (width 0.508) (layer F.Cu) (net 188) (tstamp 556094EC)) + (segment (start 90.17 63.5) (end 89.662 63.5) (width 0.508) (layer B.Cu) (net 188) (tstamp 54D0AF73)) + (segment (start 86.868 60.96) (end 86.487 60.96) (width 0.508) (layer B.Cu) (net 188) (tstamp 5554132B)) + (segment (start 89.408 63.5) (end 86.868 60.96) (width 0.508) (layer B.Cu) (net 188) (tstamp 5554132A)) + (segment (start 89.662 63.5) (end 89.408 63.5) (width 0.508) (layer B.Cu) (net 188)) + (segment (start 101.346 60.96) (end 100.33 60.96) (width 0.508) (layer F.Cu) (net 188)) + (segment (start 102.115 65.92) (end 102.235 66.04) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35BA)) + (segment (start 102.235 66.04) (end 102.235 76.835) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35BD)) + (via (at 102.235 76.835) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 102.235 76.835) (end 102.235 88.265) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A35C9)) + (via (at 102.235 88.265) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 102.235 88.265) (end 113.03 88.265) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35E9)) + (segment (start 113.03 88.265) (end 113.03 93.98) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35EA)) + (segment (start 113.03 93.98) (end 116.205 97.155) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35F0)) + (segment (start 116.205 97.155) (end 116.205 102.235) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35F7)) + (segment (start 116.205 102.235) (end 108.585 102.235) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35FB)) + (segment (start 108.585 102.235) (end 107.95 102.235) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35FD)) + (segment (start 107.95 102.235) (end 100.965 109.22) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A3600)) + (segment (start 100.965 109.22) (end 100.965 112.395) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A3605)) + (via (at 100.965 112.395) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 100.965 112.395) (end 100.965 119.38) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A361C)) + (segment (start 100.965 119.38) (end 110.49 119.38) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A361D)) + (segment (start 110.49 119.38) (end 114.3 123.19) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A3634)) + (via (at 114.3 123.19) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 114.3 123.19) (end 114.3 127) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A3648)) + (segment (start 95.504 65.92) (end 102.115 65.92) (width 0.508) (layer B.Cu) (net 189)) + (segment (start 181.507 100.838) (end 183.007 100.838) (width 0.508) (layer B.Cu) (net 190)) + (segment (start 179.832 102.108) (end 179.832 101.092) (width 0.508) (layer B.Cu) (net 190)) + (segment (start 180.086 100.838) (end 183.007 100.838) (width 0.508) (layer B.Cu) (net 190) (tstamp 55187C71)) + (segment (start 179.832 101.092) (end 180.086 100.838) (width 0.508) (layer B.Cu) (net 190) (tstamp 55187C70)) + (segment (start 191.77 127) (end 196.85 127) (width 0.762) (layer B.Cu) (net 190)) + (segment (start 182.372 127) (end 181.61 127) (width 0.508) (layer B.Cu) (net 190) (status 30)) + (via (at 180.34 116.84) (size 0.889) (layers F.Cu B.Cu) (net 190) (status 30)) + (segment (start 179.832 109.093) (end 179.832 102.108) (width 0.508) (layer B.Cu) (net 190) (tstamp 54C117FA)) + (segment (start 179.832 102.108) (end 179.832 101.854) (width 0.508) (layer B.Cu) (net 190) (tstamp 55187C6E)) + (segment (start 179.832 114.046) (end 179.832 109.093) (width 0.508) (layer B.Cu) (net 190) (tstamp 54BFBC43)) + (segment (start 180.34 116.84) (end 180.34 114.554) (width 0.508) (layer B.Cu) (net 190) (status 10)) + (segment (start 180.34 114.554) (end 179.832 114.046) (width 0.508) (layer B.Cu) (net 190) (tstamp 54BFBC42)) + (segment (start 186.69 127) (end 191.77 127) (width 0.762) (layer B.Cu) (net 190) (tstamp 54BEB5CB) (status 20)) + (segment (start 182.372 127) (end 186.69 127) (width 0.762) (layer B.Cu) (net 190) (tstamp 54CF50A0) (status 20)) + (segment (start 180.34 117.221) (end 180.34 116.84) (width 0.254) (layer B.Cu) (net 190) (tstamp 54BEB628) (status 30)) + (via (at 158.877 99.568) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 160.147 99.568) (end 158.877 99.568) (width 0.508) (layer B.Cu) (net 190) (tstamp 555E4C83)) + (via (at 160.147 99.568) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 160.274 99.568) (end 160.147 99.568) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C80)) + (segment (start 179.324 100.584) (end 179.832 101.092) (width 0.508) (layer B.Cu) (net 190) (tstamp 555E4C94)) + (segment (start 170.434 98.425) (end 167.386 98.425) (width 0.508) (layer B.Cu) (net 190)) + (via (at 170.434 100.584) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 170.434 100.584) (end 170.434 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C64)) + (via (at 170.434 98.425) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 160.274 99.568) (end 161.417 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C7F)) + (segment (start 163.068 98.425) (end 161.417 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C7E)) + (segment (start 167.386 98.425) (end 163.068 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C7D)) + (via (at 167.386 98.425) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 170.434 100.584) (end 179.324 100.584) (width 0.508) (layer B.Cu) (net 190)) + (via (at 181.61 127) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 180.34 116.84) (end 180.34 117.983) (width 0.254) (layer F.Cu) (net 190)) + (segment (start 183.134 120.269) (end 183.134 125.476) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095AC)) + (segment (start 183.134 125.476) (end 181.61 127) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095B0)) + (segment (start 180.34 117.475) (end 183.134 120.269) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095A9)) + (segment (start 180.34 116.84) (end 180.34 117.475) (width 0.254) (layer F.Cu) (net 190)) (zone (net 1) (net_name GND) (layer F.Cu) (tstamp 551BEE97) (hatch edge 0.508) (connect_pads (clearance 0.508)) @@ -12074,7 +12066,7 @@ ) ) ) - (zone (net 112) (net_name Charg_Pin) (layer F.Cu) (tstamp 551BEEC2) (hatch edge 0.508) + (zone (net 111) (net_name Charg_Pin) (layer F.Cu) (tstamp 551BEEC2) (hatch edge 0.508) (connect_pads (clearance 0.508)) (min_thickness 0.254) (fill yes (arc_segments 16) (thermal_gap 0.508) (thermal_bridge_width 0.508)) diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak index 0fe5d1d8f..ebd3c9b25 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak @@ -1,14 +1,14 @@ (kicad_pcb (version 4) (host pcbnew "(2015-05-08 BZR 5647)-product") (general - (links 655) - (no_connects 2) + (links 667) + (no_connects 0) (area 12.624999 30.404999 284.555001 144.855001) (thickness 1.6) - (drawings 198) - (tracks 2785) + (drawings 204) + (tracks 2847) (zones 0) - (modules 243) + (modules 242) (nets 191) ) @@ -43,7 +43,7 @@ ) (setup - (last_trace_width 0.254) + (last_trace_width 0.508) (user_trace_width 0.254) (user_trace_width 0.508) (user_trace_width 0.762) @@ -217,90 +217,90 @@ (net 104 "Voltage measurement") (net 105 "Net-(Dual2-Pad9)") (net 106 "Net-(P44-Pad4)") - (net 107 "Net-(D8-Pad2)") - (net 108 "Net-(LP32-Pad2)") - (net 109 "Net-(LP33-Pad2)") - (net 110 "Net-(LP34-Pad2)") - (net 111 "Net-(LP35-Pad2)") - (net 112 Charg_Pin) - (net 113 "Net-(RP1-Pad12)") - (net 114 "Net-(LP36-Pad2)") - (net 115 ReservePin49) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB) - (net 122 "Net-(C1-Pad2)") - (net 123 "Net-(C4-Pad2)") - (net 124 "Net-(C6-Pad2)") - (net 125 "Net-(C9-Pad2)") - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V") - (net 127 "Net-(D11-Pad1)") - (net 128 "Net-(D13-Pad2)") - (net 129 "Net-(D14-Pad1)") - (net 130 "Net-(D14-Pad2)") - (net 131 "Net-(D16-Pad2)") - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin) - (net 134 "Net-(EF2-Pad1)") - (net 135 +3V3) - (net 136 "Net-(K3-Pad5)") - (net 137 "Net-(K3-Pad12)") - (net 138 /Ladespannung/Ladespannung) - (net 139 pinMotorMowRpm) - (net 140 "Net-(Q2-PadG)") - (net 141 "Net-(Q3-PadG)") - (net 142 "Net-(Q4-PadB)") - (net 143 "Net-(Q5-PadG)") - (net 144 pinUndervoltageSwitch) - (net 145 /Batteriespannung/Batteriespannung) - (net 146 /Verpols.L/Verpols.L.aus) - (net 147 "Net-(JP2-Pad2)") - (net 148 "Net-(R22-Pad1)") - (net 149 Reset) - (net 150 ReserveAD10) - (net 151 "Net-(PRFA3-Pad2)") - (net 152 "Net-(PRFA4-Pad2)") - (net 153 "Net-(PRFA5-Pad2)") - (net 154 SDA1) - (net 155 "Net-(B1-Pad1)") - (net 156 "Net-(B2-Pad1)") - (net 157 "Net-(B3-Pad1)") - (net 158 "Net-(B4-Pad1)") - (net 159 "Net-(B5-Pad1)") - (net 160 "Net-(B6-Pad1)") - (net 161 "Net-(B7-Pad1)") - (net 162 "Net-(B8-Pad1)") - (net 163 "Net-(B15-Pad1)") - (net 164 "Net-(B16-Pad1)") - (net 165 "Net-(B17-Pad1)") - (net 166 "Net-(B18-Pad1)") - (net 167 "Net-(Dual1-Pad1)") - (net 168 "Net-(Dual1-Pad11)") - (net 169 "Net-(Dual1-Pad12)") - (net 170 "Net-(Dual2-Pad1)") - (net 171 "Net-(Dual2-Pad11)") - (net 172 "Net-(Dual2-Pad12)") - (net 173 "Net-(K3-Pad3)") - (net 174 "Net-(K3-Pad14)") - (net 175 pinBatterySwitch) - (net 176 "Net-(SHIELD1-PadAREF)") - (net 177 "Net-(SHIELD1-Pad5V_4)") - (net 178 "Net-(SHIELD1-Pad5V_5)") - (net 179 "Net-(SHIELD1-PadSDA1)") - (net 180 "Net-(SHIELD1-PadSCL1)") - (net 181 "Net-(SHIELD1-PadIORE)") - (net 182 "Net-(SHIELD1-PadFREI)") - (net 183 "Net-(U11-PadRese)") - (net 184 "Net-(U11-PadGP_0)") - (net 185 "Net-(U11-PadGP_2)") - (net 186 "Net-(U8-PadDS)") - (net 187 "Net-(U8-PadSQ)") - (net 188 "Net-(U8-PadBat)") - (net 189 SCL2) - (net 190 "Net-(CC45-Pad1)") + (net 107 "Net-(LP32-Pad2)") + (net 108 "Net-(LP33-Pad2)") + (net 109 "Net-(LP34-Pad2)") + (net 110 "Net-(LP35-Pad2)") + (net 111 Charg_Pin) + (net 112 "Net-(RP1-Pad12)") + (net 113 "Net-(LP36-Pad2)") + (net 114 ReservePin49) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB) + (net 121 "Net-(C1-Pad2)") + (net 122 "Net-(C4-Pad2)") + (net 123 "Net-(C6-Pad2)") + (net 124 "Net-(C9-Pad2)") + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V") + (net 126 "Net-(D11-Pad1)") + (net 127 "Net-(D13-Pad2)") + (net 128 "Net-(D14-Pad1)") + (net 129 "Net-(D14-Pad2)") + (net 130 "Net-(D16-Pad2)") + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin) + (net 133 "Net-(EF2-Pad1)") + (net 134 +3V3) + (net 135 "Net-(K3-Pad5)") + (net 136 "Net-(K3-Pad12)") + (net 137 /Ladespannung/Ladespannung) + (net 138 pinMotorMowRpm) + (net 139 "Net-(Q2-PadG)") + (net 140 "Net-(Q3-PadG)") + (net 141 "Net-(Q4-PadB)") + (net 142 "Net-(Q5-PadG)") + (net 143 pinUndervoltageSwitch) + (net 144 /Batteriespannung/Batteriespannung) + (net 145 /Verpols.L/Verpols.L.aus) + (net 146 "Net-(JP2-Pad2)") + (net 147 "Net-(R22-Pad1)") + (net 148 Reset) + (net 149 ReserveAD10) + (net 150 "Net-(PRFA3-Pad2)") + (net 151 "Net-(PRFA4-Pad2)") + (net 152 "Net-(PRFA5-Pad2)") + (net 153 "Net-(B1-Pad1)") + (net 154 "Net-(B2-Pad1)") + (net 155 "Net-(B3-Pad1)") + (net 156 "Net-(B4-Pad1)") + (net 157 "Net-(B5-Pad1)") + (net 158 "Net-(B6-Pad1)") + (net 159 "Net-(B7-Pad1)") + (net 160 "Net-(B8-Pad1)") + (net 161 "Net-(B15-Pad1)") + (net 162 "Net-(B16-Pad1)") + (net 163 "Net-(B17-Pad1)") + (net 164 "Net-(B18-Pad1)") + (net 165 "Net-(Dual1-Pad1)") + (net 166 "Net-(Dual1-Pad11)") + (net 167 "Net-(Dual1-Pad12)") + (net 168 "Net-(Dual2-Pad1)") + (net 169 "Net-(Dual2-Pad11)") + (net 170 "Net-(Dual2-Pad12)") + (net 171 "Net-(K3-Pad3)") + (net 172 "Net-(K3-Pad14)") + (net 173 pinBatterySwitch) + (net 174 "Net-(SHIELD1-PadAREF)") + (net 175 "Net-(SHIELD1-Pad5V_4)") + (net 176 "Net-(SHIELD1-Pad5V_5)") + (net 177 "Net-(SHIELD1-PadSDA1)") + (net 178 "Net-(SHIELD1-PadSCL1)") + (net 179 "Net-(SHIELD1-PadIORE)") + (net 180 "Net-(SHIELD1-PadFREI)") + (net 181 "Net-(U11-PadRese)") + (net 182 "Net-(U11-PadGP_0)") + (net 183 "Net-(U11-PadGP_2)") + (net 184 "Net-(U8-PadDS)") + (net 185 "Net-(U8-PadSQ)") + (net 186 "Net-(U8-PadBat)") + (net 187 SCL2) + (net 188 "Net-(CC45-Pad1)") + (net 189 SDA2) + (net 190 Led-BT) (net_class Default "Dies ist die voreingestellte Netzklasse." (clearance 0.254) @@ -330,6 +330,7 @@ (add_net GND) (add_net GPS_RX) (add_net GPS_TX) + (add_net Led-BT) (add_net Led-Status) (add_net LedPin-24v) (add_net LedPin-3V) @@ -363,7 +364,6 @@ (add_net "Net-(D16-Pad2)") (add_net "Net-(D5-Pad2)") (add_net "Net-(D6-Pad2)") - (add_net "Net-(D8-Pad2)") (add_net "Net-(Dual1-Pad1)") (add_net "Net-(Dual1-Pad11)") (add_net "Net-(Dual1-Pad12)") @@ -443,7 +443,7 @@ (add_net ReservePin9) (add_net Reset) (add_net SCL2) - (add_net SDA1) + (add_net SDA2) (add_net StationLed) (add_net TX1) (add_net TX2) @@ -533,15 +533,15 @@ (fp_line (start 7.62 5.08) (end -7.62 5.08) (layer F.SilkS) (width 0.15)) (fp_line (start -7.62 5.08) (end -7.62 -5.08) (layer F.SilkS) (width 0.15)) (pad 3 thru_hole circle (at -6.35 1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad 2 thru_hole circle (at -6.35 -1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 1 thru_hole circle (at -6.35 -3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad 4 thru_hole circle (at -6.35 3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 5 thru_hole circle (at 6.35 -3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 6 thru_hole circle (at 6.35 -1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 93 "Net-(P45-Pad4)")) (pad 7 thru_hole circle (at 6.35 1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -560,7 +560,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 155 "Net-(B1-Pad1)")) + (net 153 "Net-(B1-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54CFC05E) (tstamp 54CFBF37) @@ -573,7 +573,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 156 "Net-(B2-Pad1)")) + (net 154 "Net-(B2-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E24096) (tstamp 54CFBF3C) @@ -586,7 +586,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 157 "Net-(B3-Pad1)")) + (net 155 "Net-(B3-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E2407C) (tstamp 54CFBF41) @@ -599,7 +599,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 158 "Net-(B4-Pad1)")) + (net 156 "Net-(B4-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E2408A) (tstamp 54CFBF46) @@ -612,7 +612,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 159 "Net-(B5-Pad1)")) + (net 157 "Net-(B5-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E23E80) (tstamp 54CFBF4B) @@ -625,7 +625,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 160 "Net-(B6-Pad1)")) + (net 158 "Net-(B6-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54CFC10D) (tstamp 54CFBF50) @@ -638,7 +638,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 161 "Net-(B7-Pad1)")) + (net 159 "Net-(B7-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 54E24090) (tstamp 54CFBF55) @@ -651,7 +651,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 162 "Net-(B8-Pad1)")) + (net 160 "Net-(B8-Pad1)")) ) (module ACS712:INA169 (layer F.Cu) (tedit 5553C4FE) (tstamp 54E5DD27) @@ -677,21 +677,21 @@ (pad 3 thru_hole circle (at 5.08 7.62 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 54 pinChargeCurrent)) (pad 5 thru_hole circle (at -1.778 -6.604 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 4 thru_hole circle (at 1.524 -6.604 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) (pad "" thru_hole circle (at -8.89 7.62 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad "" thru_hole circle (at 8.89 7.62 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad "" thru_hole circle (at -8.89 -8.128 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad "" thru_hole circle (at 8.89 -8.128 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) (pad 4 thru_hole circle (at 2.54 7.62 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) (pad 5 thru_hole circle (at 0 7.62 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 5 thru_hole circle (at 0 5.08 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 4 thru_hole circle (at 2.54 5.08 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548949) (tstamp 551BBD9D) @@ -712,7 +712,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 32 pinOdometryLeft)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 108 "Net-(LP32-Pad2)")) + (net 107 "Net-(LP32-Pad2)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548986) (tstamp 551BBC63) @@ -733,7 +733,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 33 pinOdometryLeft2)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 109 "Net-(LP33-Pad2)")) + (net 108 "Net-(LP33-Pad2)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 555489B5) (tstamp 551BBC6D) @@ -754,7 +754,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 30 pinOdometryRight)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 110 "Net-(LP34-Pad2)")) + (net 109 "Net-(LP34-Pad2)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548A52) (tstamp 551BBD56) @@ -775,7 +775,7 @@ (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) (net 31 pinOdometryRight2)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 111 "Net-(LP35-Pad2)")) + (net 110 "Net-(LP35-Pad2)")) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE47) @@ -788,7 +788,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 10 10) (drill 6.5) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE4C) @@ -801,7 +801,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 10 10) (drill 6.5) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE51) @@ -814,7 +814,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 10 10) (drill 6.5) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) ) (module ACS712:Bohrloch_6,5mm (layer F.Cu) (tedit 551BC704) (tstamp 551BEE56) @@ -883,7 +883,7 @@ (fp_line (start 43.18 0) (end 0 0) (layer F.SilkS) (width 0.15)) (fp_line (start 0 0) (end 0 -21.59) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 41.91 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (pad 1 thru_hole circle (at 41.91 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 4 thru_hole circle (at 1.27 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -892,9 +892,9 @@ (net 46 +24V)) (pad ~ thru_hole circle (at 6.34 -19.04 90) (size 3.1 3.1) (drill 3.1) (layers *.Cu *.Mask F.SilkS)) (pad 2 thru_hole circle (at 39.37 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (pad 2 thru_hole circle (at 36.83 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (pad 1 thru_hole circle (at 39.37 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole circle (at 36.83 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -936,7 +936,7 @@ (fp_line (start 43.18 0) (end 0 0) (layer F.SilkS) (width 0.15)) (fp_line (start 0 0) (end 0 -21.59) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 41.91 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (pad 1 thru_hole circle (at 41.91 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 4 thru_hole circle (at 1.27 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -945,9 +945,9 @@ (net 46 +24V)) (pad ~ thru_hole circle (at 6.34 -19.04 90) (size 3.1 3.1) (drill 3.1) (layers *.Cu *.Mask F.SilkS)) (pad 2 thru_hole circle (at 39.37 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (pad 2 thru_hole circle (at 36.83 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (pad 1 thru_hole circle (at 39.37 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole circle (at 36.83 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -989,7 +989,7 @@ (fp_line (start 43.18 0) (end 0 0) (layer F.SilkS) (width 0.15)) (fp_line (start 0 0) (end 0 -21.59) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 41.91 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (pad 1 thru_hole circle (at 41.91 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 4 thru_hole circle (at 1.27 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -998,9 +998,9 @@ (net 46 +24V)) (pad ~ thru_hole circle (at 6.34 -19.04 90) (size 3.1 3.1) (drill 3.1) (layers *.Cu *.Mask F.SilkS)) (pad 2 thru_hole circle (at 39.37 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (pad 2 thru_hole circle (at 36.83 -19.304 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (pad 1 thru_hole circle (at 39.37 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole circle (at 36.83 -2.286 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -1025,7 +1025,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 163 "Net-(B15-Pad1)")) + (net 161 "Net-(B15-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 552B9D97) (tstamp 552B9CEA) @@ -1038,7 +1038,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 164 "Net-(B16-Pad1)")) + (net 162 "Net-(B16-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 552BA26E) (tstamp 552B9CEF) @@ -1051,7 +1051,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 165 "Net-(B17-Pad1)")) + (net 163 "Net-(B17-Pad1)")) ) (module ACS712:Bohrloch_3,2mm (layer F.Cu) (tedit 552BA269) (tstamp 552B9CF4) @@ -1064,7 +1064,7 @@ (effects (font (size 1.5 1.5) (thickness 0.15))) ) (pad 1 thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS) - (net 166 "Net-(B18-Pad1)")) + (net 164 "Net-(B18-Pad1)")) ) (module ACS712:Lötpad0,508_CU (layer F.Cu) (tedit 55548967) (tstamp 5531190E) @@ -1083,9 +1083,9 @@ (fp_line (start 1.524 0.381) (end 1.524 -0.381) (layer F.SilkS) (width 0.15)) (fp_line (start 1.524 -0.381) (end -1.524 -0.381) (layer F.SilkS) (width 0.15)) (pad 1 smd rect (at -1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad 2 smd rect (at 1.016 0 270) (size 0.762 0.508) (layers B.Cu F.Paste F.Mask) - (net 114 "Net-(LP36-Pad2)")) + (net 113 "Net-(LP36-Pad2)")) ) (module Transistors_TO-220:TO-220_FET-GDS_Vertical (layer F.Cu) (tedit 5553DB93) (tstamp 554E6204) @@ -1121,9 +1121,9 @@ (pad D thru_hole oval (at 0 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (pad G thru_hole oval (at -2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (pad S thru_hole oval (at 2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Transistors_TO-220.3dshapes/TO-220_FET-GDS_Vertical.wrl (at (xyz 0 0 0)) (scale (xyz 0.3937 0.3937 0.3937)) @@ -1162,11 +1162,11 @@ (fp_line (start 0 -3.048) (end -5.334 -3.048) (layer F.SilkS) (width 0.15)) (fp_line (start 0 -3.048) (end 5.334 -3.048) (layer F.SilkS) (width 0.15)) (pad D thru_hole oval (at 0 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad G thru_hole oval (at -2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 143 "Net-(Q5-PadG)")) + (net 142 "Net-(Q5-PadG)")) (pad S thru_hole oval (at 2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Transistors_TO-220.3dshapes/TO-220_FET-GDS_Vertical.wrl (at (xyz 0 0 0)) (scale (xyz 0.3937 0.3937 0.3937)) @@ -1193,9 +1193,9 @@ (fp_line (start 8.89 0) (end 7.62 0) (layer B.SilkS) (width 0.15)) (fp_line (start -8.89 0) (end -7.62 0) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 122 "Net-(C1-Pad2)")) + (net 121 "Net-(C1-Pad2)")) (pad 2 thru_hole circle (at 10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (model Resistors_ThroughHole.3dshapes/Resistor_Horizontal_RM20mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1222,9 +1222,9 @@ (fp_line (start 8.89 0) (end 7.62 0) (layer B.SilkS) (width 0.15)) (fp_line (start -8.89 0) (end -7.62 0) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -10 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 123 "Net-(C4-Pad2)")) + (net 122 "Net-(C4-Pad2)")) (pad 2 thru_hole circle (at 10 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (model Resistors_ThroughHole.3dshapes/Resistor_Horizontal_RM20mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1251,9 +1251,9 @@ (fp_line (start 8.89 0) (end 7.62 0) (layer B.SilkS) (width 0.15)) (fp_line (start -8.89 0) (end -7.62 0) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 124 "Net-(C6-Pad2)")) + (net 123 "Net-(C6-Pad2)")) (pad 2 thru_hole circle (at 10 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (model Resistors_ThroughHole.3dshapes/Resistor_Horizontal_RM20mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1477,9 +1477,9 @@ (fp_line (start 6.35 0) (end 5.08 0) (layer F.SilkS) (width 0.15)) (fp_line (start -6.35 0) (end -5.08 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -7.5 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad 2 thru_hole circle (at 7.5 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 107 "Net-(D8-Pad2)")) + (net 190 Led-BT)) (model Resistors_ThroughHole/Resistor_Horizontal_RM15mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1708,7 +1708,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 138 /Ladespannung/Ladespannung)) + (net 137 /Ladespannung/Ladespannung)) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 51 pinChargeVoltage)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -1774,7 +1774,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (pad 2 thru_hole circle (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 70 StationLed)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -1840,9 +1840,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 127 "Net-(D11-Pad1)")) + (net 126 "Net-(D11-Pad1)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -1870,9 +1870,9 @@ (fp_line (start 9.017 -2.54) (end 9.017 2.54) (layer B.SilkS) (width 0.24892)) (fp_line (start 9.017 2.54) (end -9.017 2.54) (layer B.SilkS) (width 0.24892)) (pad 1 thru_hole circle (at -7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (pad 2 thru_hole circle (at 7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 122 "Net-(C1-Pad2)")) + (net 121 "Net-(C1-Pad2)")) (model walter/capacitors/cnp_18x5mm.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -1900,9 +1900,9 @@ (fp_line (start 9.017 -2.54) (end 9.017 2.54) (layer B.SilkS) (width 0.24892)) (fp_line (start 9.017 2.54) (end -9.017 2.54) (layer B.SilkS) (width 0.24892)) (pad 1 thru_hole circle (at -7.62 0 270) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (pad 2 thru_hole circle (at 7.62 0 270) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 123 "Net-(C4-Pad2)")) + (net 122 "Net-(C4-Pad2)")) (model walter/capacitors/cnp_18x5mm.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -1930,9 +1930,9 @@ (fp_line (start 9.017 -2.54) (end 9.017 2.54) (layer B.SilkS) (width 0.24892)) (fp_line (start 9.017 2.54) (end -9.017 2.54) (layer B.SilkS) (width 0.24892)) (pad 1 thru_hole circle (at -7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 2 thru_hole circle (at 7.62 0 90) (size 1.99898 1.99898) (drill 0.84836) (layers *.Cu *.Mask B.SilkS) - (net 124 "Net-(C6-Pad2)")) + (net 123 "Net-(C6-Pad2)")) (model walter/capacitors/cnp_18x5mm.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -1971,7 +1971,7 @@ (pad 1 thru_hole circle (at -2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (pad 2 thru_hole circle (at 2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin)) (model walter/crystal/crystal_hc-49u_horiz.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -2010,7 +2010,7 @@ (pad 1 thru_hole circle (at -2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (pad 2 thru_hole circle (at 2.54 7.84352) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin)) (model walter/crystal/crystal_hc-49u_horiz.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -2054,9 +2054,9 @@ (pad 19 thru_hole oval (at 81.28 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 60 RX1)) (pad 20 thru_hole oval (at 83.82 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad 21 thru_hole oval (at 86.36 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad AD15 thru_hole oval (at 91.44 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 31 pinOdometryRight2)) (pad AD14 thru_hole oval (at 88.9 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2076,13 +2076,13 @@ (pad AD10 thru_hole oval (at 78.74 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 103 "Net-(RP2-Pad11)")) (pad AD11 thru_hole oval (at 81.28 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad AD5 thru_hole oval (at 63.5 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 98 "Net-(RP1-Pad14)")) (pad AD4 thru_hole oval (at 60.96 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 97 "Net-(RP1-Pad13)")) (pad AD3 thru_hole oval (at 58.42 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 113 "Net-(RP1-Pad12)")) + (net 112 "Net-(RP1-Pad12)")) (pad AD0 thru_hole oval (at 50.8 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 94 "Net-(RP1-Pad9)")) (pad AD1 thru_hole oval (at 53.34 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2098,7 +2098,7 @@ (pad 3V3 thru_hole oval (at 35.56 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 82 PowerA3,3)) (pad RST thru_hole oval (at 33.02 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 149 Reset)) + (net 148 Reset)) (pad 0 thru_hole oval (at 63.5 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 76 ReservePin0)) (pad 1 thru_hole oval (at 60.96 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2108,7 +2108,7 @@ (pad 3 thru_hole oval (at 55.88 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 8 pinMotorRightPWM)) (pad 4 thru_hole oval (at 53.34 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 144 pinUndervoltageSwitch)) + (net 143 pinUndervoltageSwitch)) (pad 5 thru_hole oval (at 50.8 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 3 pinMotorLeftPWM)) (pad 6 thru_hole oval (at 48.26 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2130,7 +2130,7 @@ (pad GND3 thru_hole oval (at 26.416 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad AREF thru_hole oval (at 23.876 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 176 "Net-(SHIELD1-PadAREF)")) + (net 174 "Net-(SHIELD1-PadAREF)")) (pad 5V thru_hole oval (at 38.1 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 74 "Net-(JP12-Pad2)")) (pad "" thru_hole circle (at 96.52 2.54 270) (size 3.937 3.937) (drill 3.175) (layers *.Cu *.Mask B.SilkS)) @@ -2154,9 +2154,9 @@ (pad 29 thru_hole circle (at 96.52 40.64) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 12 pinMotorMowDir)) (pad 5V_4 thru_hole circle (at 93.98 50.8) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 177 "Net-(SHIELD1-Pad5V_4)")) + (net 175 "Net-(SHIELD1-Pad5V_4)")) (pad 5V_5 thru_hole circle (at 96.52 50.8) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 178 "Net-(SHIELD1-Pad5V_5)")) + (net 176 "Net-(SHIELD1-Pad5V_5)")) (pad 31 thru_hole circle (at 96.52 38.1) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 2 pinMotorLeftDir)) (pad 30 thru_hole circle (at 93.98 38.1) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2196,7 +2196,7 @@ (pad 48 thru_hole circle (at 93.98 15.24) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 45 pinUserSwitch3)) (pad 49 thru_hole circle (at 96.52 15.24) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 115 ReservePin49)) + (net 114 ReservePin49)) (pad 50 thru_hole circle (at 93.98 12.7) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 52 pinChargingEnable)) (pad 51 thru_hole circle (at 96.52 12.7) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2210,13 +2210,13 @@ (pad GND5 thru_hole circle (at 96.52 7.62) (size 1.524 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad SDA1 thru_hole oval (at 21.336 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 179 "Net-(SHIELD1-PadSDA1)")) + (net 177 "Net-(SHIELD1-PadSDA1)")) (pad SCL1 thru_hole oval (at 18.796 50.8 270) (size 2.54 1.524) (drill 0.812) (layers *.Cu *.Mask B.SilkS) - (net 180 "Net-(SHIELD1-PadSCL1)")) + (net 178 "Net-(SHIELD1-PadSCL1)")) (pad IORE thru_hole oval (at 30.48 2.54 270) (size 2.54 1.524) (drill 0.812) (layers *.Cu *.Mask B.SilkS) - (net 181 "Net-(SHIELD1-PadIORE)")) + (net 179 "Net-(SHIELD1-PadIORE)")) (pad FREI thru_hole oval (at 27.94 2.54 270) (size 2.54 1.524) (drill 0.812) (layers *.Cu *.Mask B.SilkS) - (net 182 "Net-(SHIELD1-PadFREI)")) + (net 180 "Net-(SHIELD1-PadFREI)")) (model ../../../../../Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/arduino_mega_header.wrl (at (xyz 1.95 1.05 0)) (scale (xyz 1 1 1)) @@ -2307,17 +2307,17 @@ (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (pad VCC thru_hole circle (at 3.81 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad RX thru_hole oval (at 3.81 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 106 "Net-(P44-Pad4)")) (pad Rese thru_hole oval (at 1.27 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 183 "Net-(U11-PadRese)")) + (net 181 "Net-(U11-PadRese)")) (pad GP_0 thru_hole oval (at 1.27 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 184 "Net-(U11-PadGP_0)")) + (net 182 "Net-(U11-PadGP_0)")) (pad CH_P thru_hole oval (at -1.27 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad GP_2 thru_hole oval (at -1.27 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 185 "Net-(U11-PadGP_2)")) + (net 183 "Net-(U11-PadGP_2)")) (pad TX thru_hole oval (at -3.81 -1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 60 RX1)) (pad GND thru_hole oval (at -3.81 1.27 180) (size 1.7272 1.7272) (drill 1.016) (layers *.Cu *.Mask B.SilkS) @@ -2337,7 +2337,7 @@ (fp_text reference RR1 (at -6.858 -2.54) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value C0,1uF (at -1.016 -2.54) (layer F.SilkS) hide + (fp_text value "(0,01uF) 100nF" (at -1.016 -2.54) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -8.89 -1.27) (end 11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2356,7 +2356,7 @@ (pad 4 thru_hole oval (at -2.54 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 96 "Net-(RP1-Pad11)")) (pad 5 thru_hole oval (at 0 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 113 "Net-(RP1-Pad12)")) + (net 112 "Net-(RP1-Pad12)")) (pad 6 thru_hole oval (at 2.54 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 97 "Net-(RP1-Pad13)")) (pad 7 thru_hole oval (at 5.08 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -2380,7 +2380,7 @@ (fp_text reference RR2 (at 9.906 2.54 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value C0,1uF (at -1.016 -2.54 180) (layer F.SilkS) hide + (fp_text value "(0,01uF) 100nF" (at -1.016 -2.54 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -8.89 -1.27) (end 11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2393,15 +2393,15 @@ (pad 1 thru_hole rect (at -10.16 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole oval (at -7.62 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 111 "Net-(LP35-Pad2)")) + (net 110 "Net-(LP35-Pad2)")) (pad 3 thru_hole oval (at -5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 110 "Net-(LP34-Pad2)")) + (net 109 "Net-(LP34-Pad2)")) (pad 4 thru_hole oval (at -2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 109 "Net-(LP33-Pad2)")) + (net 108 "Net-(LP33-Pad2)")) (pad 5 thru_hole oval (at 0 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 108 "Net-(LP32-Pad2)")) + (net 107 "Net-(LP32-Pad2)")) (pad 6 thru_hole oval (at 2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 114 "Net-(LP36-Pad2)")) + (net 113 "Net-(LP36-Pad2)")) (pad 7 thru_hole oval (at 5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 103 "Net-(RP2-Pad11)")) (pad 8 thru_hole oval (at 7.62 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -2423,7 +2423,7 @@ (fp_text reference RP1 (at 8.636 0.127 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 150 (at 3.81 0.127 180) (layer F.SilkS) hide + (fp_text value 220R (at 3.81 0.127 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -11.43 -1.27) (end -11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2457,7 +2457,7 @@ (pad 11 thru_hole circle (at 3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 96 "Net-(RP1-Pad11)")) (pad 12 thru_hole circle (at 1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 113 "Net-(RP1-Pad12)")) + (net 112 "Net-(RP1-Pad12)")) (pad 13 thru_hole circle (at -1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 97 "Net-(RP1-Pad13)")) (pad 14 thru_hole circle (at -3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) @@ -2481,7 +2481,7 @@ (fp_text reference RP2 (at 8.128 0.254 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 150 (at 3.81 0.127 180) (layer F.SilkS) hide + (fp_text value 220R (at 3.81 0.127 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -11.43 -1.27) (end -11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2501,9 +2501,9 @@ (pad 4 thru_hole circle (at -1.27 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 32 pinOdometryLeft)) (pad 5 thru_hole circle (at 1.27 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad 6 thru_hole circle (at 3.81 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 150 ReserveAD10)) + (net 149 ReserveAD10)) (pad 7 thru_hole circle (at 6.35 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 51 pinChargeVoltage)) (pad 8 thru_hole circle (at 8.89 3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) @@ -2515,7 +2515,7 @@ (pad 11 thru_hole circle (at 3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 103 "Net-(RP2-Pad11)")) (pad 12 thru_hole circle (at 1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (pad 13 thru_hole circle (at -1.27 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 32 pinOdometryLeft)) (pad 14 thru_hole circle (at -3.81 -3.81 180) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) @@ -2531,204 +2531,6 @@ ) ) - (module ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse (layer F.Cu) (tedit 555490C5) (tstamp 5551967F) - (at 265.43 130.81 90) - (path /553D8AD9/553D8D88) - (fp_text reference Dual1 (at 26.416 -31.877 90) (layer F.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_text value MC33926 (at 19.431 -23.876 90) (layer F.SilkS) hide - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) - (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole circle (at 5.08 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 167 "Net-(Dual1-Pad1)")) - (pad 2 thru_hole circle (at 7.62 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 3 thru_hole circle (at 10.16 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 4 thru_hole circle (at 12.7 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 2 pinMotorLeftDir)) - (pad 5 thru_hole circle (at 15.24 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 3 pinMotorLeftPWM)) - (pad 6 thru_hole circle (at 17.78 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 7 thru_hole circle (at 20.32 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 8 thru_hole circle (at 22.86 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 4 pinMotorLeftFault)) - (pad 9 thru_hole circle (at 25.4 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 5 pinMotorLeftSense)) - (pad 10 thru_hole circle (at 27.94 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 6 pinMotorEnable)) - (pad 11 thru_hole circle (at 30.48 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 168 "Net-(Dual1-Pad11)")) - (pad 12 thru_hole circle (at 33.02 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 169 "Net-(Dual1-Pad12)")) - (pad 13 thru_hole circle (at 35.56 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 7 pinMotorRightDir)) - (pad 14 thru_hole circle (at 38.1 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 8 pinMotorRightPWM)) - (pad 15 thru_hole circle (at 40.64 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 16 thru_hole circle (at 43.18 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 17 thru_hole circle (at 45.72 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 9 pinMotorRightFault)) - (pad 18 thru_hole circle (at 48.26 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 10 pinMotorRightSense)) - (pad 19 thru_hole circle (at 17.272 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) - (pad 20 thru_hole circle (at 20.828 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) - (pad 21 thru_hole circle (at 24.384 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 22 thru_hole circle (at 27.94 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) - (pad 23 thru_hole circle (at 31.496 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) - (pad 24 thru_hole circle (at 35.052 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) - (pad 25 thru_hole circle (at 17.78 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 26 thru_hole circle (at 20.32 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 27 thru_hole circle (at 27.94 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 28 thru_hole circle (at 30.48 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 29 thru_hole circle (at 33.02 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 30 thru_hole circle (at 40.64 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 31 thru_hole circle (at 43.18 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 6.2865 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 47.0535 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (model walter/pin_strip/pin_socket_18.wrl - (at (xyz 1.05 1.49 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_11.wrl - (at (xyz 1.2 1.39 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_8.wrl - (at (xyz 1.03 0.57 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse (layer F.Cu) (tedit 55548F7F) (tstamp 555196B3) - (at 265.43 82.55 90) - (path /553D8AD9/553DEB14) - (fp_text reference Dual2 (at 26.416 -31.877 90) (layer F.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_text value MC33926 (at 19.431 -23.876 90) (layer F.SilkS) hide - (effects (font (size 1.5 1.5) (thickness 0.15))) - ) - (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) - (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) - (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) - (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole circle (at 5.08 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 170 "Net-(Dual2-Pad1)")) - (pad 2 thru_hole circle (at 7.62 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 3 thru_hole circle (at 10.16 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 4 thru_hole circle (at 12.7 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 12 pinMotorMowDir)) - (pad 5 thru_hole circle (at 15.24 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 13 pinMotorMowPWM)) - (pad 6 thru_hole circle (at 17.78 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 7 thru_hole circle (at 20.32 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 8 thru_hole circle (at 22.86 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 14 pinMotorMowFault)) - (pad 9 thru_hole circle (at 25.4 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 105 "Net-(Dual2-Pad9)")) - (pad 10 thru_hole circle (at 27.94 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 11 pinMotorMowEnable)) - (pad 11 thru_hole circle (at 30.48 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 171 "Net-(Dual2-Pad11)")) - (pad 12 thru_hole circle (at 33.02 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 172 "Net-(Dual2-Pad12)")) - (pad 13 thru_hole circle (at 35.56 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 12 pinMotorMowDir)) - (pad 14 thru_hole circle (at 38.1 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 13 pinMotorMowPWM)) - (pad 15 thru_hole circle (at 40.64 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 16 thru_hole circle (at 43.18 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 17 thru_hole circle (at 45.72 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 14 pinMotorMowFault)) - (pad 18 thru_hole circle (at 48.26 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 15 pinMotorMowSense)) - (pad 19 thru_hole circle (at 17.272 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) - (pad 20 thru_hole circle (at 20.828 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) - (pad 21 thru_hole circle (at 24.384 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 22 thru_hole circle (at 27.94 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) - (pad 23 thru_hole circle (at 31.496 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) - (pad 24 thru_hole circle (at 35.052 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) - (pad 25 thru_hole circle (at 17.78 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 26 thru_hole circle (at 20.32 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 27 thru_hole circle (at 27.94 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 28 thru_hole circle (at 30.48 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 29 thru_hole circle (at 33.02 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 30 thru_hole circle (at 40.64 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad 31 thru_hole circle (at 43.18 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 6.2865 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (pad ~ thru_hole circle (at 47.0535 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) - (model walter/pin_strip/pin_socket_18.wrl - (at (xyz 1.05 1.49 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_11.wrl - (at (xyz 1.2 1.39 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - (model walter/pin_strip/pin_socket_8.wrl - (at (xyz 1.03 0.57 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Fuseholder_Reichelt_PL112000 (layer F.Cu) (tedit 5554969A) (tstamp 55519E0D) (at 61.468 136.144 180) (descr "Fuseholder, 5x20, Semi closed, horizontal, Casing 10x25mm,") @@ -2760,9 +2562,9 @@ (fp_line (start 11.99896 -5.00126) (end -11.99896 -5.00126) (layer F.SilkS) (width 0.15)) (fp_line (start -11.99896 -5.00126) (end -11.99896 -1.89992) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole oval (at 11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (pad 1 thru_hole oval (at -11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) - (net 138 /Ladespannung/Ladespannung)) + (net 137 /Ladespannung/Ladespannung)) (pad ~ thru_hole circle (at 0 0 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (model walter/misc_comp/fuse_cq-200c.wrl (at (xyz 0 0 0)) @@ -2804,7 +2606,7 @@ (pad 2 thru_hole oval (at 11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) (net 84 "Net-(EF2-Pad2)")) (pad 1 thru_hole oval (at -11.00074 0 90) (size 2.49936 4.0005) (drill 1.50114) (layers *.Cu *.Mask F.SilkS) - (net 134 "Net-(EF2-Pad1)")) + (net 133 "Net-(EF2-Pad1)")) (pad ~ thru_hole circle (at 0 0 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (model walter/misc_comp/fuse_cq-200c.wrl (at (xyz 0 0 0)) @@ -2949,15 +2751,15 @@ ) ) - (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer F.Cu) (tedit 54CA02D6) (tstamp 5551A664) + (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer F.Cu) (tedit 5560D4FC) (tstamp 5551A664) (at 53.086 127.381 90) (descr "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, radial,") (tags "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, Elko, Electrolytkondensator, Kondensator gepolt, Durchmesser 6,3mm, radial,") (path /553A6702/553A7C73) - (fp_text reference C9 (at 5.715 0 180) (layer F.SilkS) + (fp_text reference C9 (at 1.27 4.318 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 22uF (at 7.62 0 180) (layer F.SilkS) + (fp_text value 22uF (at 7.62 0 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0.26924 -2.19964) (end 0.26924 -1.19888) (layer F.SilkS) (width 0.15)) @@ -2969,13 +2771,13 @@ (fp_line (start 0.26924 -1.30048) (end 0.26924 -1.19888) (layer F.Cu) (width 0.15)) (fp_circle (center 1.27 0) (end 4.4196 0) (layer F.SilkS) (width 0.15)) (pad 2 thru_hole circle (at 2.54 0 90) (size 1.50114 1.50114) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (pad 1 thru_hole circle (at 0 0 90) (size 1.50114 1.50114) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (pad 1 thru_hole circle (at -1.27 0 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (pad 2 thru_hole circle (at 3.81 0 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (model Capacitors_ThroughHole.3dshapes/C_Radial_D6.3_L11.2_P2.5.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3010,13 +2812,13 @@ (fp_line (start -7.7 -5.9) (end 7.7 -5.9) (layer F.SilkS) (width 0.381)) (fp_line (start -7.7 -5.9) (end -7.7 5.3) (layer F.SilkS) (width 0.381)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 2 thru_hole circle (at 3.81 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (pad 1 thru_hole rect (at -1.27 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (model walter/conn_gmkds/gmkds_3-2-7,62.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3051,13 +2853,13 @@ (fp_line (start -7.7 -5.9) (end 7.7 -5.9) (layer F.SilkS) (width 0.381)) (fp_line (start -7.7 -5.9) (end -7.7 5.3) (layer F.SilkS) (width 0.381)) (pad 1 thru_hole rect (at -3.81 0) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (pad 2 thru_hole circle (at 3.81 0) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 1 thru_hole rect (at -1.27 0) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (pad 1 thru_hole rect (at -3.81 0) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 112 Charg_Pin)) + (net 111 Charg_Pin)) (model walter/conn_gmkds/gmkds_3-2-7,62.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3133,13 +2935,13 @@ (fp_line (start -7.7 -5.9) (end 7.7 -5.9) (layer F.SilkS) (width 0.381)) (fp_line (start -7.7 -5.9) (end -7.7 5.3) (layer F.SilkS) (width 0.381)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 2 thru_hole circle (at 3.81 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 134 "Net-(EF2-Pad1)")) + (net 133 "Net-(EF2-Pad1)")) (pad 1 thru_hole rect (at -1.27 0 90) (size 2.6 2.6) (drill 1.3) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 1 thru_hole rect (at -3.81 0 90) (size 2.6 2.6) (drill oval 1.9 1.3) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (model walter/conn_gmkds/gmkds_3-2-7,62.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3164,9 +2966,9 @@ (fp_line (start -5.08 -3.81) (end -5.08 3.81) (layer F.SilkS) (width 0.15)) (fp_line (start -5.08 3.81) (end 5.08 3.81) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3193,7 +2995,7 @@ (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3220,7 +3022,7 @@ (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3245,9 +3047,9 @@ (fp_line (start -5.08 -3.81) (end -5.08 3.81) (layer F.SilkS) (width 0.15)) (fp_line (start -5.08 3.81) (end 5.08 3.81) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (pad 2 thru_hole circle (at 2.54 0 90) (size 2.54 2.54) (drill 1.524) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (model walter/conn_mkds/mkds_1,5-2.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3431,7 +3233,7 @@ (pad 2 thru_hole oval (at 0 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 139 pinMotorMowRpm)) + (net 138 pinMotorMowRpm)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3462,11 +3264,11 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3507,47 +3309,6 @@ ) ) - (module ACS712:Pin_Header_Straight_1x08 (layer F.Cu) (tedit 555BADF4) (tstamp 5551BAEE) - (at 104.14 127) - (descr "Through hole pin header") - (tags "pin header") - (path /553DFC0F/55403386) - (fp_text reference P7 (at -8.89 -2.54) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value "Status LEDs" (at 0.381 4.572) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -7.62 -1.27) (end 10.16 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 -1.27) (end 10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -7.62 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -7.62 -1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at -8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole oval (at -6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 80 LedPin-3V)) - (pad 3 thru_hole oval (at -3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 28 LedPin-24v)) - (pad 4 thru_hole oval (at -1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 27 LedPin-5v)) - (pad 5 thru_hole oval (at 1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 70 StationLed)) - (pad 6 thru_hole oval (at 3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 69 DuoLED_Grün)) - (pad 7 thru_hole oval (at 6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 59 DuoLED-Rot)) - (pad 8 thru_hole oval (at 8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 29 Led-Status)) - (model Pin_Headers.3dshapes/Pin_Header_Straight_1x08.wrl - (at (xyz 0 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Pin_Header_Straight_1x04 (layer F.Cu) (tedit 55548B00) (tstamp 5551BB00) (at 189.23 43.815 270) (descr "Through hole pin header") @@ -3641,7 +3402,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 35 GPS_TX)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3682,16 +3443,16 @@ ) ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 55548C71) (tstamp 5551BB39) + (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5560CB73) (tstamp 5551BB39) (at 156.21 42.545 270) (descr "Through hole pin header") (tags "pin header") (path /553BB67C/553AAAF7) - (fp_text reference P12 (at -5.461 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text reference P12 (at -5.715 0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value P.Left (at -4.445 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text value P.Left (at -6.35 -0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -1.27 1.27) (end 3.81 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 3.81 1.27) (end 3.81 -1.27) (layer F.SilkS) (width 0.15)) @@ -3750,16 +3511,16 @@ ) ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 55548C26) (tstamp 5551BB56) + (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5560CD2F) (tstamp 5551BB56) (at 166.37 42.545 270) (descr "Through hole pin header") (tags "pin header") (path /553DFC0F/553EA898) - (fp_text reference P14 (at -5.461 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text reference P14 (at -5.715 0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "Meas V" (at -4.445 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text value "Meas V" (at -6.985 -0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -1.27 1.27) (end 3.81 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 3.81 1.27) (end 3.81 -1.27) (layer F.SilkS) (width 0.15)) @@ -3830,7 +3591,7 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 130 "Net-(D14-Pad2)")) + (net 129 "Net-(D14-Pad2)")) (pad 2 thru_hole oval (at 1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl @@ -3871,16 +3632,16 @@ ) ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 55548BDC) (tstamp 5551BB88) + (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5560CBA6) (tstamp 5551BB88) (at 161.29 42.545 270) (descr "Through hole pin header") (tags "pin header") (path /553B6850/553C570A) - (fp_text reference P22 (at -5.461 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text reference P22 (at -5.715 0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Res.AD6 (at -4.445 0 360) (layer F.SilkS) - (effects (font (size 0.7 0.7) (thickness 0.15))) + (fp_text value Res.AD6 (at -6.985 -0.635 450) (layer F.SilkS) + (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -1.27 1.27) (end 3.81 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 3.81 1.27) (end 3.81 -1.27) (layer F.SilkS) (width 0.15)) @@ -3925,11 +3686,11 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -3960,11 +3721,11 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4026,7 +3787,7 @@ (pad 2 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 175 pinBatterySwitch)) + (net 173 pinBatterySwitch)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4290,21 +4051,21 @@ (fp_line (start -10.16 -1.27) (end -10.16 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at -6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 3 thru_hole oval (at -3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 4 thru_hole oval (at -1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 5 thru_hole oval (at 1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 6 thru_hole oval (at 3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 7 thru_hole oval (at 6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 8 thru_hole oval (at 8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x08.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4335,7 +4096,7 @@ (pad 2 thru_hole oval (at 0 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 115 ReservePin49)) + (net 114 ReservePin49)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4343,68 +4104,27 @@ ) ) - (module ACS712:Pin_Header_Straight_1x08 (layer F.Cu) (tedit 555496D8) (tstamp 5551BC51) - (at 104.14 129.54) + (module ACS712:Pin_Header_Straight_1x05 (layer F.Cu) (tedit 555BB971) (tstamp 5551BC63) + (at 211.455 74.93 180) (descr "Through hole pin header") (tags "pin header") - (path /553DFC0F/55401F07) - (fp_text reference P38 (at -8.89 -2.54) (layer F.SilkS) + (path /553DFC0F/553EF93A) + (fp_text reference P40 (at 14.605 0.635 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "Status LEDs GND" (at 3.81 -2.54) (layer F.SilkS) hide + (fp_text value UserSwitsch (at 11.43 -0.635 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_line (start -7.62 -1.27) (end 10.16 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 -1.27) (end 10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -7.62 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -7.62 -1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 -1.27) (end -10.16 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -10.16 1.27) (end -7.62 1.27) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at -8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole oval (at -6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 3 thru_hole oval (at -3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 4 thru_hole oval (at -1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 5 thru_hole oval (at 1.27 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 6 thru_hole oval (at 3.81 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 7 thru_hole oval (at 6.35 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 8 thru_hole oval (at 8.89 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (model Pin_Headers.3dshapes/Pin_Header_Straight_1x08.wrl - (at (xyz 0 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Pin_Header_Straight_1x05 (layer F.Cu) (tedit 555BB971) (tstamp 5551BC63) - (at 211.455 74.93 180) - (descr "Through hole pin header") - (tags "pin header") - (path /553DFC0F/553EF93A) - (fp_text reference P40 (at 14.605 0.635 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value UserSwitsch (at 11.43 -0.635 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -3.81 -1.27) (end 6.35 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 6.35 -1.27) (end 6.35 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -6.35 -1.27) (end -3.81 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -3.81 -1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -6.35 -1.27) (end -6.35 1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start -6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at -5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 71 Power5)) - (pad 2 thru_hole oval (at -2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) + (fp_line (start -3.81 -1.27) (end 6.35 -1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start 6.35 -1.27) (end 6.35 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start 6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -6.35 -1.27) (end -3.81 -1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -3.81 -1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -6.35 -1.27) (end -6.35 1.27) (layer F.SilkS) (width 0.15)) + (fp_line (start -6.35 1.27) (end -3.81 1.27) (layer F.SilkS) (width 0.15)) + (pad 1 thru_hole rect (at -5.08 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) + (net 71 Power5)) + (pad 2 thru_hole oval (at -2.54 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 180) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 43 pinUserSwitch1)) @@ -4477,7 +4197,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 106 "Net-(P44-Pad4)")) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4512,7 +4232,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 93 "Net-(P45-Pad4)")) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4547,7 +4267,7 @@ (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 93 "Net-(P45-Pad4)")) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x05.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4583,15 +4303,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC3B) - (at 109.22 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC3B) (tstamp 5551CC3B) + (at 106.68 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553BDA33/553C3C10) (fp_text reference JP2 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Key (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Key (at 8.89 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4601,9 +4321,9 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 147 "Net-(JP2-Pad2)")) + (net 146 "Net-(JP2-Pad2)")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4611,15 +4331,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC46) - (at 119.38 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC1D) (tstamp 5551CC46) + (at 116.84 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /54C10ED7) (fp_text reference JP3 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value pwrAA3,3 (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value pwrAA3,3 (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4629,7 +4349,7 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 82 PowerA3,3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl @@ -4639,15 +4359,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC51) - (at 114.3 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC2A) (tstamp 5551CC51) + (at 111.76 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553BDA33/553C4C94) (fp_text reference JP8 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Blue5.0V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Blue5.0V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4659,7 +4379,7 @@ (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4667,15 +4387,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC5C) - (at 111.76 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC31) (tstamp 5551CC5C) + (at 109.22 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553BDA33/553C509B) (fp_text reference JP9 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Blue3.3V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Blue3.3V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4685,9 +4405,9 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4715,7 +4435,7 @@ (pad 1 thru_hole rect (at -1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 72 "Net-(C7-Pad1)")) (pad 2 thru_hole oval (at 1.27 0) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -4751,15 +4471,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC7D) - (at 116.84 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC23) (tstamp 5551CC7D) + (at 114.3 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /54B90ACC) (fp_text reference JP12 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value pwrAA5.0V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value pwrAA5.0V (at 11.43 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4779,15 +4499,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC88) - (at 121.92 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC17) (tstamp 5551CC88) + (at 119.38 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /554017E4/553CAB7C) (fp_text reference JP13 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Meas3.3V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Meas3.3V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4797,7 +4517,7 @@ (fp_line (start 2.54 1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 -1.27) (end -2.54 -1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole rect (at -1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole oval (at 1.27 0 270) (size 2.032 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 104 "Voltage measurement")) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x02.wrl @@ -4807,15 +4527,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC93) - (at 124.46 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC11) (tstamp 5551CC93) + (at 121.92 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /554017E4/553CA94E) (fp_text reference JP14 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value Meas5.0V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value Meas5.0V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4835,15 +4555,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CC9E) - (at 127 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC0A) (tstamp 5551CC9E) + (at 124.46 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /554017E4/553CAB00) (fp_text reference JP15 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value MeasA3.3V (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value MeasA3.3V (at 10.795 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4863,15 +4583,15 @@ ) ) - (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 54C607C4) (tstamp 5551CCA9) - (at 129.54 50.8 270) + (module ACS712:Pin_Header_Straight_1x02 (layer F.Cu) (tedit 5560CC43) (tstamp 5551CCA9) + (at 127 50.8 270) (descr "Through hole pin header") (tags "pin header") (path /553D8AD9/553E1515) (fp_text reference JP16 (at 4.826 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value M1FB (at -8.001 -0.127 270) (layer F.SilkS) + (fp_text value M1FB (at 8.89 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start 0 -1.27) (end 0 1.27) (layer F.SilkS) (width 0.15)) @@ -4921,17 +4641,17 @@ (pad 9 thru_hole circle (at 0 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) (net 85 "Net-(D10-Pad1)")) (pad 3 thru_hole circle (at 15.24 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 173 "Net-(K3-Pad3)")) + (net 171 "Net-(K3-Pad3)")) (pad 5 thru_hole circle (at 20.32 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 136 "Net-(K3-Pad5)")) + (net 135 "Net-(K3-Pad5)")) (pad 1 thru_hole circle (at 25.4 0) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 14 thru_hole circle (at 15.24 -7.62) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 174 "Net-(K3-Pad14)")) + (net 172 "Net-(K3-Pad14)")) (pad 12 thru_hole circle (at 20.32 -7.62) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 137 "Net-(K3-Pad12)")) + (net 136 "Net-(K3-Pad12)")) (pad 16 thru_hole circle (at 25.4 -7.62) (size 2.99974 2.99974) (drill 1.19888) (layers *.Cu *.Mask F.SilkS) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (model walter/relay/relay_40.52_socket.wrl (at (xyz 0.46 0.15 0)) (scale (xyz 1 1 1)) @@ -4939,81 +4659,6 @@ ) ) - (module ACS712:Diode_LED_5mm_round_vertical (layer F.Cu) (tedit 54C41716) (tstamp 5551E57D) - (at 99.06 47.244 270) - (descr "Leuchtdiode, LED, 5mm, round, rund, vertical,") - (tags "Leuchtdiode, LED, 5mm, round, rund, vertical,") - (path /553BDA33/553C450A) - (fp_text reference D8 (at 0 6.35 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text value BlueLED (at 0 -5.08 270) (layer F.SilkS) hide - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text user A (at -3.175 1.905 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_text user + (at -3.302 -0.762 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -2.54 1.905) (end -2.54 0.762) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 -2.159) (end -2.54 -0.762) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 1.27) (end -1.905 1.651) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.905 1.651) (end -1.524 2.032) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.524 2.032) (end -1.016 2.286) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.016 2.286) (end -0.254 2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.254 2.54) (end 0.127 2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.127 2.54) (end 0.762 2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.762 2.413) (end 1.524 2.032) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.524 2.032) (end 1.778 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.778 1.778) (end 2.159 1.397) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.397 -2.159) (end 1.778 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.778 -1.778) (end 2.032 -1.524) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.032 -1.524) (end 2.159 -1.397) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 -1.27) (end -2.032 -1.524) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.032 -1.524) (end -1.651 -1.905) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.651 -1.905) (end -1.143 -2.286) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.143 -2.286) (end -0.762 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.762 -2.413) (end -0.254 -2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.254 -2.54) (end 0.127 -2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.127 -2.54) (end 0.762 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.762 -2.413) (end 1.397 -2.159) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 1.905) (end -2.159 2.286) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 -2.159) (end -2.032 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.032 -2.413) (end -1.524 -2.794) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.524 -2.794) (end -0.889 -3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.889 -3.048) (end -0.254 -3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.254 -3.175) (end 0.254 -3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.254 -3.175) (end 0.889 -3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.889 -3.048) (end 1.524 -2.794) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.524 -2.794) (end 2.032 -2.413) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.032 -2.413) (end 2.54 -1.905) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.54 -1.905) (end 2.921 -1.27) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.921 -1.27) (end 3.048 -0.889) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.048 -0.889) (end 3.175 -0.254) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.175 -0.254) (end 3.175 0.381) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.175 0.381) (end 3.048 0.889) (layer F.SilkS) (width 0.15)) - (fp_line (start 3.048 0.889) (end 2.794 1.524) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.794 1.524) (end 2.413 2.032) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.413 2.032) (end 1.905 2.54) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.905 2.54) (end 1.524 2.794) (layer F.SilkS) (width 0.15)) - (fp_line (start 1.524 2.794) (end 0.889 3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.889 3.048) (end 0.254 3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start 0.254 3.175) (end -0.381 3.175) (layer F.SilkS) (width 0.15)) - (fp_line (start -0.381 3.175) (end -1.016 3.048) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.016 3.048) (end -1.778 2.667) (layer F.SilkS) (width 0.15)) - (fp_line (start -1.778 2.667) (end -2.159 2.286) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole circle (at -1.27 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole rect (at 1.27 0 270) (size 1.69926 1.69926) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 107 "Net-(D8-Pad2)")) - (model LEDs.3dshapes/LED-5MM.wrl - (at (xyz 0 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Diode_ligend_RM10 (layer F.Cu) (tedit 555BB8C2) (tstamp 5551EA57) (at 206.375 83.82) (descr "Diode, DO-41, SOD81, Horizontal, RM 10mm,") @@ -5256,9 +4901,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 140 "Net-(Q2-PadG)")) + (net 139 "Net-(Q2-PadG)")) (pad 2 thru_hole rect (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5292,9 +4937,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (pad 2 thru_hole rect (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5328,9 +4973,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 143 "Net-(Q5-PadG)")) + (net 142 "Net-(Q5-PadG)")) (pad 2 thru_hole rect (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5400,7 +5045,7 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5438,7 +5083,7 @@ (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 0.85 0.85 0.85)) @@ -5472,7 +5117,7 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5510,7 +5155,7 @@ (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 119 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 0.85 0.85 0.85)) @@ -5580,7 +5225,7 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 127 "Net-(D11-Pad1)")) + (net 126 "Net-(D11-Pad1)")) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) (net 86 "Net-(D10-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl @@ -5616,9 +5261,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 128 "Net-(D13-Pad2)")) + (net 127 "Net-(D13-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5652,9 +5297,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 130 "Net-(D14-Pad2)")) + (net 129 "Net-(D14-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5690,7 +5335,7 @@ (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) (net 18 pinButton)) (pad 2 thru_hole rect (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 130 "Net-(D14-Pad2)")) + (net 129 "Net-(D14-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5724,9 +5369,9 @@ (fp_line (start -2.54 -1.27) (end -2.54 1.27) (layer F.SilkS) (width 0.15)) (fp_line (start -2.54 1.27) (end 2.54 1.27) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.27) (layers *.Cu *.Mask F.SilkS) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (pad 2 thru_hole rect (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 131 "Net-(D16-Pad2)")) + (net 130 "Net-(D16-Pad2)")) (model Diodes_ThroughHole.3dshapes/Diode_DO-35_SOD27_Horizontal_RM10.wrl (at (xyz 0 0 0)) (scale (xyz 0.41 0.41 0.41)) @@ -5788,9 +5433,9 @@ (pad E thru_hole rect (at 1.27 -1.27 270) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad B thru_hole circle (at -1.27 -1.27 270) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 142 "Net-(Q4-PadB)")) + (net 141 "Net-(Q4-PadB)")) (pad C thru_hole circle (at -1.27 1.27 270) (size 1.397 1.397) (drill 0.8128) (layers *.Cu *.Mask F.SilkS) - (net 131 "Net-(D16-Pad2)")) + (net 130 "Net-(D16-Pad2)")) (model Discret.3dshapes/TO92-EBC.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -5820,7 +5465,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5854,7 +5499,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 121 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -5884,7 +5529,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5916,7 +5561,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -5950,7 +5595,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -5980,7 +5625,7 @@ (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) (pad 1 thru_hole circle (at -6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (pad 2 thru_hole circle (at 6 0 180) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 46 +24V)) (model walter/pth_diodes/diode_do15.wrl @@ -6014,7 +5659,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -6046,7 +5691,7 @@ (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 117 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) (model walter/pth_diodes/diode_do15.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -6054,7 +5699,7 @@ ) ) - (module Capacitors_ThroughHole:C_Radial_D16_L31.5_P7.5 (layer B.Cu) (tedit 0) (tstamp 55507847) + (module Capacitors_ThroughHole:C_Radial_D16_L31.5_P7.5 (layer B.Cu) (tedit 5560D403) (tstamp 55507847) (at 56.642 88.9) (descr "Radial Electrolytic Capacitor Diameter 16mm x Length 31.5mm, Pitch 7.5mm") (tags "Electrolytic Capacitor") @@ -6062,7 +5707,7 @@ (fp_text reference C5 (at 3.75 9.3) (layer B.SilkS) (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_text value 1000uF (at 3.75 -9.3) (layer B.Fab) + (fp_text value 1000uF (at 3.75 -9.3) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start 3.825 8) (end 3.825 -8) (layer B.SilkS) (width 0.15)) @@ -6168,7 +5813,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 140 "Net-(Q2-PadG)")) + (net 139 "Net-(Q2-PadG)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 1 GND)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6201,9 +5846,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 126 "/UnterSpannungsSchutz/Batterieeingang 24V")) + (net 125 "/UnterSpannungsSchutz/Batterieeingang 24V")) (pad 2 thru_hole circle (at 5.08 0 90) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6234,9 +5879,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 141 "Net-(Q3-PadG)")) + (net 140 "Net-(Q3-PadG)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6267,9 +5912,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 128 "Net-(D13-Pad2)")) + (net 127 "Net-(D13-Pad2)")) (pad 2 thru_hole circle (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 129 "Net-(D14-Pad1)")) + (net 128 "Net-(D14-Pad1)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6300,9 +5945,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 125 "Net-(C9-Pad2)")) + (net 124 "Net-(C9-Pad2)")) (pad 2 thru_hole circle (at 5.08 0) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 128 "Net-(D13-Pad2)")) + (net 127 "Net-(D13-Pad2)")) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6333,7 +5978,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 142 "Net-(Q4-PadB)")) + (net 141 "Net-(Q4-PadB)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 1 GND)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6366,7 +6011,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 143 "Net-(Q5-PadG)")) + (net 142 "Net-(Q5-PadG)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 1 GND)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6399,9 +6044,9 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 142 "Net-(Q4-PadB)")) + (net 141 "Net-(Q4-PadB)")) (pad 2 thru_hole circle (at 5.08 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 144 pinUndervoltageSwitch)) + (net 143 pinUndervoltageSwitch)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -6531,7 +6176,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 80 LedPin-3V)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -6577,11 +6222,11 @@ (fp_line (start 0 -3.048) (end -5.334 -3.048) (layer F.SilkS) (width 0.15)) (fp_line (start 0 -3.048) (end 5.334 -3.048) (layer F.SilkS) (width 0.15)) (pad D thru_hole oval (at 0 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 138 /Ladespannung/Ladespannung)) + (net 137 /Ladespannung/Ladespannung)) (pad G thru_hole oval (at -2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 140 "Net-(Q2-PadG)")) + (net 139 "Net-(Q2-PadG)")) (pad S thru_hole oval (at 2.54 0) (size 2.49936 1.50114) (drill 1.00076) (layers *.Cu *.Mask F.SilkS) - (net 146 /Verpols.L/Verpols.L.aus)) + (net 145 /Verpols.L/Verpols.L.aus)) (model Transistors_TO-220.3dshapes/TO-220_FET-GDS_Vertical.wrl (at (xyz 0 0 0)) (scale (xyz 0.3937 0.3937 0.3937)) @@ -6708,7 +6353,7 @@ (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (pad VCC thru_hole oval (at 6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (pad GND thru_hole oval (at 3.81 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad TXD thru_hole oval (at 1.27 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) @@ -6716,15 +6361,15 @@ (pad RXD thru_hole oval (at -1.27 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 83 "Net-(R6-Pad2)")) (pad Key thru_hole oval (at -3.81 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 147 "Net-(JP2-Pad2)")) + (net 146 "Net-(JP2-Pad2)")) (pad LED thru_hole oval (at -6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad LED thru_hole oval (at -6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad LED thru_hole oval (at -6.35 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad LED thru_hole oval (at -6.35 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 148 "Net-(R22-Pad1)")) + (net 147 "Net-(R22-Pad1)")) (pad RXD thru_hole oval (at -3.81 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 83 "Net-(R6-Pad2)")) (pad TXD thru_hole oval (at -1.27 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) @@ -6732,9 +6377,9 @@ (pad GND thru_hole oval (at 1.27 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (pad VCC thru_hole oval (at 3.81 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (pad Key thru_hole oval (at 6.35 3.175 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask B.SilkS) - (net 147 "Net-(JP2-Pad2)")) + (net 146 "Net-(JP2-Pad2)")) (model Socket_Strips.3dshapes/Socket_Strip_Angled_1x06.wrl (at (xyz 0 0.1 0)) (scale (xyz 1 1 1)) @@ -6742,162 +6387,6 @@ ) ) - (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 5554883F) (tstamp 55548FA8) - (at 56.642 97.282 90) - (descr "Diode, DO-15 package") - (path /5540B0B9) - (fp_text reference KE2 (at 0 0.127 90) (layer F.SilkS) - (effects (font (thickness 0.3048))) - ) - (fp_text value 15KE33CA (at 0 -3.937 90) (layer F.SilkS) hide - (effects (font (thickness 0.3048))) - ) - (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -3.8 -1.8) (end 3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end 3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end -3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole circle (at 6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 46 +24V)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 55549332) (tstamp 5554922A) - (at 233.426 129.54) - (descr "Diode, DO-15 package") - (path /5541A8DB) - (fp_text reference KE1 (at 0 0.127) (layer F.SilkS) - (effects (font (thickness 0.3048))) - ) - (fp_text value 15KE33CA (at 0 -3.937) (layer F.SilkS) hide - (effects (font (thickness 0.3048))) - ) - (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) - (fp_line (start -3.8 -1.8) (end 3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end 3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end -3.8 1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (pad 2 thru_hole circle (at 6 0) (size 2 2) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 145 /Batteriespannung/Batteriespannung)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Diode_15KE33CA (layer B.Cu) (tedit 5554910B) (tstamp 555494F0) - (at 254.889 97.663 270) - (descr "Diode, DO-15 package") - (path /553D8AD9/5543A988/5543B245) - (fp_text reference KE3 (at 0 -0.127 270) (layer B.SilkS) - (effects (font (size 1.1 1.1) (thickness 0.275)) (justify mirror)) - ) - (fp_text value 15KE33CA (at 0 3.937 270) (layer B.SilkS) hide - (effects (font (thickness 0.3048)) (justify mirror)) - ) - (fp_line (start 2.413 1.778) (end 2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.413 -1.778) (end 2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.286 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.159 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.159 1.778) (end 2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.54 1.778) (end 2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.159 1.778) (end -2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.286 1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.286 -0.635) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -3.8 1.8) (end 3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end 3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end -3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start -3.8 -1.8) (end -3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer B.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer B.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0 270) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 132 /Motortreiber/Dual1_Vin/Dual1_Vin)) - (pad 2 thru_hole circle (at 6 0 270) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 1 GND)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - - (module ACS712:Diode_15KE33CA (layer B.Cu) (tedit 55548EFB) (tstamp 555497F4) - (at 254.635 48.641 90) - (descr "Diode, DO-15 package") - (path /553D8AD9/554D9DA2/554BE926) - (fp_text reference KE4 (at 0 -0.127 90) (layer B.SilkS) - (effects (font (size 1.1 1.1) (thickness 0.275)) (justify mirror)) - ) - (fp_text value 15KE33CA (at 0 3.937 90) (layer B.SilkS) hide - (effects (font (thickness 0.3048)) (justify mirror)) - ) - (fp_line (start 2.413 1.778) (end 2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.413 -1.778) (end 2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 -1.778) (end 2.286 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.286 1.778) (end 2.159 1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.159 1.778) (end 2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.54 1.778) (end 2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.159 1.778) (end -2.159 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.286 1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 1.778) (end -2.413 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.413 -1.778) (end -2.286 -0.635) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 1.778) (end -2.54 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -2.54 -1.778) (end -2.286 -1.778) (layer B.SilkS) (width 0.15)) - (fp_line (start -3.8 1.8) (end 3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 1.8) (end 3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 3.8 -1.8) (end -3.8 -1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start -3.8 -1.8) (end -3.8 1.8) (layer B.SilkS) (width 0.3048)) - (fp_line (start 6 0) (end 3.8 0) (layer B.SilkS) (width 0.3048)) - (fp_line (start -6 0) (end -3.8 0) (layer B.SilkS) (width 0.3048)) - (pad 1 thru_hole circle (at -6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 133 /Motortreiber/Dual2_Vin/Dual2_Vin)) - (pad 2 thru_hole circle (at 6 0 90) (size 2 2) (drill 1) (layers *.Cu *.Mask B.SilkS) - (net 1 GND)) - (model walter/pth_diodes/diode_do35.wrl - (at (xyz 0 0 0)) - (scale (xyz 1.6 1.6 1.6)) - (rotate (xyz 0 0 0)) - ) - ) - (module ACS712:Pin_Header_Straight_1x03 (layer F.Cu) (tedit 5557250E) (tstamp 5557154E) (at 144.78 42.545 270) (descr "Through hole pin header") @@ -6921,7 +6410,7 @@ (pad 2 thru_hole oval (at 0 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 149 Reset)) + (net 148 Reset)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -6962,15 +6451,15 @@ ) ) - (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 54CA02D6) (tstamp 5558B774) + (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 5560D582) (tstamp 5558B774) (at 232.283 79.502) (descr "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, radial,") (tags "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, Elko, Electrolytkondensator, Kondensator gepolt, Durchmesser 6,3mm, radial,") (path /553D8AD9/5558B8D1) - (fp_text reference C10 (at 5.715 0 270) (layer B.SilkS) + (fp_text reference C10 (at 1.143 4.826 270) (layer B.SilkS) (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_text value "10uF 16V" (at 7.62 0 270) (layer B.SilkS) + (fp_text value "10uF 16V" (at 7.62 0 90) (layer B.SilkS) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start 0.26924 2.19964) (end 0.26924 1.19888) (layer B.SilkS) (width 0.15)) @@ -6996,15 +6485,15 @@ ) ) - (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 54CA02D6) (tstamp 5558B77C) + (module ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0 (layer B.Cu) (tedit 5560D555) (tstamp 5558B77C) (at 233.172 120.65) (descr "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, radial,") (tags "Electrolytic Capacitor, vertical, diameter 6,3mm, RM 2,5mm, Elko, Electrolytkondensator, Kondensator gepolt, Durchmesser 6,3mm, radial,") (path /553D8AD9/5558C050) - (fp_text reference C11 (at 5.715 0 270) (layer B.SilkS) + (fp_text reference C11 (at 0.127 -4.699 270) (layer B.SilkS) (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_text value "10uF 16V" (at 7.62 0 270) (layer B.SilkS) + (fp_text value "10uF 16V" (at 7.62 0 90) (layer B.SilkS) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start 0.26924 2.19964) (end 0.26924 1.19888) (layer B.SilkS) (width 0.15)) @@ -7030,15 +6519,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5558BAEE) (tstamp 5558B782) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560D8C7) (tstamp 5558B782) (at 46.228 83.82 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558C608) - (fp_text reference CC1 (at -1.524 0.508 360) (layer F.SilkS) + (fp_text reference CC1 (at -1.651 0 360) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "100 nF" (at 1.25 2.5 270) (layer F.Fab) hide + (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) @@ -7086,12 +6575,12 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 0) (tstamp 5558B78E) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560D3BA) (tstamp 5558B78E) (at 229.997 120.65 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /553D8AD9/5558AB3B) - (fp_text reference CC3 (at 1.25 -2.5 270) (layer F.SilkS) + (fp_text reference CC3 (at -2.413 0 270) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) @@ -7114,15 +6603,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 0) (tstamp 5558B79A) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560CFC1) (tstamp 5558B79A) (at 142.1765 58.1025 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /554BCB67/5558A3B2) - (fp_text reference CC5 (at 1.25 -2.5 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (fp_text reference CC5 (at 1.2065 -2.0955 180) (layer F.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125))) ) - (fp_text value 100nF (at 1.25 2.5 180) (layer F.Fab) + (fp_text value 100nF (at 1.25 2.5 180) (layer F.Fab) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) @@ -7142,15 +6631,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7A6) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D939) (tstamp 5558B7A6) (at 133.35 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555C50C2) - (fp_text reference CC7 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC7 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7170,15 +6659,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7AC) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D910) (tstamp 5558B7AC) (at 138.43 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E6C2) - (fp_text reference CC8 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC8 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7198,15 +6687,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7B2) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D885) (tstamp 5558B7B2) (at 143.51 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E705) - (fp_text reference CC9 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC9 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7226,15 +6715,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7B8) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D860) (tstamp 5558B7B8) (at 148.463 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558DF5E) - (fp_text reference CC10 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC10 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7254,15 +6743,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7BE) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D82C) (tstamp 5558B7BE) (at 153.797 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E80E) - (fp_text reference CC11 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC11 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7282,16 +6771,16 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7C4) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D7F9) (tstamp 5558B7C4) (at 158.75 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E824) - (fp_text reference CC12 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC12 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) @@ -7310,15 +6799,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7CA) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D7C4) (tstamp 5558B7CA) (at 163.703 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558E7F8) - (fp_text reference CC13 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC13 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7338,15 +6827,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7D0) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D7A1) (tstamp 5558B7D0) (at 168.91 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAA2) - (fp_text reference CC14 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC14 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7366,15 +6855,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7D6) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D73A) (tstamp 5558B7D6) (at 173.863 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAB8) - (fp_text reference CC15 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC15 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7394,15 +6883,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7DC) - (at 178.943 132.08 90) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D711) (tstamp 5558B7DC) + (at 179.07 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EA8C) - (fp_text reference CC16 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC16 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7422,15 +6911,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7E2) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D5CA) (tstamp 5558B7E2) (at 184.277 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAE4) - (fp_text reference CC17 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC17 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7450,15 +6939,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7E8) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D5A9) (tstamp 5558B7E8) (at 189.23 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EAFA) - (fp_text reference CC18 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC18 (at -1.778 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7478,15 +6967,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 5558B7EE) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D2B1) (tstamp 5558B7EE) (at 194.437 132.207 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5558EACE) - (fp_text reference CC19 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC19 (at -1.651 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7529,7 +7018,7 @@ (pad 2 thru_hole oval (at 0 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 2.54 0 270) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 150 ReserveAD10)) + (net 149 ReserveAD10)) (model Pin_Headers.3dshapes/Pin_Header_Straight_1x03.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7564,7 +7053,7 @@ (pad 1 thru_hole circle (at -2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 73 "Net-(C8-Pad1)")) (pad 2 thru_hole circle (at 2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 151 "Net-(PRFA3-Pad2)")) + (net 150 "Net-(PRFA3-Pad2)")) (model walter/crystal/crystal_hc-49u.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7599,7 +7088,7 @@ (pad 1 thru_hole circle (at -2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 16 "Net-(C2-Pad1)")) (pad 2 thru_hole circle (at 2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 152 "Net-(PRFA4-Pad2)")) + (net 151 "Net-(PRFA4-Pad2)")) (model walter/crystal/crystal_hc-49u.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7634,7 +7123,7 @@ (pad 1 thru_hole circle (at -2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) (net 72 "Net-(C7-Pad1)")) (pad 2 thru_hole circle (at 2.54 0 180) (size 1.99898 1.99898) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 153 "Net-(PRFA5-Pad2)")) + (net 152 "Net-(PRFA5-Pad2)")) (model walter/crystal/crystal_hc-49u.wrl (at (xyz 0 0 0)) (scale (xyz 1 1 1)) @@ -7642,15 +7131,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 0) (tstamp 555BB40B) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560CFA0) (tstamp 555BB40B) (at 166.497 50.419 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /554C1C35/5558A184) - (fp_text reference CC20 (at 1.25 -2.5 90) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (fp_text reference CC20 (at 1.25 -2.5 180) (layer F.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125))) ) - (fp_text value 100nF (at 1.25 2.5 90) (layer F.Fab) + (fp_text value 100nF (at 1.25 2.5 90) (layer F.Fab) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) @@ -7670,15 +7159,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAB9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D360) (tstamp 555CEAB9) (at 186.69 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF76F) - (fp_text reference CC21 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC21 (at 4.064 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7698,15 +7187,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEABF) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D336) (tstamp 555CEABF) (at 181.61 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF79B) - (fp_text reference CC22 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC22 (at 4.064 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7726,15 +7215,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAC5) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D315) (tstamp 555CEAC5) (at 172.974 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7B1) - (fp_text reference CC23 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC23 (at -1.524 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7754,15 +7243,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEACB) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CE8B) (tstamp 555CEACB) (at 163.83 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF785) - (fp_text reference CC24 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC24 (at 3.937 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7782,15 +7271,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAD1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CE8F) (tstamp 555CEAD1) (at 158.75 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7DD) - (fp_text reference CC25 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC25 (at 3.937 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7810,15 +7299,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAD7) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CEB9) (tstamp 555CEAD7) (at 153.416 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7F3) - (fp_text reference CC26 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC26 (at 3.937 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7838,15 +7327,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEADD) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CEEF) (tstamp 555CEADD) (at 147.701 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF7C7) - (fp_text reference CC27 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC27 (at 3.937 -0.127 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7866,15 +7355,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAE3) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560CF0E) (tstamp 555CEAE3) (at 141.986 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF81F) - (fp_text reference CC28 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC28 (at 3.937 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7894,15 +7383,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAE9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D37E) (tstamp 555CEAE9) (at 191.77 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF835) - (fp_text reference CC29 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC29 (at 4.064 0 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7922,15 +7411,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555CEAEF) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D397) (tstamp 555CEAEF) (at 197.104 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555CF809) - (fp_text reference CC30 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC30 (at 4.064 0.127 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -7950,15 +7439,15 @@ ) ) - (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 554F2560) (tstamp 555CEAF5) + (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 5560CF7C) (tstamp 555CEAF5) (at 186.69 54.229) (descr "Resistor, Axial, RM 10mm, 1/3W,") (tags "Resistor, Axial, RM 10mm, 1/3W,") (path /553B3D38/555C6E5F) - (fp_text reference R37 (at 0.24892 -3.50012) (layer F.SilkS) + (fp_text reference R37 (at -0.254 -0.127) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) + (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -2.54 -1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) @@ -8016,15 +7505,15 @@ ) ) - (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 554F2560) (tstamp 555CEB01) - (at 186.69 51.562) + (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 5560CF80) (tstamp 555CEB01) + (at 186.69 50.673) (descr "Resistor, Axial, RM 10mm, 1/3W,") (tags "Resistor, Axial, RM 10mm, 1/3W,") (path /553B3D38/555C6EC6) - (fp_text reference R39 (at 0.24892 -3.50012) (layer F.SilkS) + (fp_text reference R39 (at -0.254 0) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) + (fp_text value 4,7K (at 0.127 0.127) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -2.54 -1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) @@ -8138,25 +7627,25 @@ (fp_line (start -13.97 -15.24) (end 12.7 -15.24) (layer F.SilkS) (width 0.15)) (fp_line (start 12.7 -15.24) (end 12.7 11.43) (layer F.SilkS) (width 0.15)) (pad SCL thru_hole rect (at -11.2 -6.35 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad DS thru_hole rect (at -11.2 -8.89 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) (pad SQ thru_hole rect (at -11.2 -11.43 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 187 "Net-(U8-PadSQ)")) + (net 185 "Net-(U8-PadSQ)")) (pad VCC thru_hole rect (at -11.2 -1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad SDA thru_hole rect (at -11.2 -3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad GND thru_hole rect (at -11.2 1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad Bat thru_hole rect (at -11.2 3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 188 "Net-(U8-PadBat)")) + (net 186 "Net-(U8-PadBat)")) (pad DS thru_hole rect (at 10.16 -7.62 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) (pad SDA thru_hole rect (at 10.16 -2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad SCL thru_hole rect (at 10.16 -5.08 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad VCC thru_hole rect (at 10.16 0 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad GND thru_hole rect (at 10.16 2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) @@ -8164,40 +7653,40 @@ (pad ~ thru_hole circle (at 10.3 9 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (pad ~ thru_hole circle (at -11.5 9 180) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask F.SilkS)) (pad DS thru_hole rect (at -12.7 -8.89 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) (pad SQ thru_hole rect (at -12.7 -11.43 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 187 "Net-(U8-PadSQ)")) + (net 185 "Net-(U8-PadSQ)")) (pad SCL thru_hole rect (at -12.7 -6.35 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad SDA thru_hole rect (at -12.7 -3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad VCC thru_hole rect (at -12.7 -1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad GND thru_hole rect (at -12.7 1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad Bat thru_hole rect (at -12.7 3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 188 "Net-(U8-PadBat)")) + (net 186 "Net-(U8-PadBat)")) (pad GND thru_hole rect (at 11.43 2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad VCC thru_hole rect (at 11.43 0 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad SDA thru_hole rect (at 11.43 -2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 154 SDA1)) + (net 189 SDA2)) (pad SCL thru_hole rect (at 11.43 -5.08 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SCL2)) + (net 187 SCL2)) (pad DS thru_hole rect (at 11.43 -7.62 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 186 "Net-(U8-PadDS)")) + (net 184 "Net-(U8-PadDS)")) ) - (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 554F2560) (tstamp 555E48E8) + (module ACS712:Resistor_Horizontal_RM10mm (layer F.Cu) (tedit 5560CF66) (tstamp 555E48E8) (at 157.3784 54.9021 180) (descr "Resistor, Axial, RM 10mm, 1/3W,") (tags "Resistor, Axial, RM 10mm, 1/3W,") (path /554BCB67/554C8CE5) - (fp_text reference R12 (at 0.24892 -3.50012 180) (layer F.SilkS) + (fp_text reference R12 (at 0.6604 0.0381 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "47K 0,1%" (at 0.127 0.127 180) (layer F.SilkS) + (fp_text value "47K 0,1%" (at 0.127 0.127 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -2.54 -1.27) (end 2.54 -1.27) (layer F.SilkS) (width 0.15)) @@ -8207,7 +7696,7 @@ (fp_line (start -2.54 0) (end -3.81 0) (layer F.SilkS) (width 0.15)) (fp_line (start 2.54 0) (end 3.81 0) (layer F.SilkS) (width 0.15)) (pad 1 thru_hole circle (at -5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 145 /Batteriespannung/Batteriespannung)) + (net 144 /Batteriespannung/Batteriespannung)) (pad 2 thru_hole circle (at 5.08 0 180) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 53 pinBatteryVoltage)) (model Resistors_ThroughHole/Resistor_Horizontal_RM10mm.wrl @@ -8222,15 +7711,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F8091) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D003) (tstamp 555F8091) (at 216.535 60.706 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA50B) - (fp_text reference CC31 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC31 (at -2.159 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8250,15 +7739,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F809D) - (at 216.662 66.294 180) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D032) (tstamp 555F809D) + (at 216.535 66.294 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA521) - (fp_text reference CC32 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC32 (at -2.032 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8278,15 +7767,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80A9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D0B1) (tstamp 555F80A9) (at 216.535 72.009 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA4F5) - (fp_text reference CC33 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC33 (at -2.159 -0.127 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8306,15 +7795,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80B5) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D10A) (tstamp 555F80B5) (at 216.535 78.105 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA54D) - (fp_text reference CC34 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC34 (at -2.159 -0.127 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8334,15 +7823,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80C1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D12C) (tstamp 555F80C1) (at 216.535 83.439 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA563) - (fp_text reference CC35 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC35 (at -2.032 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8362,15 +7851,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80CD) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D151) (tstamp 555F80CD) (at 216.535 100.076 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA537) - (fp_text reference CC36 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC36 (at -2.032 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8390,15 +7879,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80D9) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D179) (tstamp 555F80D9) (at 216.535 105.664 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA58F) - (fp_text reference CC37 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC37 (at -2.159 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8418,15 +7907,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80E5) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D1F6) (tstamp 555F80E5) (at 216.535 111.379 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA5A5) - (fp_text reference CC38 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC38 (at -2.159 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8446,15 +7935,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 555F80F1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D212) (tstamp 555F80F1) (at 216.535 118.618 180) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/555FA579) - (fp_text reference CC39 (at 1.25 2.5 180) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC39 (at -2.159 -0.127 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 180) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8474,12 +7963,12 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 55608E5B) (tstamp 55608FE1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D3F6) (tstamp 55608FE1) (at 98.552 84.201 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609DFC) - (fp_text reference CC4 (at 1.27 0 360) (layer B.SilkS) + (fp_text reference CC4 (at 1.143 -2.413 360) (layer B.SilkS) (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide @@ -8492,7 +7981,7 @@ (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl @@ -8502,26 +7991,26 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 55609635) (tstamp 55608FE7) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D666) (tstamp 55608FE7) (at 162.941 121.92 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609E28) - (fp_text reference CC6 (at 1.25 -2.5 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (fp_text reference CC6 (at -1.524 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) hide - (effects (font (size 1 1) (thickness 0.15))) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide + (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) - (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) + (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 -1.5) (end -0.9 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.9 -1.5) (end -0.9 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) + (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) + (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) + (net 134 +3V3)) + (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl (at (xyz 0.0492126 0 0)) @@ -8530,26 +8019,26 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 556092FB) (tstamp 55608FED) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D645) (tstamp 55608FED) (at 173.863 121.793 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609E3E) - (fp_text reference CC40 (at 1.25 -2.5 270) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.15))) + (fp_text reference CC40 (at -1.397 0 540) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 2.5 270) (layer F.Fab) hide - (effects (font (size 1 1) (thickness 0.15))) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide + (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 135 +3V3)) - (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) + (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start 3.4 -1.5) (end -0.9 -1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.9 -1.5) (end -0.9 1.5) (layer B.CrtYd) (width 0.05)) + (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) + (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) + (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) + (net 134 +3V3)) + (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl (at (xyz 0.0492126 0 0)) @@ -8558,15 +8047,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55608FF3) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D613) (tstamp 55608FF3) (at 179.324 121.92 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/55609E12) - (fp_text reference CC41 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC41 (at -1.524 0.127 360) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8576,7 +8065,7 @@ (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) + (net 134 +3V3)) (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl @@ -8614,15 +8103,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55608FFF) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D24B) (tstamp 55608FFF) (at 222.758 127) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5560A639) - (fp_text reference CC43 (at 1.25 2.5) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC43 (at 1.27 -2.286) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8642,15 +8131,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55609005) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D27B) (tstamp 55609005) (at 217.043 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /5558DDF4/5560A60D) - (fp_text reference CC44 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC44 (at -1.524 0 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8670,15 +8159,15 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 556094D1) + (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D3EB) (tstamp 556094D1) (at 101.346 60.96 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") (tags Capacitor) (path /553BDA33/5560BCE1) - (fp_text reference CC45 (at 1.25 2.5 90) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text reference CC45 (at 1.25 2.5 180) (layer B.SilkS) + (effects (font (size 0.5 0.5) (thickness 0.125)) (justify mirror)) ) - (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) + (fp_text value 100nF (at 1.25 -2.5 90) (layer B.Fab) hide (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) ) (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) @@ -8688,7 +8177,7 @@ (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) (pad 1 thru_hole rect (at 0 0 90) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 190 "Net-(CC45-Pad1)")) + (net 188 "Net-(CC45-Pad1)")) (pad 2 thru_hole circle (at 2.5 0 90) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) (net 1 GND)) (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl @@ -8698,3369 +8187,3910 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 0) (tstamp 55609B5D) - (at 188.087 148.082 270) - (descr "Capacitor 3mm Disc, Pitch 2.5mm") - (tags Capacitor) - (path /5558DDF4/5560DAA7) - (fp_text reference CC46 (at 1.25 2.5 270) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 55624909) (tstamp 55625DB4) + (at 233.426 129.54) + (descr "Diode, DO-15 package") + (path /5541A8DB) + (fp_text reference KE1 (at 0 0.127) (layer F.SilkS) + (effects (font (thickness 0.3048))) ) - (fp_text value 100nF (at 1.25 -2.5 270) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.15)) (justify mirror)) + (fp_text value 15KE33CA (at 0 -3.937) (layer F.SilkS) + (effects (font (thickness 0.3048))) ) - (fp_line (start -0.9 1.5) (end 3.4 1.5) (layer B.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end 3.4 -1.5) (layer B.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end -0.9 -1.5) (layer B.CrtYd) (width 0.05)) - (fp_line (start -0.9 -1.5) (end -0.9 1.5) (layer B.CrtYd) (width 0.05)) - (fp_line (start -0.25 1.25) (end 2.75 1.25) (layer B.SilkS) (width 0.15)) - (fp_line (start 2.75 -1.25) (end -0.25 -1.25) (layer B.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 270) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask B.SilkS) - (net 135 +3V3)) - (pad 2 thru_hole circle (at 2.5 0 270) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask B.SilkS) + (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -3.8 -1.8) (end 3.8 -1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start 3.8 -1.8) (end 3.8 1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start 3.8 1.8) (end -3.8 1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) + (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) + (pad 1 thru_hole circle (at -6 0) (size 2.2 2.2) (drill 1.2) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) - (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl - (at (xyz 0.0492126 0 0)) - (scale (xyz 1 1 1)) + (pad 2 thru_hole circle (at 6 0) (size 2.2 2.2) (drill 1.2) (layers *.Cu *.Mask F.SilkS) + (net 144 /Batteriespannung/Batteriespannung)) + (model walter/pth_diodes/diode_do35.wrl + (at (xyz 0 0 0)) + (scale (xyz 1.6 1.6 1.6)) (rotate (xyz 0 0 0)) ) ) - (gr_line (start 211.582 97.028) (end 214.122 99.568) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 139.7 40.005) (end 139.065 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 142.24 42.545) (end 139.7 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 140.335 38.1) (end 139.065 38.1) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 142.24 40.005) (end 140.335 38.1) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 142.24 42.545) (end 146.05 42.545) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 146.05 40.005) (end 142.24 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_text GND (at 193.548 42.672) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25))) - ) - (gr_text +5V (at 193.548 40.132) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25))) - ) - (gr_line (start 188.595 42.545) (end 191.516 42.545) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_line (start 188.468 40.005) (end 191.516 40.005) (angle 90) (layer F.SilkS) (width 0.5)) - (gr_text + (at 58.42 88.9) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) - ) - (gr_text -> (at 267.716 139.446) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) - ) - (gr_text -> (at 267.462 128.27 180) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) - ) - (gr_text "Read documentation before assembling and operating!" (at 81.534 143.256) (layer F.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.25))) - ) - (gr_line (start 96.52 132.588) (end 96.52 140.716) (angle 90) (layer F.SilkS) (width 0.3)) - (gr_text "LED Status" (at 113.03 140.97 90) (layer F.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify left)) - ) - (gr_line (start 111.76 132.588) (end 111.76 140.716) (angle 90) (layer F.SilkS) (width 0.3)) - (gr_text "http://www.ardumower.de\nhttps://www.marotronics.de/\n\nPCB layout : V 1.3\nSoftware version : V 500 or higher\nUZ" (at 97.409 107.823) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify left mirror)) - ) - (gr_text "RTC DS1307+" (at 168.148 107.188) (layer B.SilkS) - (effects (font (size 1.5 1.5) (thickness 0.25)) (justify mirror)) + (module ACS712:Diode_15KE33CA (layer F.Cu) (tedit 55624909) (tstamp 55625DCB) + (at 56.642 97.282 90) + (descr "Diode, DO-15 package") + (path /5540B0B9) + (fp_text reference KE2 (at 0 0.127 90) (layer F.SilkS) + (effects (font (thickness 0.3048))) + ) + (fp_text value 15KE33CA (at 0 -3.937 90) (layer F.SilkS) + (effects (font (thickness 0.3048))) + ) + (fp_line (start 2.413 -1.778) (end 2.413 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.413 1.778) (end 2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.286 1.778) (end 2.286 -1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.286 -1.778) (end 2.159 -1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.159 -1.778) (end 2.159 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start 2.54 -1.778) (end 2.54 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.159 -1.778) (end -2.159 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.286 -1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.413 -1.778) (end -2.413 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.413 1.778) (end -2.286 0.635) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.54 -1.778) (end -2.54 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -2.54 1.778) (end -2.286 1.778) (layer F.SilkS) (width 0.15)) + (fp_line (start -3.8 -1.8) (end 3.8 -1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start 3.8 -1.8) (end 3.8 1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start 3.8 1.8) (end -3.8 1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start -3.8 1.8) (end -3.8 -1.8) (layer F.SilkS) (width 0.3048)) + (fp_line (start 6 0) (end 3.8 0) (layer F.SilkS) (width 0.3048)) + (fp_line (start -6 0) (end -3.8 0) (layer F.SilkS) (width 0.3048)) + (pad 1 thru_hole circle (at -6 0 90) (size 2.2 2.2) (drill 1.2) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 2 thru_hole circle (at 6 0 90) (size 2.2 2.2) (drill 1.2) (layers *.Cu *.Mask F.SilkS) + (net 46 +24V)) + (model walter/pth_diodes/diode_do35.wrl + (at (xyz 0 0 0)) + (scale (xyz 1.6 1.6 1.6)) + (rotate (xyz 0 0 0)) + ) ) - (gr_text SQ (at 177.927 108.458) (layer B.SilkS) - (effects (font (size 1 1) (thickness 0.25)) (justify mirror)) + + 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167 "Net-(Dual1-Pad12)")) + (pad 13 thru_hole circle (at 35.56 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 7 pinMotorRightDir)) + (pad 14 thru_hole circle (at 38.1 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 8 pinMotorRightPWM)) + (pad 15 thru_hole circle (at 40.64 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 71 Power5)) + (pad 16 thru_hole circle (at 43.18 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 17 thru_hole circle (at 45.72 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 9 pinMotorRightFault)) + (pad 18 thru_hole circle (at 48.26 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 10 pinMotorRightSense)) + (pad 19 thru_hole circle (at 17.272 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 117 /Motortreiber/Dual1_Ms_Links/MotorLinksA)) + (pad 20 thru_hole circle (at 20.828 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 118 /Motortreiber/Dual1_Ms_Links/MotorLinksB)) + (pad 21 thru_hole circle (at 24.384 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 22 thru_hole circle (at 27.94 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 131 /Motortreiber/Dual1_Vin/Dual1_Vin)) + (pad 23 thru_hole circle (at 31.496 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 115 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsA)) + (pad 24 thru_hole circle (at 35.052 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 116 /Motortreiber/Dual1_Ms_Rechts/MotorRechtsB)) + (pad 25 thru_hole circle (at 17.78 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 26 thru_hole circle (at 20.32 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 27 thru_hole circle (at 27.94 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 28 thru_hole circle (at 30.48 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 29 thru_hole circle (at 33.02 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 30 thru_hole circle (at 40.64 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 31 thru_hole circle (at 43.18 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 6.2865 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 47.0535 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (model walter/pin_strip/pin_socket_18.wrl + (at (xyz 1.05 1.49 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) ) - (feature1 (pts (xy 278.765 87.63) (xy 292.83 87.63))) - (feature2 (pts (xy 278.765 40.64) (xy 292.83 40.64))) - (crossbar (pts (xy 290.83 40.64) (xy 290.83 87.63))) - (arrow1a (pts (xy 290.83 87.63) (xy 290.243579 86.503496))) - (arrow1b (pts (xy 290.83 87.63) (xy 291.416421 86.503496))) - (arrow2a (pts (xy 290.83 40.64) (xy 290.243579 41.766504))) - (arrow2b (pts (xy 290.83 40.64) (xy 291.416421 41.766504))) - ) - (dimension 36.83 (width 0.25) (layer B.Fab) - (gr_text "36,830 mm" (at 291.83 106.045 270) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.25))) + (model walter/pin_strip/pin_socket_11.wrl + (at (xyz 1.2 1.39 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) ) - (feature1 (pts (xy 278.765 124.46) (xy 292.83 124.46))) - (feature2 (pts (xy 278.765 87.63) (xy 292.83 87.63))) - (crossbar (pts (xy 290.83 87.63) (xy 290.83 124.46))) - (arrow1a (pts (xy 290.83 124.46) (xy 290.243579 123.333496))) - (arrow1b (pts (xy 290.83 124.46) (xy 291.416421 123.333496))) - (arrow2a (pts (xy 290.83 87.63) (xy 290.243579 88.756504))) - (arrow2b (pts (xy 290.83 87.63) (xy 291.416421 88.756504))) - ) - (dimension 271.78 (width 0.25) (layer B.Fab) - (gr_text "271,780 mm" (at 148.59 20.59) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.25))) + (model walter/pin_strip/pin_socket_8.wrl + (at (xyz 1.03 0.57 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) ) - (feature1 (pts (xy 284.48 30.48) (xy 284.48 19.59))) - (feature2 (pts (xy 12.7 30.48) (xy 12.7 19.59))) - (crossbar (pts (xy 12.7 21.59) (xy 284.48 21.59))) - (arrow1a (pts (xy 284.48 21.59) (xy 283.353496 22.176421))) - (arrow1b (pts (xy 284.48 21.59) (xy 283.353496 21.003579))) - (arrow2a (pts (xy 12.7 21.59) (xy 13.826504 22.176421))) - (arrow2b (pts (xy 12.7 21.59) (xy 13.826504 21.003579))) ) - (dimension 260.35 (width 0.25) (layer B.Fab) - (gr_text "260,350 mm" (at 148.59 23.13) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.25))) + + (module ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe (layer F.Cu) (tedit 54DFA4B1) (tstamp 55637C9A) + (at 265.43 82.55 90) + (path /553D8AD9/553DEB14) + (fp_text reference Dual2 (at 26.416 -31.877 90) (layer F.SilkS) + (effects (font (size 1.5 1.5) (thickness 0.15))) ) - (feature1 (pts (xy 278.765 40.64) (xy 278.765 22.13))) - (feature2 (pts (xy 18.415 40.64) (xy 18.415 22.13))) - (crossbar (pts (xy 18.415 24.13) (xy 278.765 24.13))) - (arrow1a (pts (xy 278.765 24.13) (xy 277.638496 24.716421))) - (arrow1b (pts (xy 278.765 24.13) (xy 277.638496 23.543579))) - (arrow2a (pts (xy 18.415 24.13) (xy 19.541504 24.716421))) - (arrow2b (pts (xy 18.415 24.13) (xy 19.541504 23.543579))) - ) - (dimension 241.3 (width 0.25) (layer B.Fab) - (gr_text "241,300 mm" (at 148.59 25.67) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.25))) + (fp_text value MC33926 (at 19.431 -23.876 90) (layer F.SilkS) + (effects (font (size 1.5 1.5) (thickness 0.15))) ) - (feature1 (pts (xy 269.24 30.48) (xy 269.24 24.67))) - (feature2 (pts (xy 27.94 30.48) (xy 27.94 24.67))) - (crossbar (pts (xy 27.94 26.67) (xy 269.24 26.67))) - (arrow1a (pts (xy 269.24 26.67) (xy 268.113496 27.256421))) - (arrow1b (pts (xy 269.24 26.67) (xy 268.113496 26.083579))) - (arrow2a (pts (xy 27.94 26.67) (xy 29.066504 27.256421))) - (arrow2b (pts (xy 27.94 26.67) (xy 29.066504 26.083579))) - ) - (dimension 118.11 (width 0.25) (layer B.Fab) - (gr_text "118,110 mm" (at 207.645 28.21) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.25))) + (fp_circle (center 17.78 -35.306) (end 17.907 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 20.32 -35.306) (end 20.447 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 27.94 -35.306) (end 28.067 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 30.48 -35.306) (end 30.607 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 33.02 -35.306) (end 33.147 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 40.64 -35.306) (end 40.767 -35.052) (layer F.SilkS) (width 0.15)) + (fp_circle (center 43.18 -35.306) (end 43.434 -35.179) (layer F.SilkS) (width 0.15)) + (fp_circle (center 6.2865 -13.3985) (end 7.0485 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_circle (center 47.0535 -13.3985) (end 47.8155 -13.9065) (layer F.SilkS) (width 0.15)) + (fp_line (start 3.81 -10.922) (end 3.81 -39.116) (layer F.SilkS) (width 0.15)) + (fp_line (start 3.81 -39.116) (end 49.53 -39.116) (layer F.SilkS) (width 0.15)) + (fp_line (start 49.53 -39.116) (end 49.53 -10.922) (layer F.SilkS) (width 0.15)) + (fp_line (start 49.53 -10.922) (end 3.81 -10.922) (layer F.SilkS) (width 0.15)) + (pad 24 thru_hole circle (at 35.052 -11.938 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (pad 23 thru_hole circle (at 31.496 -11.938 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (pad 22 thru_hole circle (at 27.94 -11.938 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin)) + (pad 21 thru_hole circle (at 24.384 -11.938 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 20 thru_hole circle (at 20.828 -11.938 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (pad 19 thru_hole circle (at 17.272 -11.938 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (pad 1 thru_hole circle (at 5.08 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 168 "Net-(Dual2-Pad1)")) + (pad 2 thru_hole circle (at 7.62 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 3 thru_hole circle (at 10.16 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 71 Power5)) + (pad 4 thru_hole circle (at 12.7 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 12 pinMotorMowDir)) + (pad 5 thru_hole circle (at 15.24 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 13 pinMotorMowPWM)) + (pad 6 thru_hole circle (at 17.78 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 71 Power5)) + (pad 7 thru_hole circle (at 20.32 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 8 thru_hole circle (at 22.86 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 14 pinMotorMowFault)) + (pad 9 thru_hole circle (at 25.4 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 105 "Net-(Dual2-Pad9)")) + (pad 10 thru_hole circle (at 27.94 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 11 pinMotorMowEnable)) + (pad 11 thru_hole circle (at 30.48 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 169 "Net-(Dual2-Pad11)")) + (pad 12 thru_hole circle (at 33.02 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 170 "Net-(Dual2-Pad12)")) + (pad 13 thru_hole circle (at 35.56 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 12 pinMotorMowDir)) + (pad 14 thru_hole circle (at 38.1 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 13 pinMotorMowPWM)) + (pad 15 thru_hole circle (at 40.64 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 71 Power5)) + (pad 16 thru_hole circle (at 43.18 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 17 thru_hole circle (at 45.72 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 14 pinMotorMowFault)) + (pad 18 thru_hole circle (at 48.26 -37.846 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 15 pinMotorMowSense)) + (pad 19 thru_hole circle (at 17.272 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (pad 20 thru_hole circle (at 20.828 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (pad 21 thru_hole circle (at 24.384 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 1 GND)) + (pad 22 thru_hole circle (at 27.94 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 132 /Motortreiber/Dual2_Vin/Dual2_Vin)) + (pad 23 thru_hole circle (at 31.496 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 119 /Motortreiber/Dual2_Ms_Mower/MotorMowerA)) + (pad 24 thru_hole circle (at 35.052 -14.478 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) + (net 120 /Motortreiber/Dual2_Ms_Mower/MotorMowerB)) + (pad 25 thru_hole circle (at 17.78 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 26 thru_hole circle (at 20.32 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 27 thru_hole circle (at 27.94 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 28 thru_hole circle (at 30.48 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 29 thru_hole circle (at 33.02 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 30 thru_hole circle (at 40.64 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad 31 thru_hole circle (at 43.18 -35.306 90) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 6.2865 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (pad ~ thru_hole circle (at 47.0535 -13.3985 90) (size 2 2) (drill 2) (layers *.Cu *.Mask F.SilkS)) + (model walter/pin_strip/pin_socket_18.wrl + (at (xyz 1.05 1.49 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) ) - (feature1 (pts (xy 266.7 33.02) (xy 266.7 27.21))) - (feature2 (pts (xy 148.59 33.02) (xy 148.59 27.21))) - (crossbar (pts (xy 148.59 29.21) (xy 266.7 29.21))) - (arrow1a (pts (xy 266.7 29.21) (xy 265.573496 29.796421))) - (arrow1b (pts (xy 266.7 29.21) (xy 265.573496 28.623579))) - (arrow2a (pts (xy 148.59 29.21) (xy 149.716504 29.796421))) - (arrow2b (pts (xy 148.59 29.21) (xy 149.716504 28.623579))) - ) - (dimension 118.11 (width 0.25) (layer B.Fab) - (gr_text "118,110 mm" (at 89.535 28.21) (layer B.Fab) - (effects (font (size 1 1) (thickness 0.25))) + (model walter/pin_strip/pin_socket_11.wrl + (at (xyz 1.2 1.39 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) + (model 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(tstamp 556A35EA)) + (segment (start 102.235 88.265) (end 113.03 88.265) (width 0.508) (layer B.Cu) (net 190) (tstamp 556A35E9)) + (via (at 102.235 88.265) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 102.235 76.835) (end 102.235 88.265) (width 0.508) (layer F.Cu) (net 190) (tstamp 556A35C9)) + (via (at 102.235 76.835) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 102.235 66.04) (end 102.235 76.835) (width 0.508) (layer B.Cu) (net 190) (tstamp 556A35BD)) + (segment (start 102.115 65.92) (end 102.235 66.04) (width 0.508) (layer B.Cu) (net 190) (tstamp 556A35BA)) (zone (net 1) (net_name GND) (layer F.Cu) (tstamp 551BEE97) (hatch edge 0.508) (connect_pads (clearance 0.508)) @@ -12102,7 +12132,7 @@ ) ) ) - (zone (net 112) (net_name Charg_Pin) (layer F.Cu) (tstamp 551BEEC2) (hatch edge 0.508) + (zone (net 111) (net_name Charg_Pin) (layer F.Cu) (tstamp 551BEEC2) (hatch edge 0.508) (connect_pads (clearance 0.508)) (min_thickness 0.254) (fill yes (arc_segments 16) (thermal_gap 0.508) (thermal_bridge_width 0.508)) diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net index 657b65b0f..cebf08962 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net @@ -1,7 +1,7 @@ (export (version D) (design - (source "C:/Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch") - (date "23.05.2015 17:07:16") + (source "C:\\Users\\Uwe\\Downloads\\ardumower\\pcb\\megashield_svn_1.3_geoeffnet\\ardumower mega shield svn.sch") + (date "08.06.2015 21:54:47") (tool "Eeschema (2015-05-08 BZR 5647)-product") (sheet (number 1) (name /) (tstamps /) (title_block @@ -324,7 +324,7 @@ (sheetpath (names /) (tstamps /)) (tstamp 541DF105)) (comp (ref RR1) - (value C0,1uF) + (value "(0,01uF) 10nF") (footprint ACS712:Kondensatorenleiste_8er_9pin_3D) (fields (field (name Bestellnummer) Value)) @@ -332,7 +332,7 @@ (sheetpath (names /) (tstamps /)) (tstamp 54994E69)) (comp (ref RR2) - (value C0,1uF) + (value "(0,01uF) 10nF") (footprint ACS712:Kondensatorenleiste_8er_9pin_3D) (libsource (lib "ardumower mega shield svn-cache") (part RR8)) (sheetpath (names /) (tstamps /)) @@ -405,7 +405,7 @@ (sheetpath (names /) (tstamps /)) (tstamp 54B48CE0)) (comp (ref RP2) - (value 150) + (value 220R) (footprint ACS712:DIP-16__300) (fields (field (name Bestellnummer) "C: 1055159 - 62")) @@ -464,7 +464,7 @@ (sheetpath (names /) (tstamps /)) (tstamp 552CF3A3)) (comp (ref RP1) - (value 150) + (value 220R) (footprint ACS712:DIP-16__300) (fields (field (name Bestellnummer) "C: 1055159 - 62")) @@ -494,20 +494,20 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /) (tstamps /)) (tstamp 553DC320)) - (comp (ref KE2) + (comp (ref DKE2) (value 15KE33CA) (footprint ACS712:Diode_15KE33CA) (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) (sheetpath (names /) (tstamps /)) (tstamp 5540B0B9)) - (comp (ref KE1) + (comp (ref DKE1) (value 15KE33CA) (footprint ACS712:Diode_15KE33CA) (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) (sheetpath (names /) (tstamps /)) (tstamp 5541A8DB)) (comp (ref CC1) - (value "100 nF") + (value 100nF) (footprint Capacitors_ThroughHole:C_Disc_D3_P2.5) (fields (field (name Bestellnummer) "R: KERKO 100N") @@ -515,6 +515,47 @@ (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) (sheetpath (names /) (tstamps /)) (tstamp 5558C608)) + (comp (ref CC5) + (value 100nf) + (fields + (field (name Bestellnummer) "R:KERKO 100N") + (field (name Bestelllink) http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N)) + (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) + (sheetpath (names /) (tstamps /)) + (tstamp 55722368)) + (comp (ref D1) + (value "MBR 1045") + (fields + (field (name Bestellnummer) "R: MBR 1045") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 557628C2)) + (comp (ref D2) + (value "MBR 1045") + (fields + (field (name Bestellnummer) "R: MBR 1045") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 55764E0D)) + (comp (ref D3) + (value "MBR 1045") + (fields + (field (name Bestellnummer) "R: MBR 1045") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 557673DD)) + (comp (ref D4) + (value 1N4148) + (footprint ACS712:Diode_ligend_RM10) + (datasheet "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A") + (fields + (field (name Bestellnummer) 1N4148)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 5576E06B)) (comp (ref P1) (value "Sonar C.") (footprint ACS712:Pin_Header_Straight_1x04) @@ -781,7 +822,8 @@ (value MowRpm) (footprint ACS712:Pin_Header_Straight_1x03) (fields - (field (name Bestellnummer) Value)) + (field (name Bestellnummer) Value) + (field (name Bestelllink) Value)) (libsource (lib "ardumower mega shield svn-cache") (part CONN_3)) (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) (tstamp 553E7063)) @@ -849,20 +891,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X08)) (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) (tstamp 553FFEDE)) - (comp (ref P38) - (value "Status LEDs GND") - (footprint ACS712:Pin_Header_Straight_1x08) - (fields - (field (name Bestellnummer) Value)) - (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X08)) - (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) - (tstamp 55401F07)) - (comp (ref P7) - (value "Status LEDs") - (footprint ACS712:Pin_Header_Straight_1x08) - (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X08)) - (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) - (tstamp 55403386)) (comp (ref R1) (value 220) (footprint ACS712:Resistor_Horizontal_RM15mm) @@ -895,6 +923,24 @@ (libsource (lib "ardumower mega shield svn-cache") (part CONN_3)) (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) (tstamp 55571682)) + (comp (ref R41) + (value 4,7K) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 5566DACB)) + (comp (ref P7) + (value "Status LEDs") + (footprint ACS712:Pin_Header_Straight_1x09) + (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X09)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 556A48CF)) + (comp (ref P38) + (value "Status LEDs GND") + (footprint ACS712:Pin_Header_Straight_1x09) + (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X09)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 556A5011)) (comp (ref U8) (value DS1307+) (footprint ACS712:Tiny_RTC_DS1307_geändert_mit_Bohrloch_4Lochreihen) @@ -934,14 +980,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part R)) (sheetpath (names "/serielle Schnittstelle/") (tstamps /553BDA33/)) (tstamp 553C3C5A)) - (comp (ref D8) - (value BlueLED) - (footprint ACS712:Diode_LED_5mm_round_vertical) - (fields - (field (name Bestellnummer) Value)) - (libsource (lib "ardumower mega shield svn-cache") (part CONN_2)) - (sheetpath (names "/serielle Schnittstelle/") (tstamps /553BDA33/)) - (tstamp 553C450A)) (comp (ref JP8) (value Blue5.0V) (footprint ACS712:Pin_Header_Straight_1x02) @@ -1138,13 +1176,13 @@ (tstamp 553D4D05)) (comp (ref Dual1) (value MC33926) - (footprint ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse) + (footprint ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe) (libsource (lib "ardumower mega shield svn-cache") (part MC33926)) (sheetpath (names /Motortreiber/) (tstamps /553D8AD9/)) (tstamp 553D8D88)) (comp (ref Dual2) (value MC33926) - (footprint ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse) + (footprint ACS712:MC_33926_31polig_mit_Bohrloch_neue_Masse_mit_zweite_Lochreihe) (libsource (lib "ardumower mega shield svn-cache") (part MC33926)) (sheetpath (names /Motortreiber/) (tstamps /553D8AD9/)) (tstamp 553DEB14)) @@ -1208,7 +1246,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part CP1)) (sheetpath (names /Motortreiber/) (tstamps /553D8AD9/)) (tstamp 5558C050)) - (comp (ref BY3) + (comp (ref DBY3) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1218,7 +1256,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual1_Ms_Rechts/) (tstamps /553D8AD9/5542A35A/)) (tstamp 554BE913)) - (comp (ref BY4) + (comp (ref DBY4) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1228,7 +1266,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual1_Ms_Rechts/) (tstamps /553D8AD9/5542A35A/)) (tstamp 554BE915)) - (comp (ref BY1) + (comp (ref DBY1) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1238,7 +1276,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual1_Ms_Rechts/) (tstamps /553D8AD9/5542A35A/)) (tstamp 554BE91C)) - (comp (ref BY2) + (comp (ref DBY2) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1282,7 +1320,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part CONN_2)) (sheetpath (names /Motortreiber/Dual1_Vin/) (tstamps /553D8AD9/5543A988/)) (tstamp 554BE923)) - (comp (ref KE3) + (comp (ref DKE3) (value 15KE33CA) (footprint ACS712:Diode_15KE33CA) (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) @@ -1294,7 +1332,15 @@ (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) (sheetpath (names /Motortreiber/Dual1_Vin/) (tstamps /553D8AD9/5543A988/)) (tstamp 5543B2C4)) - (comp (ref BY7) + (comp (ref C12) + (value "2200uF 63V") + (fields + (field (name Bestellnummer) Value) + (field (name Bestelllink) Value)) + (libsource (lib "ardumower mega shield svn-cache") (part CP1)) + (sheetpath (names /Motortreiber/Dual1_Vin/) (tstamps /553D8AD9/5543A988/)) + (tstamp 55723D66)) + (comp (ref DBY7) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM10) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1304,7 +1350,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual1_Ms_Links/) (tstamps /553D8AD9/554D3EE8/)) (tstamp 5542A3D9)) - (comp (ref BY8) + (comp (ref DBY8) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM10) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1314,7 +1360,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual1_Ms_Links/) (tstamps /553D8AD9/554D3EE8/)) (tstamp 5542A4FC)) - (comp (ref BY5) + (comp (ref DBY5) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM10) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1324,7 +1370,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual1_Ms_Links/) (tstamps /553D8AD9/554D3EE8/)) (tstamp 554BE91B)) - (comp (ref BY6) + (comp (ref DBY6) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM10) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1363,7 +1409,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) (sheetpath (names /Motortreiber/Dual1_Ms_Links/) (tstamps /553D8AD9/554D3EE8/)) (tstamp 554AC8CC)) - (comp (ref BY11) + (comp (ref DBY11) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1373,7 +1419,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual2_Ms_Mower/) (tstamps /553D8AD9/554D4C79/)) (tstamp 554BE914)) - (comp (ref BY12) + (comp (ref DBY12) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1383,7 +1429,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual2_Ms_Mower/) (tstamps /553D8AD9/554D4C79/)) (tstamp 554BE916)) - (comp (ref BY9) + (comp (ref DBY9) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1393,7 +1439,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /Motortreiber/Dual2_Ms_Mower/) (tstamps /553D8AD9/554D4C79/)) (tstamp 5542A6A6)) - (comp (ref BY10) + (comp (ref DBY10) (value "BY 500/1000") (footprint ACS712:Diode_liegend_BY500_1000_RM15) (datasheet https://www.reichelt.de/BY-500-1000/3/index.html?&ACTION=3&LA=446&ARTICLE=6337&artnr=BY+500%2F1000&SEARCH=BY+500%2F1000) @@ -1441,7 +1487,7 @@ (libsource (lib "ardumower mega shield svn-cache") (part CONN_2)) (sheetpath (names /Motortreiber/Dual2_Vin/) (tstamps /553D8AD9/554D9DA2/)) (tstamp 5543AA2F)) - (comp (ref KE4) + (comp (ref DKE4) (value 15KE33CA) (footprint ACS712:Diode_15KE33CA) (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) @@ -1453,6 +1499,14 @@ (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) (sheetpath (names /Motortreiber/Dual2_Vin/) (tstamps /553D8AD9/554D9DA2/)) (tstamp 554BE927)) + (comp (ref C13) + (value "2200uF 63V") + (fields + (field (name Bestellnummer) Value) + (field (name Bestelllink) Value)) + (libsource (lib "ardumower mega shield svn-cache") (part CP1)) + (sheetpath (names /Motortreiber/Dual2_Vin/) (tstamps /553D8AD9/554D9DA2/)) + (tstamp 55723BFA)) (comp (ref SP1) (value SPEAKER) (footprint ACS712:Buzzer_12x9.5RM7.6_RM5.0) @@ -1491,14 +1545,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part DC-DC_Stepdown)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E5460)) - (comp (ref ZD2) - (value "ZD-5W 5,1 Optional") - (footprint ACS712:Diode_ligend_RM10) - (fields - (field (name Bestellnummer) "R: ZD-5W 5,1")) - (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 553E5DC0)) (comp (ref C8) (value 100uF) (footprint ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0) @@ -1507,14 +1553,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part CP1)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E5E05)) - (comp (ref R25) - (value 0) - (footprint ACS712:Resistor_Horizontal_RM15mm) - (fields - (field (name Bestellnummer) Value)) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 553E6E97)) (comp (ref JP11) (value "pwr 5V") (footprint ACS712:Pin_Header_Straight_1x02) @@ -1529,14 +1567,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part DC-DC_Stepdown)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E7CE8)) - (comp (ref ZD1) - (value "ZD-5W 3,3V Optional") - (footprint ACS712:Diode_ligend_RM10) - (fields - (field (name Bestellnummer) "R: ZD-5W 3,3V")) - (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 553E7CFF)) (comp (ref C7) (value 100uF) (footprint ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0) @@ -1545,14 +1575,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part CP1)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E7D06)) - (comp (ref R24) - (value 0) - (footprint ACS712:Resistor_Horizontal_RM15mm) - (fields - (field (name Bestellnummer) Value)) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 553E7D11)) (comp (ref JP10) (value "pwr 3,3V") (footprint ACS712:Pin_Header_Straight_1x02) @@ -1569,14 +1591,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part DC-DC_Stepdown)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E9122)) - (comp (ref ZD3) - (value "ZD-5W 12V Optional") - (footprint ACS712:Diode_ligend_RM10) - (fields - (field (name Bestellnummer) "R: ZD-5W 12V")) - (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 553E9139)) (comp (ref C2) (value 100uF) (footprint ACS712:Elko_vert_11.2x6.3mm_RM2.5_RM5.0) @@ -1585,14 +1599,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part CP1)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E9140)) - (comp (ref R26) - (value 0) - (footprint ACS712:Resistor_Horizontal_RM15mm) - (fields - (field (name Bestellnummer) Value)) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 553E914B)) (comp (ref JP1) (value "pwr 10V") (footprint ACS712:Pin_Header_Straight_1x02) @@ -1601,33 +1607,110 @@ (libsource (lib "ardumower mega shield svn-cache") (part JUMPER)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 553E9158)) - (comp (ref PRFA5) - (value "PFRA 185") - (footprint ACS712:PRFA_500_stehend) - (fields - (field (name Bestellnummer) "R: PFRA 185") - (field (name Bestelllink) http://www.reichelt.de/index.html?ACTION=3;ARTICLE=35184;SEARCH=PFRA%20185)) - (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) - (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) - (tstamp 555B1C87)) (comp (ref PRFA3) - (value "PFRA 185") - (footprint ACS712:PRFA_500_stehend) + (value "PFRA 040") (fields - (field (name Bestellnummer) "R: PFRA 185") - (field (name Bestelllink) http://www.reichelt.de/index.html?ACTION=3;ARTICLE=35184;SEARCH=PFRA%20185)) + (field (name Bestellnummer) "R: PFRA 040") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 555B2389)) (comp (ref PRFA4) - (value "PFRA 185") + (value "PFRA 040") (footprint ACS712:PRFA_500_stehend) (fields - (field (name Bestellnummer) "R: PFRA 185") - (field (name Bestelllink) http://www.reichelt.de/index.html?ACTION=3;ARTICLE=35184;SEARCH=PFRA%20185)) + (field (name Bestellnummer) "R: PFRA 040") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) (tstamp 555B2AC8)) + (comp (ref DBY13) + (value "BY 500/1000") + (footprint ACS712:Diode_liegend_BY500_1000_RM15) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 5571FCFE)) + (comp (ref DBY14) + (value "BY 500/1000") + (footprint ACS712:Diode_liegend_BY500_1000_RM15) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 557200E3)) + (comp (ref PRFA6) + (value "PFRA 040") + (fields + (field (name Bestellnummer) "R: PFRA 040") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) + (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 557204F7)) + (comp (ref DKE5) + (value 15KE33CA) + (footprint ACS712:Diode_15KE33CA) + (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 5572085B)) + (comp (ref PRFA5) + (value "PFRA 040") + (fields + (field (name Bestellnummer) "R: PFRA 040") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) + (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 5575F491)) + (comp (ref PRFA8) + (value "PFRA 040") + (fields + (field (name Bestellnummer) "R: PFRA 040") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) + (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 5575FF8A)) + (comp (ref DBY16) + (value "BY 500/1000") + (footprint ACS712:Diode_liegend_BY500_1000_RM15) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 55760557)) + (comp (ref DBY18) + (value "BY 500/1000") + (footprint ACS712:Diode_liegend_BY500_1000_RM15) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 5576055D)) + (comp (ref DKE7) + (value 15KE33CA) + (footprint ACS712:Diode_15KE33CA) + (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 55760568)) + (comp (ref DBY17) + (value "BY 500/1000") + (footprint ACS712:Diode_liegend_BY500_1000_RM15) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 5576199E)) + (comp (ref DBY15) + (value "BY 500/1000") + (footprint ACS712:Diode_liegend_BY500_1000_RM15) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 55761C96)) + (comp (ref DKE6) + (value 15KE33CA) + (footprint ACS712:Diode_15KE33CA) + (libsource (lib "ardumower mega shield svn-cache") (part 15KEXXC)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 55761C9E)) + (comp (ref PRFA7) + (value "PFRA 040") + (footprint ACS712:PRFA_500_stehend) + (fields + (field (name Bestellnummer) "R: PFRA 040") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) + (libsource (lib "ardumower mega shield svn-cache") (part F_10A)) + (sheetpath (names /Stepdownwandler/) (tstamps /553E526C/)) + (tstamp 55762018)) (comp (ref Q3) (value IRF9540N) (footprint Transistors_TO-220:TO-220_FET-GDS_Vertical) @@ -1785,15 +1868,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part Z-DIODE)) (sheetpath (names /Batteriespannung/) (tstamps /554BCB67/)) (tstamp 554BCD9F)) - (comp (ref CC5) - (value 100nF) - (footprint Capacitors_ThroughHole:C_Disc_D3_P2.5) - (fields - (field (name Bestellnummer) "R: KERKO 100N") - (field (name Bestelllink) http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N)) - (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) - (sheetpath (names /Batteriespannung/) (tstamps /554BCB67/)) - (tstamp 5558A3B2)) (comp (ref R9) (value "47K 0,1%") (footprint ACS712:Resistor_Horizontal_RM10mm) @@ -1821,15 +1895,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part Z-DIODE)) (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) (tstamp 554C8CE7)) - (comp (ref CC20) - (value 100nF) - (footprint Capacitors_ThroughHole:C_Disc_D3_P2.5) - (fields - (field (name Bestellnummer) "R: KERKO 100N") - (field (name Bestelllink) http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N)) - (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) - (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) - (tstamp 5558A184)) (comp (ref Q2) (value IRF9530N) (footprint Transistors_TO-220:TO-220_FET-GDS_Vertical) @@ -2372,6 +2437,25 @@ (pin (num 6) (name P6) (type passive)) (pin (num 7) (name P7) (type passive)) (pin (num 8) (name P8) (type passive)))) + (libpart (lib "ardumower mega shield svn-cache") (part CONN_01X09) + (footprints + (fp Pin_Header_Straight_1X09) + (fp Pin_Header_Angled_1X09) + (fp Socket_Strip_Straight_1X09) + (fp Socket_Strip_Angled_1X09)) + (fields + (field (name Reference) P) + (field (name Value) CONN_01X09)) + (pins + (pin (num 1) (name P1) (type passive)) + (pin (num 2) (name P2) (type passive)) + (pin (num 3) (name P3) (type passive)) + (pin (num 4) (name P4) (type passive)) + (pin (num 5) (name P5) (type passive)) + (pin (num 6) (name P6) (type passive)) + (pin (num 7) (name P7) (type passive)) + (pin (num 8) (name P8) (type passive)) + (pin (num 9) (name P9) (type passive)))) (libpart (lib "ardumower mega shield svn-cache") (part CONN_2) (fields (field (name Reference) P) @@ -2631,959 +2715,987 @@ (library (logical "ardumower mega shield svn-cache") (uri "C:\\Users\\Uwe\\Downloads\\ardumower\\pcb\\megashield_svn_1.3_geoeffnet\\ardumower mega shield svn-cache.lib"))) (nets - (net (code 1) (name "Net-(LP36-Pad2)") - (node (ref RR2) (pin 6)) - (node (ref LP36) (pin 2))) - (net (code 2) (name TX1) - (node (ref R15) (pin 1)) - (node (ref SHIELD1) (pin 18))) - (net (code 3) (name pinBuzzer) - (node (ref SP1) (pin 2)) - (node (ref SHIELD1) (pin 53))) - (net (code 4) (name ReservePin49) - (node (ref SHIELD1) (pin 49)) - (node (ref P35) (pin 3))) - (net (code 5) (name pinMotorMowSense) - (node (ref Dual2) (pin 18)) - (node (ref RP1) (pin 5))) - (net (code 6) (name "Net-(RP1-Pad12)") - (node (ref RR1) (pin 5)) - (node (ref RP1) (pin 12)) - (node (ref SHIELD1) (pin AD3))) - (net (code 7) (name "Net-(D11-Pad1)") - (node (ref R19) (pin 2)) - (node (ref D11) (pin 1))) - (net (code 8) (name "Net-(D10-Pad2)") - (node (ref D11) (pin 2)) - (node (ref K3) (pin 8)) - (node (ref D10) (pin 2))) - (net (code 9) (name "Net-(EF2-Pad1)") - (node (ref EF2) (pin 1)) - (node (ref P47) (pin 2))) - (net (code 10) (name SDA1) - (node (ref SHIELD1) (pin 20)) - (node (ref P24) (pin 3)) - (node (ref P23) (pin 3)) - (node (ref P5) (pin 3)) - (node (ref U10) (pin 3)) - (node (ref U8) (pin SDA))) - (net (code 11) (name RX1) - (node (ref SHIELD1) (pin 19)) - (node (ref U11) (pin TX)) - (node (ref R14) (pin 1)) - (node (ref P44) (pin 3))) - (net (code 12) (name SCL2) - (node (ref U8) (pin SCL)) - (node (ref P24) (pin 4)) - (node (ref P5) (pin 4)) - (node (ref SHIELD1) (pin 21)) - (node (ref P23) (pin 4)) - (node (ref U10) (pin 2))) - (net (code 13) (name pinPerimeterRight) - (node (ref P30) (pin 3)) - (node (ref RP1) (pin 4))) - (net (code 14) (name "Net-(LP35-Pad2)") + (net (code 1) (name pinBatteryVoltage) + (node (ref RP1) (pin 6)) + (node (ref ZD4) (pin 2)) + (node (ref R13) (pin 1)) + (node (ref R12) (pin 2))) + (net (code 2) (name "Net-(LP35-Pad2)") (node (ref RR2) (pin 2)) (node (ref LP35) (pin 2))) - (net (code 15) (name ReserveAD10) - (node (ref P49) (pin 3)) - (node (ref RP2) (pin 6))) - (net (code 16) (name pinChargeVoltage) - (node (ref RP2) (pin 7)) + (net (code 3) (name ReserveAD10) + (node (ref RP2) (pin 6)) + (node (ref P49) (pin 3))) + (net (code 4) (name pinChargeVoltage) (node (ref ZD8) (pin 2)) + (node (ref RP2) (pin 7)) (node (ref R10) (pin 1)) - (node (ref CC20) (pin 1)) (node (ref R9) (pin 2))) - (net (code 17) (name pinChargeCurrent) + (net (code 5) (name pinChargeCurrent) (node (ref U3) (pin 3)) (node (ref RP2) (pin 8))) - (net (code 18) (name pinMotorRightSense) - (node (ref RP1) (pin 8)) - (node (ref Dual1) (pin 18))) - (net (code 19) (name pinMotorLeftSense) + (net (code 6) (name pinMotorRightSense) + (node (ref Dual1) (pin 18)) + (node (ref RP1) (pin 8))) + (net (code 7) (name pinMotorLeftSense) (node (ref RP1) (pin 7)) (node (ref Dual1) (pin 9))) - (net (code 20) (name pinBatteryVoltage) - (node (ref CC5) (pin 1)) - (node (ref ZD4) (pin 2)) - (node (ref R12) (pin 2)) - (node (ref R13) (pin 1)) - (node (ref RP1) (pin 6))) - (net (code 21) (name pinPerimeterLeft) + (net (code 8) (name pinPerimeterRight) + (node (ref RP1) (pin 4)) + (node (ref P30) (pin 3))) + (net (code 9) (name pinPerimeterLeft) (node (ref RP1) (pin 3)) (node (ref P12) (pin 3))) - (net (code 22) (name ReserveAD6) - (node (ref JP16) (pin 1)) + (net (code 10) (name ReserveAD6) (node (ref P22) (pin 3)) - (node (ref RP1) (pin 2))) - (net (code 23) (name "Voltage measurement") - (node (ref P14) (pin 3)) - (node (ref RP1) (pin 1)) + (node (ref RP1) (pin 2)) + (node (ref JP16) (pin 1))) + (net (code 11) (name "Voltage measurement") (node (ref JP14) (pin 2)) + (node (ref P14) (pin 3)) + (node (ref JP13) (pin 2)) (node (ref JP15) (pin 2)) - (node (ref JP13) (pin 2))) - (net (code 24) (name PowerA3,3) + (node (ref RP1) (pin 1))) + (net (code 12) (name PowerA3,3) (node (ref JP3) (pin 2)) - (node (ref SHIELD1) (pin 3V3)) - (node (ref JP15) (pin 1))) - (net (code 25) (name "Net-(K3-Pad12)") - (node (ref U3) (pin 4)) - (node (ref K3) (pin 12))) - (net (code 26) (name "Net-(LP32-Pad2)") - (node (ref LP32) (pin 2)) - (node (ref RR2) (pin 5))) - (net (code 27) (name "Net-(LP33-Pad2)") - (node (ref LP33) (pin 2)) - (node (ref RR2) (pin 4))) - (net (code 28) (name "Net-(LP34-Pad2)") - (node (ref LP34) (pin 2)) - (node (ref RR2) (pin 3))) - (net (code 29) (name "Net-(SHIELD1-PadFREI)") - (node (ref SHIELD1) (pin FREI))) - (net (code 30) (name "Net-(SHIELD1-PadIORE)") - (node (ref SHIELD1) (pin IORE))) - (net (code 31) (name Reset) - (node (ref SHIELD1) (pin RST)) - (node (ref P48) (pin 3))) - (net (code 32) (name pinButton) - (node (ref SHIELD1) (pin 51)) - (node (ref D15) (pin 1))) - (net (code 33) (name "/UnterSpannungsSchutz/Batterieeingang 24V") - (node (ref ZD6) (pin 2)) - (node (ref R28) (pin 1)) - (node (ref Q3) (pin S)) - (node (ref C9) (pin 1)) - (node (ref Q5) (pin S)) - (node (ref ZD7) (pin 2))) - (net (code 34) (name "Net-(K3-Pad14)") - (node (ref K3) (pin 14))) - (net (code 35) (name pinUndervoltageSwitch) - (node (ref R35) (pin 2)) - (node (ref SHIELD1) (pin 4))) - (net (code 36) (name /Verpols.L/Verpols.L.aus) - (node (ref ZD5) (pin 2)) - (node (ref K3) (pin 16)) - (node (ref R19) (pin 1)) - (node (ref R11) (pin 1)) - (node (ref Q2) (pin S))) - (net (code 37) (name "Net-(K3-Pad5)") - (node (ref K3) (pin 5)) - (node (ref U3) (pin 5))) - (net (code 38) (name /Ladespannung/Ladespannung) - (node (ref R9) (pin 1)) - (node (ref EF1) (pin 1)) - (node (ref Q2) (pin D))) - (net (code 39) (name "Net-(JP12-Pad2)") + (node (ref JP15) (pin 1)) + (node (ref SHIELD1) (pin 3V3))) + (net (code 13) (name "Net-(JP12-Pad2)") (node (ref JP12) (pin 2)) (node (ref SHIELD1) (pin 5V))) - (net (code 40) (name /Batteriespannung/Batteriespannung) - (node (ref P47) (pin 1)) - (node (ref KE1) (pin 2)) - (node (ref Q5) (pin D)) - (node (ref K3) (pin 1)) - (node (ref R12) (pin 1))) - (net (code 41) (name +24V) - (node (ref BY7) (pin 2)) - (node (ref BY3) (pin 2)) - (node (ref PRFA2) (pin 1)) - (node (ref BY5) (pin 2)) - (node (ref BY1) (pin 2)) - (node (ref U1) (pin 3)) - (node (ref P39) (pin 2)) - (node (ref Q3) (pin D)) - (node (ref R2) (pin 1)) - (node (ref U6) (pin 3)) - (node (ref U7) (pin 3)) - (node (ref BY9) (pin 2)) - (node (ref C5) (pin 1)) - (node (ref BY11) (pin 2)) - (node (ref P36) (pin 2)) - (node (ref KE2) (pin 2)) - (node (ref PRFA1) (pin 1))) - (net (code 42) (name Led-Status) - (node (ref P7) (pin 8)) - (node (ref R5) (pin 2))) - (net (code 43) (name "Net-(EF2-Pad2)") - (node (ref EF2) (pin 2)) - (node (ref P43) (pin 1))) - (net (code 44) (name pinMotorRightPWM) - (node (ref SHIELD1) (pin 3)) - (node (ref Dual1) (pin 14))) - (net (code 45) (name pinMotorMowEnable) - (node (ref SHIELD1) (pin 28)) - (node (ref Dual2) (pin 10))) - (net (code 46) (name StationLed) - (node (ref R11) (pin 2)) - (node (ref P7) (pin 5))) - (net (code 47) (name DuoLED_Grün) - (node (ref P7) (pin 6)) - (node (ref R21) (pin 2))) - (net (code 48) (name DuoLED-Rot) - (node (ref R20) (pin 2)) - (node (ref P7) (pin 7))) - (net (code 49) (name "Net-(R21-Pad1)") - (node (ref SHIELD1) (pin 6)) - (node (ref R21) (pin 1))) - (net (code 50) (name pinMotorMowDir) - (node (ref Dual2) (pin 4)) - (node (ref Dual2) (pin 13)) - (node (ref SHIELD1) (pin 29))) - (net (code 51) (name "Net-(Q1-PadB)") - (node (ref Q1) (pin B)) - (node (ref R18) (pin 2))) - (net (code 52) (name DropLeft) - (node (ref SHIELD1) (pin 45)) - (node (ref D5) (pin 1))) - (net (code 53) (name "Net-(SHIELD1-PadSDA1)") - (node (ref SHIELD1) (pin SDA1))) - (net (code 54) (name pinMotorLeftDir) - (node (ref Dual1) (pin 4)) - (node (ref SHIELD1) (pin 31))) - (net (code 55) (name pinMotorRightDir) - (node (ref Dual1) (pin 13)) - (node (ref SHIELD1) (pin 33))) - (net (code 56) (name pinSonarCenterEcho) - (node (ref P1) (pin 4)) - (node (ref SHIELD1) (pin 22))) - (net (code 57) (name pinSonarRightEcho) - (node (ref P2) (pin 4)) - (node (ref SHIELD1) (pin 32))) - (net (code 58) (name pinSonarLeftEcho) - (node (ref SHIELD1) (pin 36)) - (node (ref P3) (pin 4))) - (net (code 59) (name pinMotorMowFault) - (node (ref Dual2) (pin 8)) - (node (ref Dual2) (pin 17)) - (node (ref SHIELD1) (pin 26))) - (net (code 60) (name pinMotorLeftFault) - (node (ref SHIELD1) (pin 25)) - (node (ref Dual1) (pin 8))) - (net (code 61) (name pinMotorRightFault) - (node (ref Dual1) (pin 17)) - (node (ref SHIELD1) (pin 27))) - (net (code 62) (name pinBumperLeft) - (node (ref SHIELD1) (pin 39)) - (node (ref P11) (pin 4))) - (net (code 63) (name "Net-(SHIELD1-PadSCL1)") - (node (ref SHIELD1) (pin SCL1))) - (net (code 64) (name "Net-(SHIELD1-PadAREF)") - (node (ref SHIELD1) (pin AREF))) - (net (code 65) (name ReservePin0) - (node (ref SHIELD1) (pin 0)) - (node (ref P27) (pin 3))) - (net (code 66) (name pinLawnFrontSend) - (node (ref SHIELD1) (pin 41)) - (node (ref R4) (pin 2))) - (net (code 67) (name pinMotorLeftPWM) - (node (ref Dual1) (pin 5)) - (node (ref SHIELD1) (pin 5))) - (net (code 68) (name pinMotorMowPWM) - (node (ref SHIELD1) (pin 2)) - (node (ref Dual2) (pin 14)) - (node (ref Dual2) (pin 5))) - (net (code 69) (name pinRain) - (node (ref SHIELD1) (pin 44)) - (node (ref P41) (pin 3))) - (net (code 70) (name pinSonarLeftTrigger) - (node (ref P3) (pin 3)) - (node (ref SHIELD1) (pin 34))) - (net (code 71) (name pinUserSwitch3) - (node (ref SHIELD1) (pin 48)) - (node (ref P40) (pin 5))) - (net (code 72) (name pinSonarCenterTrigger) - (node (ref P1) (pin 3)) - (node (ref SHIELD1) (pin 24))) - (net (code 73) (name pinRemoteMow) - (node (ref SHIELD1) (pin 12)) - (node (ref P13) (pin 3))) - (net (code 74) (name pinUserSwitch2) - (node (ref P40) (pin 4)) - (node (ref SHIELD1) (pin 47))) - (net (code 75) (name pinLawnBackRecv) - (node (ref SHIELD1) (pin 42)) - (node (ref P6) (pin 4))) - (net (code 76) (name pinTilt) - (node (ref SHIELD1) (pin 35)) - (node (ref P19) (pin 3))) - (net (code 77) (name RX2) - (node (ref SHIELD1) (pin 17)) - (node (ref R8) (pin 1)) - (node (ref U2) (pin TXD))) - (net (code 78) (name GPS_TX) - (node (ref SHIELD1) (pin 15)) - (node (ref P10) (pin 4))) - (net (code 79) (name pinLawnBackSend) - (node (ref R3) (pin 2)) - (node (ref SHIELD1) (pin 43))) - (net (code 80) (name pinSonarRightTrigger) - (node (ref SHIELD1) (pin 30)) - (node (ref P2) (pin 3))) - (net (code 81) (name pinMotorEnable) - (node (ref SHIELD1) (pin 37)) - (node (ref Dual1) (pin 10))) - (net (code 82) (name "Net-(D10-Pad1)") - (node (ref D10) (pin 1)) - (node (ref Q1) (pin C)) - (node (ref K3) (pin 9))) - (net (code 83) (name pinRemoteSwitch) + (net (code 14) (name "Net-(LP32-Pad2)") + (node (ref RR2) (pin 5)) + (node (ref LP32) (pin 2))) + (net (code 15) (name "Net-(LP33-Pad2)") 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(node (ref CC37) (pin 1)) - (node (ref P25) (pin 1)) - (node (ref P12) (pin 1)) - (node (ref P30) (pin 1)) (node (ref CC22) (pin 1)) - (node (ref P48) (pin 1)) - (node (ref CC26) (pin 1)) + (node (ref P3) (pin 1)) + (node (ref CC23) (pin 1)) + (node (ref CC21) (pin 1)) + (node (ref CC37) (pin 1)) + (node (ref P33) (pin 5)) + (node (ref JP12) (pin 1)) + (node (ref CC24) (pin 1)) + (node (ref P2) (pin 1)) (node (ref P46) (pin 1)) - (node (ref U10) (pin 1)) - (node (ref Dual1) (pin 15)) - (node (ref CC25) (pin 1)) - (node (ref P31) (pin 1)) - (node (ref P41) (pin 1)) - (node (ref P5) (pin 1)) - (node (ref CC7) (pin 1)) - (node (ref P45) (pin 1)) + (node (ref C3) (pin 1)) + (node (ref CC39) (pin 1)) + (node (ref CC32) (pin 1)) + (node (ref P23) (pin 1)) + (node (ref C10) (pin 1)) + (node (ref CC34) (pin 1)) + (node (ref CC9) (pin 1)) + (node (ref CC13) (pin 1)) + (node (ref U3) (pin 1)) + (node (ref CC36) (pin 1)) + (node (ref P13) (pin 1)) + (node (ref CC28) (pin 1)) + (node (ref CC31) (pin 1)) + (node (ref CC33) (pin 1)) + (node (ref CC44) (pin 1)) + (node (ref CC35) (pin 1)) + (node (ref CC29) (pin 1)) + (node (ref CC30) (pin 1)) + (node (ref C11) (pin 1)) + (node (ref P33) (pin 1)) (node (ref JP14) (pin 1)) (node (ref Dual1) (pin 3)) - (node (ref P4) (pin 1)) - (node (ref P23) (pin 1)) + (node (ref P10) (pin 1)) (node (ref Dual1) (pin 6)) - (node (ref P24) (pin 1)) - (node (ref CC23) (pin 1)) - (node (ref CC27) (pin 1)) - (node (ref JP8) (pin 1)) (node (ref R8) (pin 2)) - (node (ref CC24) (pin 1)) - (node (ref C10) (pin 1)) + (node (ref JP8) (pin 1)) + (node (ref Dual1) (pin 15)) + (node (ref JP11) (pin 2)) + (node (ref P35) (pin 1)) + (node (ref P25) (pin 1)) + (node (ref P30) (pin 1)) + (node (ref P12) (pin 1)) (node (ref U8) (pin VCC)) + (node (ref P4) (pin 1)) (node (ref P21) (pin 1)) - (node (ref CC21) (pin 1)) - (node (ref JP11) (pin 2)) - (node (ref CC17) (pin 1)) - (node (ref CC19) (pin 1)) - (node (ref P10) (pin 1)) + (node (ref R41) (pin 2)) + (node (ref 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(pin AD0)) + (node (ref RR1) (pin 2))) + (net (code 24) (name Power) (node (ref SHIELD1) (pin V_IN)) (node (ref JP1) (pin 2))) - (net (code 88) (name "Net-(RP1-Pad16)") + (net (code 25) (name "Net-(RP1-Pad16)") + (node (ref RP1) (pin 16)) (node (ref SHIELD1) (pin AD7)) - (node (ref RR1) (pin 9)) - (node (ref RP1) (pin 16))) - (net (code 89) (name "Net-(RP1-Pad15)") - (node (ref RP1) (pin 15)) + (node (ref RR1) (pin 9))) + (net (code 26) (name "Net-(RP1-Pad15)") (node (ref SHIELD1) (pin AD6)) + (node (ref RP1) (pin 15)) (node (ref RR1) (pin 8))) - (net (code 90) (name "Net-(RP1-Pad14)") - (node (ref RP1) (pin 14)) + (net (code 27) (name "Net-(RP1-Pad14)") (node (ref SHIELD1) (pin AD5)) + (node (ref RP1) (pin 14)) (node (ref RR1) (pin 7))) - (net (code 91) (name "Net-(RP1-Pad13)") + (net (code 28) (name "Net-(RP1-Pad13)") + (node (ref SHIELD1) (pin AD4)) (node (ref RP1) (pin 13)) - (node (ref RR1) (pin 6)) - (node (ref SHIELD1) (pin AD4))) - (net (code 92) (name "Net-(RP1-Pad11)") + (node (ref RR1) (pin 6))) + (net (code 29) (name "Net-(RP1-Pad12)") + (node (ref RP1) (pin 12)) + (node (ref SHIELD1) (pin AD3)) + (node (ref RR1) (pin 5))) + (net (code 30) (name "Net-(RP1-Pad11)") (node (ref RR1) (pin 4)) (node (ref SHIELD1) (pin AD2)) (node (ref RP1) (pin 11))) - (net (code 93) (name "Net-(RP1-Pad9)") - (node (ref SHIELD1) (pin AD0)) - (node (ref RR1) (pin 2)) - (node (ref RP1) (pin 9))) - (net (code 94) (name "Net-(RP2-Pad9)") - (node (ref RP2) (pin 9)) + (net (code 31) (name "Net-(RP1-Pad10)") + (node (ref SHIELD1) (pin AD1)) + (node (ref RP1) (pin 10)) + (node (ref RR1) (pin 3))) + (net (code 32) (name "Net-(RP2-Pad9)") + (node (ref SHIELD1) (pin AD8)) (node (ref RR2) (pin 9)) - (node (ref SHIELD1) (pin AD8))) - (net (code 95) (name "Net-(RP2-Pad11)") + (node (ref RP2) (pin 9))) + (net (code 33) (name /Verpols.L/Verpol.s.L.in) + (node (ref Q2) (pin D))) + (net (code 34) (name Reset) + (node (ref SHIELD1) (pin RST)) + (node (ref P48) (pin 3))) + (net (code 35) (name /Verpols.L/Verpols.L.aus) + (node (ref Q2) (pin S)) + (node (ref ZD5) (pin 2))) + (net (code 36) (name pinUndervoltageSwitch) + (node (ref SHIELD1) (pin 4)) + (node (ref R35) (pin 2))) + (net (code 37) (name pinButton) + (node (ref D15) (pin 1)) + (node (ref SHIELD1) (pin 51))) + (net (code 38) (name /Verpols.B/Verpols.B.aus) + (node (ref Q5) (pin S)) + (node (ref ZD7) (pin 2))) + (net (code 39) (name /Verpols.B/Verpol.s.B.in) + (node (ref Q5) (pin D))) + (net (code 40) (name "Net-(SHIELD1-PadFREI)") + (node (ref SHIELD1) (pin FREI))) + (net (code 41) (name "Net-(SHIELD1-PadIORE)") + (node (ref SHIELD1) (pin IORE))) + (net (code 42) (name "/UnterSpannungsSchutz/Batterieeingang 24V") + (node (ref C9) (pin 1)) + (node (ref ZD6) (pin 2)) + (node (ref D2) (pin 2)) + (node (ref P47) (pin 1)) + (node (ref K3) (pin 1)) + (node (ref Q3) (pin S)) + (node (ref R12) (pin 1)) + (node (ref DKE1) (pin 2)) + (node (ref R28) (pin 1))) + (net (code 43) (name TX1) + (node (ref SHIELD1) (pin 18)) + (node (ref R15) (pin 1))) + (net (code 44) (name ReservePin49) + (node (ref SHIELD1) (pin 49)) + (node (ref P35) (pin 3))) + (net (code 45) (name "Net-(LP36-Pad2)") + (node (ref RR2) (pin 6)) + (node (ref LP36) (pin 2))) + (net (code 46) (name pinMotorMowSense) + (node (ref Dual2) (pin 18)) + (node (ref RP1) (pin 5))) + (net (code 47) (name "Net-(D11-Pad1)") + (node (ref D11) (pin 1)) + (node (ref R19) (pin 2))) + (net (code 48) (name "Net-(K3-Pad5)") + (node (ref U3) (pin 5)) + (node (ref K3) (pin 5))) + (net (code 49) (name "Net-(K3-Pad12)") + (node (ref K3) (pin 12)) + (node (ref U3) (pin 4))) + (net (code 50) (name pinBumperRight) + (node (ref SHIELD1) (pin 38)) + (node (ref P11) (pin 3))) + (net (code 51) (name "Net-(D10-Pad2)") + (node (ref D10) (pin 2)) + (node (ref K3) (pin 8)) + (node (ref D11) (pin 2))) + (net (code 52) (name "Net-(EF2-Pad1)") + (node (ref EF2) (pin 1)) + (node (ref P47) (pin 2))) + (net (code 53) (name SDA1) + (node (ref SHIELD1) (pin 20)) + (node (ref U10) (pin 3)) + (node (ref P23) (pin 3)) + (node (ref P24) (pin 3)) + (node (ref P5) (pin 3)) + (node (ref U8) (pin SDA))) + (net (code 54) (name RX1) + (node (ref R14) (pin 1)) + (node (ref P44) (pin 3)) + (node (ref U11) (pin TX)) + (node (ref SHIELD1) (pin 19))) + (net (code 55) (name SCL1) + (node (ref P24) (pin 4)) + (node (ref U10) (pin 2)) + (node (ref U8) (pin SCL)) + (node (ref SHIELD1) (pin 21)) + (node (ref P23) (pin 4)) + (node (ref P5) (pin 4))) + (net (code 56) (name pinMotorMowFault) + (node (ref Dual2) (pin 17)) + (node (ref SHIELD1) (pin 26)) + (node (ref Dual2) (pin 8))) + (net (code 57) (name pinMotorLeftFault) + (node (ref Dual1) (pin 8)) + (node (ref SHIELD1) (pin 25))) + (net (code 58) (name pinMotorRightFault) + (node (ref SHIELD1) (pin 27)) + (node (ref Dual1) (pin 17))) + (net (code 59) (name "Net-(SHIELD1-PadSDA1)") + (node (ref SHIELD1) (pin SDA1))) + (net (code 60) (name "Net-(SHIELD1-PadSCL1)") + (node (ref SHIELD1) (pin SCL1))) + (net (code 61) (name pinSonarLeftEcho) + (node (ref P3) (pin 4)) + (node (ref SHIELD1) (pin 36))) + (net (code 62) (name "Net-(CC5-Pad1)") + (node (ref CC5) (pin 1)) + (node (ref SHIELD1) (pin AREF))) + (net (code 63) (name pinLawnBackSend) + (node (ref R3) (pin 2)) + (node (ref SHIELD1) (pin 43))) + (net (code 64) (name pinSonarCenterTrigger) + (node (ref P1) (pin 3)) + (node (ref SHIELD1) (pin 24))) + (net (code 65) (name pinRemoteMow) + (node (ref P13) (pin 3)) + (node (ref SHIELD1) (pin 12))) + (net (code 66) (name pinUserSwitch2) + (node (ref P40) (pin 4)) + (node (ref SHIELD1) (pin 47))) + (net (code 67) (name pinLawnFrontSend) + (node (ref SHIELD1) (pin 41)) + (node (ref R4) (pin 2))) + (net (code 68) (name pinLawnBackRecv) + (node (ref SHIELD1) (pin 42)) + (node (ref P6) (pin 4))) + (net (code 69) (name pinTilt) + (node (ref P19) (pin 3)) + (node (ref SHIELD1) (pin 35))) + (net (code 70) (name RX2) + (node (ref R8) (pin 1)) + (node (ref U2) (pin TXD)) + (node (ref SHIELD1) (pin 17))) + (net (code 71) (name GPS_TX) + (node (ref P10) (pin 4)) + (node (ref SHIELD1) (pin 15))) + (net (code 72) (name /Ladespannung/Ladespannung) + (node (ref D1) (pin 2)) + (node (ref R11) (pin 1)) + (node (ref K3) (pin 16)) + (node (ref EF1) (pin 1)) + (node (ref R19) (pin 1)) + (node (ref R9) (pin 1))) + (net (code 73) (name pinSonarRightTrigger) + (node (ref P2) (pin 3)) + (node (ref SHIELD1) (pin 30))) + (net (code 74) (name pinMotorEnable) + (node (ref Dual1) (pin 10)) + (node (ref SHIELD1) (pin 37))) + (net (code 75) (name pinBumperLeft) + (node (ref P11) (pin 4)) + (node (ref SHIELD1) (pin 39))) + (net (code 76) (name pinMotorLeftDir) + (node (ref Dual1) (pin 4)) + (node (ref SHIELD1) (pin 31))) + (net (code 77) (name pinMotorRightDir) + (node (ref Dual1) (pin 13)) + (node (ref SHIELD1) (pin 33))) + (net (code 78) (name pinSonarCenterEcho) + (node (ref P1) (pin 4)) + (node (ref SHIELD1) (pin 22))) + (net (code 79) (name pinSonarRightEcho) + (node (ref SHIELD1) (pin 32)) + (node (ref P2) (pin 4))) + (net (code 80) (name "Net-(D4-Pad1)") + (node (ref Q1) (pin E)) + (node (ref D4) (pin 1))) + (net (code 81) (name +24V) + (node (ref P36) (pin 2)) + (node (ref DBY3) (pin 2)) + (node (ref P39) (pin 2)) + (node (ref DBY1) (pin 2)) + (node (ref D3) (pin 1)) + (node (ref DBY11) (pin 2)) + (node (ref PRFA2) (pin 1)) + (node (ref R2) (pin 1)) + (node (ref DBY9) (pin 2)) + (node (ref DKE2) (pin 2)) + (node (ref DBY5) (pin 2)) + (node (ref PRFA1) (pin 1)) + (node (ref DBY7) (pin 2)) + (node (ref Q3) (pin D)) + (node (ref C5) (pin 1))) + (net (code 82) (name /Stepdownwandler/Stepdownwandler_24V_In) + (node (ref D3) (pin 2)) + (node (ref PRFA6) (pin 2)) + (node (ref PRFA7) (pin 2)) + (node (ref PRFA8) (pin 2))) + (net (code 83) (name ReservePin0) + (node (ref P27) (pin 3)) + (node (ref SHIELD1) (pin 0))) + (net (code 84) (name pinUserSwitch3) + (node (ref SHIELD1) (pin 48)) + (node (ref P40) (pin 5))) + (net (code 85) (name "Net-(RP2-Pad11)") (node (ref RR2) (pin 7)) (node (ref SHIELD1) 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(pin 1)) + (node (ref P16) (pin 2)) + (node (ref PRFA1) (pin 2)) + (node (ref C12) (pin 1)) + (node (ref Dual1) (pin 22))) + (net (code 164) (name "Net-(Dual1-Pad12)") + (node (ref Dual1) (pin 12))) + (net (code 165) (name "Net-(Dual1-Pad11)") + (node (ref Dual1) (pin 11))) + (net (code 166) (name /Motortreiber/Dual1_Ms_Links/MotorLinksB) + (node (ref DBY7) (pin 1)) + (node (ref DBY8) (pin 2)) + (node (ref R33) (pin 2)) + (node (ref P15) (pin 2)) + (node (ref Dual1) (pin 20))) + (net (code 167) (name "Net-(Dual1-Pad1)") + (node (ref Dual1) (pin 1))) + (net (code 168) (name /Motortreiber/Dual2_Ms_Mower/MotorMowerA) + (node (ref Dual2) (pin 23)) + (node (ref DBY10) (pin 2)) + (node (ref DBY9) (pin 1)) + (node (ref C6) (pin 1)) + (node (ref P37) (pin 1)) + (node (ref Dual2) (pin 19))) + (net (code 169) (name "Net-(Dual2-Pad9)") + (node (ref JP16) (pin 2)) + (node (ref Dual2) (pin 9))) + (net (code 170) (name /Motortreiber/Dual2_Vin/Dual2_Vin) (node (ref P17) (pin 2)) - (node (ref KE4) (pin 1)) - (node (ref PRFA2) (pin 2))) - (net (code 168) (name "Net-(Dual2-Pad11)") + (node (ref Dual2) (pin 22)) + (node (ref DKE4) (pin 1)) + (node (ref PRFA2) (pin 2)) + (node (ref C13) (pin 1))) + (net (code 171) (name /Motortreiber/Dual2_Ms_Mower/MotorMowerB) + (node (ref Dual2) (pin 20)) + (node (ref DBY11) (pin 1)) + (node (ref DBY12) (pin 2)) + (node (ref R36) (pin 2)) + (node (ref Dual2) (pin 24)) + (node (ref P37) (pin 2))) + (net (code 172) (name "Net-(Dual2-Pad11)") (node (ref Dual2) (pin 11))) - (net (code 169) (name "Net-(Dual2-Pad12)") - (node (ref Dual2) (pin 12))) - (net (code 170) (name "Net-(Dual2-Pad1)") + (net (code 173) (name "Net-(Dual2-Pad1)") (node (ref Dual2) (pin 1))) - (net (code 171) (name LedPin-3V) - (node (ref R23) (pin 2)) - (node (ref P7) (pin 2))) - (net (code 172) (name LedPin-24v) - (node (ref R2) (pin 2)) - (node (ref P7) (pin 3))) - (net (code 173) (name LedPin-5v) + (net (code 174) (name "Net-(Dual2-Pad12)") + (node (ref Dual2) (pin 12))) + (net (code 175) (name LedPin-24v) + (node (ref P7) (pin 3)) + (node (ref R2) (pin 2))) + (net (code 176) (name LedPin-3V) + (node (ref P7) (pin 2)) + (node (ref R23) (pin 2))) + (net (code 177) (name "Net-(P6-Pad1)") + (node (ref P6) (pin 1)) + (node (ref R4) (pin 1))) + (net (code 178) (name LedPin-5v) (node (ref P7) (pin 4)) (node (ref R1) (pin 2))) - (net (code 174) (name "Net-(P6-Pad1)") - (node (ref R4) (pin 1)) - (node (ref P6) (pin 1))) - (net (code 175) (name "Net-(P6-Pad3)") - (node (ref P6) (pin 3)) - (node (ref R3) (pin 1))) - (net (code 176) (name "Net-(C8-Pad1)") + (net (code 179) (name "Net-(P6-Pad3)") + (node (ref R3) (pin 1)) + (node (ref P6) (pin 3))) + (net (code 180) (name "Net-(C8-Pad1)") (node (ref PRFA3) (pin 1)) (node (ref JP11) (pin 1)) - (node (ref ZD2) (pin 2)) (node (ref C8) (pin 1))) - (net (code 177) (name "Net-(R25-Pad1)") - (node (ref ZD2) (pin 1)) - (node (ref R25) (pin 1))) - (net (code 178) (name "Net-(PRFA3-Pad2)") - (node (ref U7) (pin 2)) - (node (ref PRFA3) (pin 2))) - (net (code 179) (name "Net-(C7-Pad1)") - (node (ref PRFA5) (pin 1)) - (node (ref JP10) (pin 1)) - (node (ref ZD1) (pin 2)) - (node (ref C7) (pin 1))) - (net (code 180) (name "Net-(R24-Pad1)") - (node (ref ZD1) (pin 1)) - (node (ref R24) (pin 1))) - (net (code 181) (name "Net-(PRFA5-Pad2)") - (node (ref PRFA5) (pin 2)) - (node (ref U6) (pin 2))) - (net (code 182) (name "Net-(R26-Pad1)") - (node (ref ZD3) (pin 1)) - (node (ref R26) (pin 1))) - (net (code 183) (name "Net-(C2-Pad1)") - (node (ref ZD3) (pin 2)) + (net (code 181) (name "Net-(C2-Pad1)") (node (ref C2) (pin 1)) (node (ref JP1) (pin 1)) (node (ref PRFA4) (pin 1))) - (net (code 184) (name "Net-(PRFA4-Pad2)") - (node (ref U1) (pin 2)) - (node (ref PRFA4) (pin 2))) - (net (code 185) (name "Net-(U8-PadSQ)") + (net (code 182) (name "Net-(C7-Pad1)") + (node (ref PRFA5) (pin 1)) + (node (ref C7) (pin 1)) + (node (ref JP10) (pin 1))) + (net (code 183) (name "Net-(DBY16-Pad2)") + (node (ref U6) (pin 3)) + (node (ref PRFA8) (pin 1)) + (node (ref DBY16) (pin 2)) + (node (ref DKE7) (pin 1))) + (net (code 184) (name "Net-(DBY16-Pad1)") + (node (ref PRFA5) (pin 2)) + (node (ref U6) (pin 2)) + (node (ref DBY18) (pin 2)) + (node (ref DBY16) (pin 1))) + (net (code 185) (name "Net-(DBY15-Pad2)") + (node (ref DKE6) (pin 1)) + (node (ref DBY15) (pin 2)) + (node (ref PRFA7) (pin 1)) + (node (ref U1) (pin 3))) + (net (code 186) (name "Net-(DBY15-Pad1)") + (node (ref DBY17) (pin 2)) + (node (ref DBY15) (pin 1)) + (node (ref PRFA4) (pin 2)) + (node (ref U1) (pin 2))) + (net (code 187) (name "Net-(DBY13-Pad2)") + (node (ref PRFA6) (pin 1)) + (node (ref DBY13) (pin 2)) + (node (ref DKE5) (pin 1)) + (node (ref U7) (pin 3))) + (net (code 188) (name "Net-(DBY13-Pad1)") + (node (ref U7) (pin 2)) + (node (ref DBY14) (pin 2)) + (node (ref PRFA3) (pin 2)) + (node (ref DBY13) (pin 1))) + (net (code 189) (name "Net-(U8-PadSQ)") (node (ref U8) (pin SQ))) - (net (code 186) (name "Net-(U8-PadDS)") + (net (code 190) (name "Net-(U8-PadDS)") (node (ref U8) (pin DS))) - (net (code 187) (name "Net-(U8-PadBat)") + (net (code 191) (name "Net-(U8-PadBat)") (node (ref U8) (pin Bat))) - (net (code 188) (name "Net-(C1-Pad2)") + (net (code 192) (name "Net-(C1-Pad2)") (node (ref R17) (pin 1)) (node (ref C1) (pin 2))) - (net (code 189) (name "Net-(C4-Pad2)") - (node (ref R33) (pin 1)) - (node (ref C4) (pin 2))) - (net (code 190) (name "Net-(C6-Pad2)") - (node (ref R36) (pin 1)) - (node (ref C6) (pin 2))))) \ No newline at end of file + (net (code 193) (name "Net-(C4-Pad2)") + (node (ref C4) (pin 2)) + (node (ref R33) (pin 1))) + (net (code 194) (name "Net-(C6-Pad2)") + (node (ref C6) (pin 2)) + (node (ref R36) (pin 1))))) \ No newline at end of file diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro index 1f61c4079..697e2ebbc 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro @@ -1,4 +1,4 @@ -update=23.05.2015 17:13:07 +update=30.05.2015 22:55:03 last_client=kicad [general] version=1 @@ -22,13 +22,6 @@ SolderMaskMinWidth=0 DrawSegmentWidth=0.2 BoardOutlineThickness=0.15 ModuleOutlineThickness=0.15 -[eeschema] -version=1 -LibDir=acs712.pretty;C:/Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty;../../../../../../KiCad/share/modules -[eeschema/libraries] -LibName1=acs712.pretty/Wlan_ESP8266 -LibName2=C:/Users/Uwe/Documents/KICAD/BibliothekenUwe.pretty/power -LibName3=ardumower mega shield svn-cache [schematic_editor] version=1 PageLayoutDescrFile= @@ -39,3 +32,11 @@ NetFmtName= SpiceForceRefPrefix=0 SpiceUseNetNumbers=0 LabSize=60 +[eeschema] +version=1 +LibDir=acs712.pretty;C:/Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty;../../../../../../KiCad/share/modules +[eeschema/libraries] +LibName1=acs712.pretty/Wlan_ESP8266 +LibName2=C:/Users/Uwe/Documents/KICAD/BibliothekenUwe.pretty/power +LibName3=ardumower mega shield svn-cache +LibName4=conn diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.rpt b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.rpt index 8f005f9e9..4affc45fc 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.rpt +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.rpt @@ -1,4 +1,4 @@ -** Drc report for C:/Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb ** +** Drc report for C:\Users\Uwe\Downloads\ardumower\pcb\megashield_svn_1.3_geoeffnet\ardumower mega shield svn.kicad_pcb ** ** Created on ** ** Found 0 DRC errors ** diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch index e1f8e282f..77965c50f 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A3 16535 11693 @@ -49,7 +50,7 @@ $Comp L R R5 U 1 1 5384EC7E P 5880 6180 -F 0 "R5" V 5960 6180 40 0000 C CNN +F 0 "R5" V 5950 6180 40 0000 C CNN F 1 "220R" V 5887 6181 40 0000 C CNN F 2 "ACS712:Resistor_Horizontal_RM10mm" V 5810 6180 30 0001 C CNN F 3 "~" H 5880 6180 30 0000 C CNN @@ -72,12 +73,12 @@ $EndComp $Comp L GND #PWR03 U 1 1 5384F385 -P 6170 6080 -F 0 "#PWR03" H 6170 6080 30 0001 C CNN -F 1 "GND" H 6170 6010 30 0001 C CNN -F 2 "" H 6170 6080 60 0000 C CNN -F 3 "" H 6170 6080 60 0000 C CNN - 1 6170 6080 +P 6460 6080 +F 0 "#PWR03" H 6460 6080 30 0001 C CNN +F 1 "GND" H 6460 6010 30 0001 C CNN +F 2 "" H 6460 6080 60 0000 C CNN +F 3 "" H 6460 6080 60 0000 C CNN + 1 6460 6080 0 -1 -1 0 $EndComp Text GLabel 6180 7280 2 39 Output ~ 0 @@ -268,12 +269,12 @@ $EndComp $Comp L GND #PWR010 U 1 1 541751D4 -P 4450 4840 -F 0 "#PWR010" H 4450 4840 30 0001 C CNN -F 1 "GND" H 4450 4770 30 0001 C CNN -F 2 "" H 4450 4840 60 0000 C CNN -F 3 "" H 4450 4840 60 0000 C CNN - 1 4450 4840 +P 4450 5210 +F 0 "#PWR010" H 4450 5210 30 0001 C CNN +F 1 "GND" H 4450 5140 30 0001 C CNN +F 2 "" H 4450 5210 60 0000 C CNN +F 3 "" H 4450 5210 60 0000 C CNN + 1 4450 5210 1 0 0 -1 $EndComp Text GLabel 2800 9580 0 39 Output ~ 0 @@ -313,7 +314,7 @@ L RR8 RR1 U 1 1 54994E69 P 2920 6180 F 0 "RR1" H 2970 6730 70 0000 C CNN -F 1 "C0,1uF" V 2950 6180 70 0000 C CNN +F 1 "(0,01uF) 10nF" V 2950 6180 70 0000 C CNN F 2 "ACS712:Kondensatorenleiste_8er_9pin_3D" H 2920 6180 60 0001 C CNN F 3 "" H 2920 6180 60 0000 C CNN F 4 "Value" H 2920 6180 60 0001 C CNN "Bestellnummer" @@ -325,7 +326,7 @@ L RR8 RR2 U 1 1 5499A2BD P 2920 9180 F 0 "RR2" H 2970 9730 70 0000 C CNN -F 1 "C0,1uF" V 2950 9180 70 0000 C CNN +F 1 "(0,01uF) 10nF" V 2950 9180 70 0000 C CNN F 2 "ACS712:Kondensatorenleiste_8er_9pin_3D" H 2920 9180 60 0001 C CNN F 3 "" H 2920 9180 60 0000 C CNN 1 2920 9180 @@ -365,8 +366,8 @@ $Comp L F_10A EF1 U 1 1 54A79B5A P 1165 2090 -F 0 "EF1" H 985 2170 40 0000 C CNN -F 1 "F_5A" H 1065 2010 40 0000 C CNN +F 0 "EF1" H 1160 2160 40 0000 C CNN +F 1 "F_5A" H 1155 2005 40 0000 C CNN F 2 "ACS712:Fuseholder_Reichelt_PL112000" H 1165 2090 60 0001 C CNN F 3 "" H 1165 2090 60 0000 C CNN F 4 "R: PL 112000" H 1165 2090 60 0001 C CNN "Bestellnummer" @@ -457,7 +458,7 @@ $Comp L R R20 U 1 1 54B5FD13 P 5875 6780 -F 0 "R20" V 5955 6780 40 0000 C CNN +F 0 "R20" V 5945 6780 40 0000 C CNN F 1 "220R" V 5882 6781 40 0000 C CNN F 2 "ACS712:Resistor_Horizontal_RM10mm" V 5805 6780 30 0001 C CNN F 3 "~" H 5875 6780 30 0000 C CNN @@ -500,7 +501,7 @@ L R_PACK8 RP2 U 1 1 54B686DE P 2295 8330 F 0 "RP2" H 2295 8330 40 0000 C CNN -F 1 "150" H 2295 7880 40 0000 C CNN +F 1 "220R" H 2295 7880 40 0000 C CNN F 2 "ACS712:DIP-16__300" H 2295 8330 60 0001 C CNN F 3 "" H 2295 8330 60 0000 C CNN F 4 "C: 1055159 - 62" H 2295 8330 60 0001 C CNN "Bestellnummer" @@ -520,7 +521,6 @@ F 3 "" H 3020 5680 60 0000 C CNN 1 3020 5680 1 0 0 -1 $EndComp -NoConn ~ 5250 2690 Text GLabel 6180 7580 2 39 Input ~ 0 ReservePin0 Text GLabel 6180 7480 2 39 Input ~ 0 @@ -630,7 +630,7 @@ F 3 "" H 2970 8750 60 0000 C CNN 1 2970 8750 0 1 1 0 $EndComp -Text GLabel 965 2190 3 60 Output ~ 0 +Text GLabel 965 2865 3 60 Output ~ 0 Charg_Pin $Comp L R R19 @@ -648,7 +648,7 @@ L R_PACK8 RP1 U 1 1 5478A23C P 2295 7430 F 0 "RP1" H 2295 7330 40 0000 C CNN -F 1 "150" H 2295 6980 40 0000 C CNN +F 1 "220R" H 2295 6980 40 0000 C CNN F 2 "ACS712:DIP-16__300" H 2295 7430 60 0001 C CNN F 3 "" H 2295 7430 60 0000 C CNN F 4 "C: 1055159 - 62" H 2295 7430 60 0001 C CNN "Bestellnummer" @@ -739,11 +739,11 @@ F0 "Sonstiges" 39 F1 "Sonstiges.sch" 39 $EndSheet $Sheet -S 13385 2015 1330 380 +S 12975 2370 380 1330 U 553E526C F0 "Stepdownwandler" 60 F1 "Stepdownwandler.sch" 60 -F2 "Stepdownwandler_24V_In" I L 13385 2195 60 +F2 "Stepdownwandler_24V_In" I T 13155 2370 60 $EndSheet $Comp L CONN_2 P47 @@ -780,23 +780,22 @@ F4 "PinButton" O T 10410 2420 60 F5 "Ausschalter" I T 10565 2420 60 $EndSheet $Sheet -S 8975 1595 345 860 +S 7195 13375 345 860 U 553A788C F0 "Verpols.B" 60 F1 "Verpols.B.sch" 60 -F2 "Verpols.B.aus" O T 9205 1595 60 -F3 "Verpol.s.B.in" I T 9070 1595 60 +F2 "Verpols.B.aus" O T 7425 13375 60 +F3 "Verpol.s.B.in" I T 7290 13375 60 $EndSheet -NoConn ~ 5250 2390 Text GLabel 10575 1570 2 60 Output ~ 0 pinButton Text GLabel 10725 2030 2 60 Input ~ 0 pinUndervoltageSwitch $Comp -L 15KEXXC KE2 +L 15KEXXC DKE2 U 1 1 5540B0B9 P 12620 1545 -F 0 "KE2" H 12570 1620 50 0000 L BNN +F 0 "DKE2" H 12570 1620 50 0000 L BNN F 1 "15KE33CA" H 12570 1410 50 0000 L BNN F 2 "ACS712:Diode_15KE33CA" H 12620 1695 50 0001 C CNN F 3 "" H 12620 1545 60 0000 C CNN @@ -817,50 +816,50 @@ $EndComp Text Notes 12675 2070 3 60 ~ 0 Überspannungsschutzdiode\n?? ob richtiges Zeichen und Polung $Comp -L 15KEXXC KE1 +L 15KEXXC DKE1 U 1 1 5541A8DB -P 6935 1550 -F 0 "KE1" H 6885 1625 50 0000 L BNN -F 1 "15KE33CA" H 6885 1415 50 0000 L BNN -F 2 "ACS712:Diode_15KE33CA" H 6935 1700 50 0001 C CNN -F 3 "" H 6935 1550 60 0000 C CNN - 1 6935 1550 +P 7395 1555 +F 0 "DKE1" H 7345 1630 50 0000 L BNN +F 1 "15KE33CA" H 7345 1420 50 0000 L BNN +F 2 "ACS712:Diode_15KE33CA" H 7395 1705 50 0001 C CNN +F 3 "" H 7395 1555 60 0000 C CNN + 1 7395 1555 0 -1 -1 0 $EndComp $Comp L GND #PWR016 U 1 1 5541A8E1 -P 6935 1700 -F 0 "#PWR016" H 6935 1700 30 0001 C CNN -F 1 "GND" H 6935 1630 30 0001 C CNN -F 2 "" H 6935 1700 60 0000 C CNN -F 3 "" H 6935 1700 60 0000 C CNN - 1 6935 1700 +P 7395 1705 +F 0 "#PWR016" H 7395 1705 30 0001 C CNN +F 1 "GND" H 7395 1635 30 0001 C CNN +F 2 "" H 7395 1705 60 0000 C CNN +F 3 "" H 7395 1705 60 0000 C CNN + 1 7395 1705 1 0 0 -1 $EndComp NoConn ~ 3770 6160 NoConn ~ 3770 6250 $Sheet -S 7995 1595 245 1150 +S 9240 2420 245 1150 U 554BCB67 F0 "Batteriespannung" 60 F1 "Batteriespannung.sch" 60 -F2 "Batteriespannung" I T 8105 1595 60 +F2 "Batteriespannung" I T 9350 2420 60 $EndSheet $Sheet -S 1585 2235 245 1150 +S 2285 2235 245 1150 U 554C1C35 F0 "Ladespannung" 60 F1 "Ladespannung.sch" 60 -F2 "Ladespannung" I T 1710 2235 60 +F2 "Ladespannung" I T 2410 2235 60 $EndSheet $Sheet -S 2195 2235 315 870 +S 2905 13440 315 870 U 553A1252 F0 "Verpols.L" 60 F1 "Verpols.L.sch" 60 -F2 "Verpols.L.aus" O T 2410 2235 60 -F3 "Verpol.s.L.in" I T 2295 2235 60 +F2 "Verpols.L.aus" O T 3120 13440 60 +F3 "Verpol.s.L.in" I T 3005 13440 60 $EndSheet Text Notes 7200 9565 0 60 ~ 0 MC treiber SF pin braucht noch einen pegelwandler\n(falls MC beim due mit 5v betrieben werden soll @@ -3098,7 +3097,7 @@ L Kondensator CC1 U 1 1 5558C608 P 4805 1470 F 0 "CC1" H 4855 1570 50 0000 L CNN -F 1 "100 nF" H 4855 1370 50 0000 L CNN +F 1 "100nF" H 4855 1370 50 0000 L CNN F 2 "Capacitors_ThroughHole:C_Disc_D3_P2.5" H 4805 1470 60 0001 C CNN F 3 "" H 4805 1470 60 0000 C CNN F 4 "R: KERKO 100N" H 4805 1470 60 0001 C CNN "Bestellnummer" @@ -3133,22 +3132,8 @@ Wire Wire Line 7790 1060 7790 2890 Wire Wire Line 3620 5005 3290 5005 -Connection ~ 1710 2090 Wire Wire Line - 1710 2235 1710 2090 -Connection ~ 8105 1060 -Wire Wire Line - 8105 1060 8105 1595 -Wire Wire Line - 9070 1060 9070 1595 -Connection ~ 6935 1060 -Wire Wire Line - 6935 1350 6935 1060 -Wire Wire Line - 6935 1650 6935 1700 -Connection ~ 12620 1055 -Wire Wire Line - 12620 1055 12620 1345 + 7395 1655 7395 1705 Wire Wire Line 12620 1645 12620 1695 Wire Wire Line @@ -3159,27 +3144,10 @@ Wire Wire Line 10410 1570 10575 1570 Wire Wire Line 10410 2420 10410 1570 -Wire Wire Line - 13155 2195 13385 2195 -Connection ~ 11635 1055 -Wire Wire Line - 11635 1115 11635 1055 -Connection ~ 13155 1055 -Wire Wire Line - 13155 1055 13155 2195 -Wire Wire Line - 10255 1055 10255 2420 -Wire Wire Line - 9205 1055 9205 1595 -Wire Wire Line - 10110 1055 9205 1055 -Wire Wire Line - 10110 2420 10110 1055 Wire Wire Line 7790 2890 5250 2890 -Connection ~ 13675 1055 Wire Wire Line - 2410 2090 5415 2090 + 1365 2090 5415 2090 Wire Wire Line 5415 2590 5250 2590 Wire Wire Line @@ -3203,14 +3171,8 @@ Wire Wire Line 4200 2990 4450 2990 Wire Wire Line 4200 3090 4200 2990 -Wire Wire Line - 10255 1055 13875 1055 Wire Wire Line 6155 1060 6345 1060 -Wire Wire Line - 2410 2090 2410 2235 -Wire Wire Line - 2295 2090 2295 2235 Connection ~ 5670 8380 Wire Wire Line 5570 8280 6180 8280 @@ -3235,8 +3197,6 @@ Wire Wire Line 3520 9330 3410 9330 Wire Wire Line 3670 9630 3415 9630 -Wire Wire Line - 1365 2090 2295 2090 Connection ~ 2095 8280 Connection ~ 2495 8280 Connection ~ 2870 8280 @@ -3355,8 +3315,6 @@ Wire Wire Line 4200 3490 4200 3615 Wire Wire Line 2910 2090 2910 2390 -Wire Wire Line - 13675 1055 13675 1270 Wire Wire Line 3370 8830 3470 8830 Wire Wire Line @@ -3464,8 +3422,6 @@ Wire Wire Line 2495 7080 3670 7080 Wire Wire Line 2090 8680 3670 8680 -Wire Wire Line - 6545 1060 9070 1060 Wire Wire Line 2910 2890 2910 3040 Wire Wire Line @@ -3490,11 +3446,9 @@ Wire Wire Line Wire Wire Line 3670 10030 3420 10030 Wire Wire Line - 965 1940 965 2190 + 965 1940 965 2865 Wire Wire Line 5755 1060 5605 1060 -Wire Wire Line - 4450 4540 4450 4840 Wire Wire Line 3120 5880 3370 5880 Wire Wire Line @@ -3572,7 +3526,7 @@ Wire Wire Line Wire Wire Line 5570 10130 6190 10130 Wire Wire Line - 5570 6080 6170 6080 + 5570 6080 6460 6080 Wire Wire Line 5570 8980 6185 8980 Wire Wire Line @@ -3587,7 +3541,6 @@ Wire Wire Line 6175 9480 5570 9480 NoConn ~ 3770 5960 NoConn ~ 3770 6060 -NoConn ~ 5570 5980 Wire Wire Line 3670 6780 3620 6780 Wire Wire Line @@ -3597,4 +3550,165 @@ Wire Wire Line 3620 6380 3670 6380 Wire Wire Line 3420 6580 3670 6580 +Text Notes 8160 4755 0 60 ~ 0 +Bei den Schutzdioden noch den den Drahtdurchmesser und Lochdruchmesser im Footprint kontrollieren.\nBe den Kidioden das Loch für den footprint von 1mm auf 1,2mm vergrößert +Text Notes 9940 5770 0 60 ~ 0 +25052015 Kondesatornetzwerk wert geändert 100nf - Jürgen\n25052015 Odemetrie 4 Widerstände 4,7k eingefügt\n25052015 Widerstansnetzwerk Wert geändert von 150 Ohm nach 220 Ohm - Jürgen\n25052015 Footprint MC Driver geändert\n28052015 MowRpm 4,7K Widerstand eingefügt\n20150603 AREF Kondesator eingefügt +$Comp +L Kondensator CC5 +U 1 1 55722368 +P 5895 5915 +F 0 "CC5" V 6110 5900 50 0000 L CNN +F 1 "100nf" V 6035 5830 50 0000 L CNN +F 2 "" H 5895 5915 60 0001 C CNN +F 3 "" H 5895 5915 60 0000 C CNN +F 4 "R:KERKO 100N" H 5895 5915 60 0001 C CNN "Bestellnummer" +F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N" H 5895 5915 60 0001 C CNN "Bestelllink" + 1 5895 5915 + 0 -1 -1 0 +$EndComp +$Comp +L GND #PWR018 +U 1 1 55722AF8 +P 6460 5915 +F 0 "#PWR018" H 6460 5915 30 0001 C CNN +F 1 "GND" H 6460 5845 30 0001 C CNN +F 2 "" H 6460 5915 60 0000 C CNN +F 3 "" H 6460 5915 60 0000 C CNN + 1 6460 5915 + 0 -1 -1 0 +$EndComp +Wire Wire Line + 6095 5915 6460 5915 +Wire Wire Line + 5570 5980 5630 5980 +Wire Wire Line + 5630 5980 5630 5915 +Wire Wire Line + 5630 5915 5695 5915 +$Comp +L DIODE D1 +U 1 1 557628C2 +P 1665 2605 +F 0 "D1" H 1665 2705 40 0000 C CNN +F 1 "MBR 1045" H 1665 2505 40 0000 C CNN +F 2 "ACS712:MBR1045" H 1665 2605 60 0001 C CNN +F 3 "" H 1665 2605 60 0000 C CNN +F 4 "R: MBR 1045" H 1665 2605 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 1665 2605 60 0001 C CNN "Bestelllink" + 1 1665 2605 + 0 1 -1 0 +$EndComp +Wire Wire Line + 2410 2235 2410 2090 +Connection ~ 2410 2090 +$Comp +L GND #PWR019 +U 1 1 5576440B +P 1665 3105 +F 0 "#PWR019" H 1665 3105 30 0001 C CNN +F 1 "GND" H 1665 3035 30 0001 C CNN +F 2 "" H 1665 3105 60 0000 C CNN +F 3 "" H 1665 3105 60 0000 C CNN + 1 1665 3105 + 1 0 0 -1 +$EndComp +Wire Wire Line + 1665 2805 1665 3105 +Wire Wire Line + 1665 2405 1665 2090 +Connection ~ 1665 2090 +Text Notes 1425 3470 0 60 ~ 0 +Verpolschutz\nAlternativ +$Comp +L DIODE D2 +U 1 1 55764E0D +P 6725 1570 +F 0 "D2" H 6725 1670 40 0000 C CNN +F 1 "MBR 1045" H 6725 1470 40 0000 C CNN +F 2 "ACS712:MBR1045" H 6725 1570 60 0001 C CNN +F 3 "" H 6725 1570 60 0000 C CNN +F 4 "R: MBR 1045" H 6725 1570 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 6725 1570 60 0001 C CNN "Bestelllink" + 1 6725 1570 + 0 1 -1 0 +$EndComp +$Comp +L GND #PWR020 +U 1 1 55764E13 +P 6725 1855 +F 0 "#PWR020" H 6725 1855 30 0001 C CNN +F 1 "GND" H 6725 1785 30 0001 C CNN +F 2 "" H 6725 1855 60 0000 C CNN +F 3 "" H 6725 1855 60 0000 C CNN + 1 6725 1855 + 1 0 0 -1 +$EndComp +Wire Wire Line + 6725 1770 6725 1855 +Text Notes 6470 2170 0 60 ~ 0 +Verpolschutz\nAlternativ +Wire Wire Line + 10110 1060 10110 2420 +Wire Wire Line + 9350 1060 9350 2420 +Connection ~ 9350 1060 +$Comp +L DIODE D3 +U 1 1 557673DD +P 13155 1545 +F 0 "D3" H 13155 1645 40 0000 C CNN +F 1 "MBR 1045" H 13155 1445 40 0000 C CNN +F 2 "ACS712:MBR1045" H 13155 1545 60 0001 C CNN +F 3 "" H 13155 1545 60 0000 C CNN +F 4 "R: MBR 1045" H 13155 1545 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 13155 1545 60 0001 C CNN "Bestelllink" + 1 13155 1545 + 0 1 1 0 +$EndComp +Wire Wire Line + 10255 2420 10255 1060 +Wire Wire Line + 10255 1060 13675 1060 +Wire Wire Line + 11635 1060 11635 1115 +Wire Wire Line + 12620 1060 12620 1345 +Connection ~ 11635 1060 +Wire Wire Line + 13155 1060 13155 1345 +Connection ~ 12620 1060 +Wire Wire Line + 13675 1060 13675 1270 +Connection ~ 13155 1060 +Wire Wire Line + 13155 1745 13155 2370 +Text Notes 13630 1585 0 60 ~ 0 +zu den Motortreibern +Wire Wire Line + 6545 1060 10110 1060 +$Comp +L DIODE D4 +U 1 1 5576E06B +P 4450 4880 +F 0 "D4" H 4450 4980 40 0000 C CNN +F 1 "1N4148" H 4450 4780 40 0000 C CNN +F 2 "ACS712:Diode_ligend_RM10" H 4450 4880 60 0001 C CNN +F 3 "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A" H 4450 4880 60 0001 C CNN +F 4 "1N4148" H 4450 4880 60 0001 C CNN "Bestellnummer" + 1 4450 4880 + 0 -1 1 0 +$EndComp +Wire Wire Line + 4450 4540 4450 4680 +Wire Wire Line + 4450 5080 4450 5210 +Text Notes 4640 4955 0 60 ~ 0 +Schutzdiode (Angstdiode)Transistor\nfür den Fall das die Ladespannung verpolt ist +Wire Wire Line + 7395 1355 7395 1060 +Connection ~ 7395 1060 +Wire Wire Line + 6725 1370 6725 1060 +Connection ~ 6725 1060 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.xml b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.xml index 5d6e3282b..baa10688d 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.xml +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.xml @@ -2,7 +2,7 @@ C:/Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch - 21.05.2015 18:32:01 + 24.05.2015 03:24:05 Eeschema (2015-05-08 BZR 5647)-product @@ -1239,6 +1239,17 @@ 553CE8AC + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 5560BCE1 + Bohrloch_3,2mm ACS712:Bohrloch_3,2mm @@ -2123,7 +2134,7 @@ 47K 0,1% - ACS712:Resistor_Horizontal_RM15mm + ACS712:Resistor_Horizontal_RM10mm R: MPR 47,0K Value @@ -2154,17 +2165,6 @@ 554BCD9F - - 100nF - Capacitors_ThroughHole:C_Disc_D3_P2.5 - - R: KERKO 100N - http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N - - - - 5558A33B - 100nF Capacitors_ThroughHole:C_Disc_D3_P2.5 @@ -2209,17 +2209,6 @@ 554C8CE7 - - 100nF - Capacitors_ThroughHole:C_Disc_D3_P2.5 - - R: KERKO 100N - http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N - - - - 5558A079 - 100nF Capacitors_ThroughHole:C_Disc_D3_P2.5 @@ -2505,6 +2494,182 @@ 555CF835 + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA4F5 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA50B + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA521 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA537 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA54D + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA563 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA579 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA58F + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 555FA5A5 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 55609DFC + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 55609E12 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 55609E28 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 55609E3E + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 5560A60D + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 5560A623 + + + 100nF + Capacitors_ThroughHole:C_Disc_D3_P2.5 + + R:KERKO 100N + http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N + + + + 5560A639 + @@ -2821,13 +2986,13 @@ DS1307+ - - - - - - - + + + + + + + @@ -3042,24 +3207,24 @@ - + - + - + - + - + @@ -3067,59 +3232,58 @@ - + - + - + - - - + + + + + - - - - - - + + + + - + - + + - - - + @@ -3130,49 +3294,48 @@ - + - - + - + + - + - - - + + + - - + - + @@ -3193,12 +3356,12 @@ - - - + + + @@ -3208,11 +3371,11 @@ - + + - @@ -3220,56 +3383,54 @@ - - + + - - - - - + + + - - - - + + + + + + + - + + - - - - + - - + - + - + - + @@ -3288,28 +3449,28 @@ + - - + - + - + @@ -3320,13 +3481,13 @@ - + - + @@ -3337,8 +3498,8 @@ - + @@ -3347,8 +3508,8 @@ - + @@ -3368,8 +3529,8 @@ - + @@ -3380,162 +3541,174 @@ - + - + - + - - + + - + - + - + + - - + - - - - + + + + + + + + + + + + + + + + - - - - - - - + + + - - + - - - + + + + + - + + + - + + + - - - - + + + + + + + + - - - - + + - - - + + + + + + + + + + + + + + + + + + + - + - - - - - - - - - - - - - - - - + - - - - - - + + + + + + + - - - + + + + + - - - - - - - - + + + + - - - - - - + + + - + - + - + - + @@ -3544,54 +3717,54 @@ - + - + - + - - + + - + - + - + - + - + - + - + @@ -3606,16 +3779,16 @@ - + - + - + @@ -3632,165 +3805,170 @@ + + - - - - + + - + + - - - - - - + + + + + - + - + - - - - - - - - - - - - + + + + + + + + + - - - - + - - + + + + + + + + + + + + - - - + + + - + - + + + + + + + - - - - - - - - + - - - - + + + + + - - + + - - - - + + + + - - + + - - - - - + + + - - - + + + - - - - + + + - - - - - - - + + + + + - - + + - + - - + + + + + + + + @@ -3801,269 +3979,286 @@ - + - + - - + + - - + + + + + - + - - + + - - + + - + - + - + - + - + - - - - - + + - - - - - - + + - - - - - - + + + - - - - - + - - + + + + + + - - - - - - + + + + + + - - + + + + + + + + + - + - + - + - + - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + - + + - + + - - - - - - - - - - - - - - - - - - - + + + + + + + + - - - - - - - - + + + + + + + - - - - - - + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - + + + - - - - + + + + + + + + + - - - - - - + + + + + + + + + + - - + + + + + - + + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + + + - - @@ -4074,14 +4269,14 @@ - + + + + + - - - - @@ -4095,63 +4290,63 @@ - - - + + + - + - - + + - + - + - - + + - + - - + + - - + + - - + + - + diff --git a/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch b/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch index d1a9555ec..464947315 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch @@ -2,6 +2,7 @@ EESchema Schematic File Version 2 LIBS:Wlan_ESP8266 LIBS:power LIBS:ardumower mega shield svn-cache +LIBS:conn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -28,10 +29,10 @@ F 3 "" H 1355 5495 60 0000 C CNN -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR095 +L +3.3V #PWR098 U 1 1 553C09C7 P 2150 5695 -F 0 "#PWR095" H 2150 5655 30 0001 C CNN +F 0 "#PWR098" H 2150 5655 30 0001 C CNN F 1 "+3.3V" V 2150 5895 30 0000 C CNN F 2 "" H 2150 5695 60 0000 C CNN F 3 "" H 2150 5695 60 0000 C CNN @@ -39,10 +40,10 @@ F 3 "" H 2150 5695 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L +5V #PWR096 +L +5V #PWR099 U 1 1 553C09DC P 2150 5295 -F 0 "#PWR096" H 2150 5145 60 0001 C CNN +F 0 "#PWR099" H 2150 5145 60 0001 C CNN F 1 "+5V" V 2150 5505 60 0000 C CNN F 2 "" H 2150 5295 60 0000 C CNN F 3 "" H 2150 5295 60 0000 C CNN @@ -50,10 +51,10 @@ F 3 "" H 2150 5295 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR097 +L GND #PWR0100 U 1 1 553C09F1 P 2150 5395 -F 0 "#PWR097" H 2150 5145 60 0001 C CNN +F 0 "#PWR0100" H 2150 5145 60 0001 C CNN F 1 "GND" V 2150 5170 60 0000 C CNN F 2 "" H 2150 5395 60 0000 C CNN F 3 "" H 2150 5395 60 0000 C CNN @@ -118,38 +119,13 @@ Wire Wire Line 1680 1330 1680 1145 Wire Wire Line 1680 1145 1835 1145 -$Comp -L CONN_2 D8 -U 1 1 553C450A -P 2580 795 -F 0 "D8" V 2530 795 40 0000 C CNN -F 1 "BlueLED" V 2630 795 40 0000 C CNN -F 2 "ACS712:Diode_LED_5mm_round_vertical" H 2580 795 60 0001 C CNN -F 3 "" H 2580 795 60 0001 C CNN -F 4 "Value" H 2580 795 60 0001 C CNN "Bestellnummer" - 1 2580 795 - 0 1 -1 0 -$EndComp Wire Wire Line - 2335 1145 2480 1145 + 2335 1145 2605 1145 $Comp -L GND #PWR098 -U 1 1 553C49C6 -P 2880 1145 -F 0 "#PWR098" H 2880 895 60 0001 C CNN -F 1 "GND" V 2880 925 60 0000 C CNN -F 2 "" H 2880 1145 60 0000 C CNN -F 3 "" H 2880 1145 60 0000 C CNN - 1 2880 1145 - 0 -1 -1 0 -$EndComp -Wire Wire Line - 2680 1145 2880 1145 -$Comp -L GND #PWR099 +L GND #PWR0101 U 1 1 553C4C18 P 1775 1730 -F 0 "#PWR099" H 1775 1480 60 0001 C CNN +F 0 "#PWR0101" H 1775 1480 60 0001 C CNN F 1 "GND" V 1775 1510 60 0000 C CNN F 2 "" H 1775 1730 60 0000 C CNN F 3 "" H 1775 1730 60 0000 C CNN @@ -171,10 +147,10 @@ F 4 "Value" H 1850 2285 60 0001 C CNN "Bestellnummer" 0 -1 -1 0 $EndComp $Comp -L +5V #PWR0100 +L +5V #PWR0102 U 1 1 553C4FF6 P 1850 2690 -F 0 "#PWR0100" H 1850 2540 60 0001 C CNN +F 0 "#PWR0102" H 1850 2540 60 0001 C CNN F 1 "+5V" H 1850 2830 60 0000 C CNN F 2 "" H 1850 2690 60 0000 C CNN F 3 "" H 1850 2690 60 0000 C CNN @@ -196,10 +172,10 @@ F 4 "Value" H 2290 2285 60 0001 C CNN "Bestellnummer" 0 -1 -1 0 $EndComp $Comp -L +3.3V #PWR0101 +L +3.3V #PWR0103 U 1 1 553C50BF P 2290 2695 -F 0 "#PWR0101" H 2290 2655 30 0001 C CNN +F 0 "#PWR0103" H 2290 2655 30 0001 C CNN F 1 "+3.3V" H 2290 2805 30 0000 C CNN F 2 "" H 2290 2695 60 0000 C CNN F 3 "" H 2290 2695 60 0000 C CNN @@ -227,10 +203,10 @@ F 3 "" H 2665 2235 30 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +5V #PWR0102 +L +5V #PWR0104 U 1 1 553C5B2C P 2665 2700 -F 0 "#PWR0102" H 2665 2550 60 0001 C CNN +F 0 "#PWR0104" H 2665 2550 60 0001 C CNN F 1 "+5V" H 2665 2840 60 0000 C CNN F 2 "" H 2665 2700 60 0000 C CNN F 3 "" H 2665 2700 60 0000 C CNN @@ -277,10 +253,10 @@ Wire Wire Line 3660 1530 3660 1990 Connection ~ 3235 1530 $Comp -L GND #PWR0103 +L GND #PWR0105 U 1 1 553C6D29 P 3235 2700 -F 0 "#PWR0103" H 3235 2450 60 0001 C CNN +F 0 "#PWR0105" H 3235 2450 60 0001 C CNN F 1 "GND" H 3235 2535 60 0000 C CNN F 2 "" H 3235 2700 60 0000 C CNN F 3 "" H 3235 2700 60 0000 C CNN @@ -294,10 +270,10 @@ TX2 Wire Wire Line 3660 2490 3660 2705 $Comp -L +3.3V #PWR0104 +L +3.3V #PWR0106 U 1 1 553C7E45 P 2505 1430 -F 0 "#PWR0104" H 2505 1390 30 0001 C CNN +F 0 "#PWR0106" H 2505 1390 30 0001 C CNN F 1 "+3.3V" V 2505 1600 30 0000 C CNN F 2 "" H 2505 1430 60 0000 C CNN F 3 "" H 2505 1430 60 0000 C CNN @@ -319,10 +295,10 @@ F 4 "Value" H 1460 4185 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0105 +L +3.3V #PWR0107 U 1 1 553C9AF2 P 2105 3935 -F 0 "#PWR0105" H 2105 3895 30 0001 C CNN +F 0 "#PWR0107" H 2105 3895 30 0001 C CNN F 1 "+3.3V" V 2105 4110 30 0000 C CNN F 2 "" H 2105 3935 60 0000 C CNN F 3 "" H 2105 3935 60 0000 C CNN @@ -330,10 +306,10 @@ F 3 "" H 2105 3935 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR0106 +L GND #PWR0108 U 1 1 553C9B11 P 2105 4235 -F 0 "#PWR0106" H 2105 3985 60 0001 C CNN +F 0 "#PWR0108" H 2105 3985 60 0001 C CNN F 1 "GND" V 2105 4010 60 0000 C CNN F 2 "" H 2105 4235 60 0000 C CNN F 3 "" H 2105 4235 60 0000 C CNN @@ -341,10 +317,10 @@ F 3 "" H 2105 4235 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +3.3V #PWR0107 +L +3.3V #PWR0109 U 1 1 553C9F70 P 2105 4135 -F 0 "#PWR0107" H 2105 4095 30 0001 C CNN +F 0 "#PWR0109" H 2105 4095 30 0001 C CNN F 1 "+3.3V" V 2105 4310 30 0000 C CNN F 2 "" H 2105 4135 60 0000 C CNN F 3 "" H 2105 4135 60 0000 C CNN @@ -403,10 +379,10 @@ F 4 "Value" H 3115 4795 60 0001 C CNN "Bestellnummer" 0 1 -1 0 $EndComp $Comp -L +5V #PWR0108 +L +5V #PWR0110 U 1 1 553CBE47 P 3630 3835 -F 0 "#PWR0108" H 3630 3685 60 0001 C CNN +F 0 "#PWR0110" H 3630 3685 60 0001 C CNN F 1 "+5V" V 3630 4055 60 0000 C CNN F 2 "" H 3630 3835 60 0000 C CNN F 3 "" H 3630 3835 60 0000 C CNN @@ -423,10 +399,10 @@ Connection ~ 2720 3835 Text GLabel 3670 4795 2 39 Input ~ 0 TX1 $Comp -L GND #PWR0109 +L GND #PWR0111 U 1 1 553CDA6C P 3670 4535 -F 0 "#PWR0109" H 3670 4285 60 0001 C CNN +F 0 "#PWR0111" H 3670 4285 60 0001 C CNN F 1 "GND" V 3670 4310 60 0000 C CNN F 2 "" H 3670 4535 60 0000 C CNN F 3 "" H 3670 4535 60 0000 C CNN @@ -455,10 +431,10 @@ F 4 "Value" H 4970 4185 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L +5V #PWR0110 +L +5V #PWR0112 U 1 1 553CEBB1 P 4440 3985 -F 0 "#PWR0110" H 4440 3835 60 0001 C CNN +F 0 "#PWR0112" H 4440 3835 60 0001 C CNN F 1 "+5V" V 4440 4205 60 0000 C CNN F 2 "" H 4440 3985 60 0000 C CNN F 3 "" H 4440 3985 60 0000 C CNN @@ -466,10 +442,10 @@ F 3 "" H 4440 3985 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L GND #PWR0111 +L GND #PWR0113 U 1 1 553CEBD7 P 4440 4085 -F 0 "#PWR0111" H 4440 3835 60 0001 C CNN +F 0 "#PWR0113" H 4440 3835 60 0001 C CNN F 1 "GND" V 4440 3860 60 0000 C CNN F 2 "" H 4440 4085 60 0000 C CNN F 3 "" H 4440 4085 60 0000 C CNN @@ -477,10 +453,10 @@ F 3 "" H 4440 4085 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L +3.3V #PWR0112 +L +3.3V #PWR0114 U 1 1 553CEF31 P 4440 4385 -F 0 "#PWR0112" H 4440 4345 30 0001 C CNN +F 0 "#PWR0114" H 4440 4345 30 0001 C CNN F 1 "+3.3V" V 4440 4560 30 0000 C CNN F 2 "" H 4440 4385 60 0000 C CNN F 3 "" H 4440 4385 60 0000 C CNN @@ -527,10 +503,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0113 +L GND #PWR0115 U 1 1 5560C24F P 1425 2690 -F 0 "#PWR0113" H 1425 2440 60 0001 C CNN +F 0 "#PWR0115" H 1425 2440 60 0001 C CNN F 1 "GND" V 1425 2470 60 0000 C CNN F 2 "" H 1425 2690 60 0000 C CNN F 3 "" H 1425 2690 60 0000 C CNN @@ -542,4 +518,6 @@ Wire Wire Line Wire Wire Line 1425 2110 1425 1830 Connection ~ 1425 1830 +Text GLabel 2605 1145 2 60 Output ~ 0 +Led-BT $EndSCHEMATC From a312156b9ba3b03843be623aa34be332ceb8db65 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 10 Jun 2015 11:07:59 +0200 Subject: [PATCH 43/78] new config.h option: USE_BLANK_MEGA for testing purposes only when using USE_BLANK_MEGA in config.h it is possible to run the ardumower code on an blank Arduino Mega --- ardumower/config.h | 4 + ardumower/mega.cpp | 586 +++++++++++++++++++++++++++++++++++++++++++++ ardumower/mega.h | 53 ++++ 3 files changed, 643 insertions(+) create mode 100644 ardumower/mega.cpp create mode 100644 ardumower/mega.h diff --git a/ardumower/config.h b/ardumower/config.h index 0a06f39d0..fb692abae 100644 --- a/ardumower/config.h +++ b/ardumower/config.h @@ -10,6 +10,10 @@ #include "mower.h" // Ardumower Chassis Kit 1.0 (see mower.cpp for actual code) #endif +#ifdef USE_BLANK_MEGA + #include "mega.h" +#endif + #ifdef USE_MINI #include "mini.h" // Mini robot #endif diff --git a/ardumower/mega.cpp b/ardumower/mega.cpp new file mode 100644 index 000000000..3d707e128 --- /dev/null +++ b/ardumower/mega.cpp @@ -0,0 +1,586 @@ +/* + Ardumower (www.ardumower.de) + Copyright (c) 2013-2015 by Alexander Grau + Copyright (c) 2013-2015 by Sven Gennat + Copyright (c) 2014 by Maxime Carpentieri + Copyright (c) 2014-2015 by Stefan Manteuffel + Copyright (c) 2015 by Uwe Zimprich + + Private-use only! (you need to ask for a commercial-use) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + Private-use only! (you need to ask for a commercial-use) + +*/ + +/* Ardumower Chassis Kit 1.0 - robot configuration (Ardumower electronics, Arduino Mega) + http://wiki.ardumower.de/index.php?title=Ardumower_chassis + + Requires: Ardumower PCB v0.5 ( https://www.marotronics.de/Ardumower-Board-Prototyp ) + +*/ + +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * +// NOTE: Verify in config.h that you have enabled 'USE_MOWER' ! +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +#include "config.h" +#ifdef USE_BLANK_MEGA + +#include +#include "mega.h" +#include "due.h" + +// ------ pins--------------------------------------- +#define pinMotorEnable 37 // EN motors enable +#define pinMotorLeftPWM 5 // M1_IN1 left motor PWM pin +#define pinMotorLeftDir 31 // M1_IN2 left motor Dir pin +#define pinMotorLeftSense A1 // M1_FB left motor current sense +#define pinMotorLeftFault 25 // M1_SF left motor fault + +#define pinMotorRightPWM 3 // M2_IN1 right motor PWM pin +#define pinMotorRightDir 33 // M2_IN2 right motor Dir pin +#define pinMotorRightSense A0 // M2_FB right motor current sense +#define pinMotorRightFault 27 // M2_SF right motor fault + +#define pinMotorMowPWM 2 // M1_IN1 mower motor PWM pin (if using MOSFET, use this pin) +#define pinMotorMowDir 29 // M1_IN2 mower motor Dir pin (if using MOSFET, keep unconnected) +#define pinMotorMowSense A3 // M1_FB mower motor current sense +#define pinMotorMowFault 26 // M1_SF mower motor fault (if using MOSFET/L298N, keep unconnected) +#define pinMotorMowEnable 28 // EN mower motor enable (if using MOSFET/L298N, keep unconnected) +#define pinMotorMowRpm A11 + +#define pinBumperLeft 39 // bumper pins +#define pinBumperRight 38 + +#define pinDropLeft 45 // drop pins Dropsensor - Absturzsensor +#define pinDropRight 23 // drop pins Dropsensor - Absturzsensor + +#define pinSonarCenterTrigger 24 // ultrasonic sensor pins +#define pinSonarCenterEcho 22 +#define pinSonarRightTrigger 30 +#define pinSonarRightEcho 32 +#define pinSonarLeftTrigger 34 +#define pinSonarLeftEcho 36 +#define pinPerimeterRight A4 // perimeter +#define pinPerimeterLeft A5 + +#define pinLED 13 // LED +#define pinBuzzer 53 // Buzzer +#define pinTilt 35 // Tilt sensor (required for TC-G158 board) +#define pinButton 51 // digital ON/OFF button +#define pinBatteryVoltage A2 // battery voltage sensor +#define pinBatterySwitch 4 // battery-OFF switch +#define pinChargeVoltage A9 // charging voltage sensor +#define pinChargeCurrent A8 // charge current sensor +#define pinChargeRelay 50 // charge relay +#define pinRemoteMow 12 // remote control mower motor +#define pinRemoteSteer 11 // remote control steering +#define pinRemoteSpeed 10 // remote control speed +#define pinRemoteSwitch 52 // remote control switch +#define pinVoltageMeasurement A7 // test pin for your own voltage measurements +#ifdef __AVR__ + #define pinOdometryLeft A12 // left odometry sensor + #define pinOdometryLeft2 A13 // left odometry sensor (optional two-wire) + #define pinOdometryRight A14 // right odometry sensor + #define pinOdometryRight2 A15 // right odometry sensor (optional two-wire) +#else + #define pinOdometryLeft DAC0 // left odometry sensor + #define pinOdometryLeft2 DAC1 // left odometry sensor (optional two-wire) + #define pinOdometryRight CANRX // right odometry sensor + #define pinOdometryRight2 CANTX // right odometry sensor (optional two-wire) +#endif +#define pinLawnFrontRecv 40 // lawn sensor front receive +#define pinLawnFrontSend 41 // lawn sensor front sender +#define pinLawnBackRecv 42 // lawn sensor back receive +#define pinLawnBackSend 43 // lawn sensor back sender +#define pinUserSwitch1 46 // user-defined switch 1 +#define pinUserSwitch2 47 // user-defined switch 2 +#define pinUserSwitch3 48 // user-defined switch 3 +#define pinRain 44 // rain sensor +// IMU (compass/gyro/accel): I2C (SCL, SDA) +// Bluetooth: Serial2 (TX2, RX2) +// GPS: Serial3 (TX3, RX3) + +// ------- baudrates--------------------------------- +#define BAUDRATE 19200 // serial output baud rate +#define PFOD_BAUDRATE 19200 // pfod app serial output baud rate +#define PFOD_PIN 1234 // Bluetooth pin + +//#define USE_DEVELOPER_TEST 1 // uncomment for new perimeter signal test (developers) + +Mower robot; + + +Mower::Mower(){ + name = "Ardumower"; + // ------- wheel motors ----------------------------- + motorAccel = 1000; // motor wheel acceleration - only functional when odometry is not in use (warning: do not set too low) + motorSpeedMaxRpm = 25; // motor wheel max RPM (WARNING: do not set too high, so there's still speed control when battery is low!) + motorSpeedMaxPwm = 255; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) + motorPowerMax = 75; // motor wheel max power (Watt) + motorSenseRightScale = 15.3; // motor right sense scale (mA=(ADC-zero)/scale) + motorSenseLeftScale = 15.3; // motor left sense scale (mA=(ADC-zero)/scale) + motorPowerIgnoreTime = 2000; // time to ignore motor power (ms) + motorZeroSettleTime = 2500 ; // how long (ms) to wait for motors to settle at zero speed + motorRollTimeMax = 2000; // max. roll time (ms) + motorRollTimeMin = 750; //min. roll time (ms) should be smaller than motorRollTimeMax + motorReverseTime = 2200; // max. reverse time (ms) + motorForwTimeMax = 80000; // max. forward time (ms) / timeout + motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 + motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 + // ---- normal control --- + motorLeftPID.Kp = 0.87; // motor wheel PID controller + motorLeftPID.Ki = 0.29; + motorLeftPID.Kd = 0.25; + /*// ---- fast control --- + motorLeftPID.Kp = 1.76; // motor wheel PID controller + motorLeftPID.Ki = 0.87; + motorLeftPID.Kd = 0.4;*/ + + motorRightSwapDir = 0; // inverse right motor direction? + motorLeftSwapDir = 0; // inverse left motor direction? + // ------ mower motor ------------------------------- + motorMowAccel = 2000; // motor mower acceleration (warning: do not set too low) 2000 seems to fit best considerating start time and power consumption + motorMowSpeedMaxPwm = 255; // motor mower max PWM + motorMowPowerMax = 75.0; // motor mower max power (Watt) + motorMowModulate = 0; // motor mower cutter modulation? + motorMowRPMSet = 3300; // motor mower RPM (only for cutter modulation) + motorMowSenseScale = 15.3; // motor mower sense scale (mA=(ADC-zero)/scale) + motorMowPID.Kp = 0.005; // motor mower RPM PID controller + motorMowPID.Ki = 0.01; + motorMowPID.Kd = 0.01; + // ------ bumper ----------------------------------- + bumperUse = 0; // has bumpers? + // ------ drop ----------------------------------- + dropUse = 0; // has drops? Dropsensor - Absturzsensor vorhanden ? + dropcontact = 1; //contact 0-openers 1-closers Dropsensor - Kontakt 0-Öffner - 1-Schließer betätigt gegen GND + // ------ rain ------------------------------------ + rainUse = 0; // use rain sensor? + // ------ sonar ------------------------------------ + sonarUse = 1; // use ultra sonic sensor? (WARNING: robot will slow down, if enabled but not connected!) + sonarLeftUse = 1; + sonarRightUse = 1; + sonarCenterUse = 0; + sonarTriggerBelow = 1050; // ultrasonic sensor trigger distance + // ------ perimeter --------------------------------- + perimeterUse = 0; // use perimeter? + perimeterTriggerTimeout = 0; // perimeter trigger timeout when escaping from inside (ms) + perimeterTrackRollTime = 2000; // perimter tracking roll time (ms) + perimeterTrackRevTime = 2200; // perimter tracking reverse time (ms) + perimeterPID.Kp = 51.0; // perimeter PID controller + perimeterPID.Ki = 12.5; + perimeterPID.Kd = 0.8; + trackingPerimeterTransitionTimeOut = 2000; + trackingErrorTimeOut = 10000; + trackingBlockInnerWheelWhilePerimeterStruggling = 1; + // ------ lawn sensor -------------------------------- + lawnSensorUse = 0; // use capacitive Sensor + // ------ IMU (compass/accel/gyro) ---------------------- + imuUse = 0; // use IMU? + imuCorrectDir = 0; // correct direction by compass? + imuDirPID.Kp = 5.0; // direction PID controller + imuDirPID.Ki = 1.0; + imuDirPID.Kd = 1.0; + imuRollPID.Kp = 0.8; // roll PID controller + imuRollPID.Ki = 21; + imuRollPID.Kd = 0; + // ------ model R/C ------------------------------------ + remoteUse = 1; // use model remote control (R/C)? + // ------ battery ------------------------------------- + batMonitor = 0; // monitor battery and charge voltage? + batGoHomeIfBelow = 23.7; // drive home voltage (Volt) + batSwitchOffIfBelow = 21.7; // switch off battery if below voltage (Volt) + batSwitchOffIfIdle = 1; // switch off battery if idle (minutes) + batFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) + batChgFactor = 0.495; // battery conversion factor / 10 due to arduremote bug, can be removed after fixing (look in robot.cpp) + batFull =29.4; // battery reference Voltage (fully charged) PLEASE ADJUST IF USING A DIFFERENT BATTERY VOLTAGE! FOR a 12V SYSTEM TO 14.4V + batChargingCurrentMax =1.6; // maximum current your charger can devliver + batFullCurrent = 0.3; // current flowing when battery is fully charged + startChargingIfBelow = 27.0; // start charging if battery Voltage is below + chargingTimeout = 12600000; // safety timer for charging (ms) 12600000 = 3.5hrs + // Sensorausgabe Konsole (chgSelection =0) + // Einstellungen ACS712 5A (chgSelection =1 / chgSenseZero ~ 511 / chgFactor = 39 / chgSense =185.0 / chgChange = 0 oder 1 (je nach Stromrichtung) / chgNull = 2) + // Einstellungen INA169 board (chgSelection =2) + chgSelection = 2; + chgSenseZero = 511; // charge current sense zero point + chgFactor = 39; // charge current conversion factor - Empfindlichkeit nimmt mit ca. 39/V Vcc ab + chgSense = 185.0; // mV/A empfindlichkeit des Ladestromsensors in mV/A (Für ACS712 5A = 185) + chgChange = 0; // Messwertumkehr von - nach + 1 oder 0 + chgNull = 2; // Nullduchgang abziehen (1 oder 2) + // ------ charging station --------------------------- + stationRevTime = 4000; // charge station reverse time (ms) + stationRollTime = 2000; // charge station roll time (ms) + stationForwTime = 2000; // charge station forward time (ms) + stationCheckTime = 2500; // charge station reverse check time (ms) + // ------ odometry ------------------------------------ + odometryUse = 0; // use odometry? + twoWayOdometrySensorUse = 0; // use optional two-wire odometry sensor? + odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution + odometryTicksPerCm = 13.49; // encoder ticks per cm + odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm) + odometryRightSwapDir = 0; // inverse right encoder direction? + odometryLeftSwapDir = 1; // inverse left encoder direction? + // ----- GPS ------------------------------------------- + gpsUse = 0; // use GPS? + stuckedIfGpsSpeedBelow = 0.2; // if Gps speed is below given value the mower is stucked + gpsSpeedIgnoreTime = 5000; // how long gpsSpeed is ignored when robot switches into a new STATE (in ms) + + // ----- other ----------------------------------------- + buttonUse = 1; // has digital ON/OFF button? + // ----- user-defined switch --------------------------- + userSwitch1 = 0; // user-defined switch 1 (default value) + userSwitch2 = 0; // user-defined switch 2 (default value) + userSwitch3 = 0; // user-defined switch 3 (default value) + // ----- timer ----------------------------------------- + timerUse = 0; // use RTC and timer? + // ------ mower stats------------------------------------------- + statsOverride = false; // if set to true mower stats are overwritten - be careful + statsMowTimeMinutesTotal = 300; + // -----------configuration end------------------------------------- +} + + +// remote control (RC) ppm signal change interrupt +ISR(PCINT0_vect){ + unsigned long timeMicros = micros(); + boolean remoteSpeedState = digitalRead(pinRemoteSpeed); + boolean remoteSteerState = digitalRead(pinRemoteSteer); + boolean remoteMowState = digitalRead(pinRemoteMow); + boolean remoteSwitchState = digitalRead(pinRemoteSwitch); + robot.setRemotePPMState(timeMicros, remoteSpeedState, remoteSteerState, remoteMowState, remoteSwitchState); +} + +// odometry signal change interrupt +// mower motor speed sensor interrupt +// NOTE: when choosing a higher perimeter sample rate (38 kHz) and using odometry interrupts, +// the Arduino Mega cannot handle all ADC interrupts anymore - the result will be a 'noisy' +// perimeter filter output (mag value) which disappears when disabling odometry interrupts. +// SOLUTION: allow odometry interrupt handler nesting (see odometry interrupt function) +// http://www.nongnu.org/avr-libc/user-manual/group__avr__interrupts.html +ISR(PCINT2_vect, ISR_NOBLOCK){ + unsigned long timeMicros = micros(); + boolean odometryLeftState = digitalRead(pinOdometryLeft); + boolean odometryLeftState2 = digitalRead(pinOdometryLeft2); + boolean odometryRightState = digitalRead(pinOdometryRight); + boolean odometryRightState2 = digitalRead(pinOdometryRight2); + boolean motorMowRpmState = digitalRead(pinMotorMowRpm); + robot.setOdometryState(timeMicros, odometryLeftState, odometryRightState, odometryLeftState2, odometryRightState2); + robot.setMotorMowRPMState(motorMowRpmState); +} + +// mower motor speed sensor interrupt +//void rpm_interrupt(){ +//} + + +// WARNING: never use 'Serial' in the Ardumower code - use 'Console' instead +// (required so we can use Arduino Due native port) + +void Mower::setup(){ + Wire.begin(); + Console.begin(BAUDRATE); + //while (!Console) ; // required if using Due native port + Console.println("SETUP"); + rc.initSerial(PFOD_BAUDRATE); + + + // keep battery switched ON + pinMode(pinBatterySwitch, OUTPUT); + digitalWrite(pinBatterySwitch, HIGH); + + // LED, buzzer, battery + pinMode(pinLED, OUTPUT); + pinMode(pinBuzzer, OUTPUT); + digitalWrite(pinBuzzer,0); + pinMode(pinBatteryVoltage, INPUT); + pinMode(pinChargeCurrent, INPUT); + pinMode(pinChargeVoltage, INPUT); + pinMode(pinChargeRelay, OUTPUT); + setActuator(ACT_CHGRELAY, 0); + + // left wheel motor + pinMode(pinMotorEnable, OUTPUT); + digitalWrite(pinMotorEnable, HIGH); + pinMode(pinMotorLeftPWM, OUTPUT); + pinMode(pinMotorLeftDir, OUTPUT); + pinMode(pinMotorLeftSense, INPUT); + pinMode(pinMotorLeftFault, INPUT); + + // right wheel motor + pinMode(pinMotorRightPWM, OUTPUT); + pinMode(pinMotorRightDir, OUTPUT); + pinMode(pinMotorRightSense, INPUT); + pinMode(pinMotorRightFault, INPUT); + + // mower motor + pinMode(pinMotorMowDir, OUTPUT); + pinMode(pinMotorMowPWM, OUTPUT); + pinMode(pinMotorMowSense, INPUT); + pinMode(pinMotorMowRpm, INPUT); + pinMode(pinMotorMowEnable, OUTPUT); + digitalWrite(pinMotorMowEnable, HIGH); + pinMode(pinMotorMowFault, INPUT); + + // lawn sensor + pinMode(pinLawnBackRecv, INPUT); + pinMode(pinLawnBackSend, OUTPUT); + pinMode(pinLawnFrontRecv, INPUT); + pinMode(pinLawnFrontSend, OUTPUT); + + // perimeter + pinMode(pinPerimeterRight, INPUT); + pinMode(pinPerimeterLeft, INPUT); + + // button + pinMode(pinButton, INPUT); + pinMode(pinButton, INPUT_PULLUP); + + // bumpers + pinMode(pinBumperLeft, INPUT); + pinMode(pinBumperLeft, INPUT_PULLUP); + pinMode(pinBumperRight, INPUT); + pinMode(pinBumperRight, INPUT_PULLUP); + + // drops + pinMode(pinDropLeft, INPUT); // Dropsensor - Absturzsensor - Deklariert als Eingang + pinMode(pinDropLeft, INPUT_PULLUP); // Dropsensor - Absturzsensor - Intern Pullab Widerstand aktiviert (Auslösung erfolgt gegen GND) + pinMode(pinDropRight, INPUT); // Dropsensor - Absturzsensor - Deklariert als Eingang + pinMode(pinDropRight, INPUT_PULLUP); // Dropsensor - Absturzsensor - Intern Pullab Widerstand aktiviert (Auslösung erfolgt gegen GND) + + // sonar + pinMode(pinSonarCenterTrigger, OUTPUT); + pinMode(pinSonarCenterEcho, INPUT); + pinMode(pinSonarLeftTrigger, OUTPUT); + pinMode(pinSonarLeftEcho, INPUT); + pinMode(pinSonarRightTrigger, OUTPUT); + pinMode(pinSonarRightEcho, INPUT); + + // rain + pinMode(pinRain, INPUT); + + // R/C + pinMode(pinRemoteMow, INPUT); + pinMode(pinRemoteSteer, INPUT); + pinMode(pinRemoteSpeed, INPUT); + pinMode(pinRemoteSwitch, INPUT); + + // odometry + pinMode(pinOdometryLeft, INPUT_PULLUP); + pinMode(pinOdometryLeft2, INPUT_PULLUP); + pinMode(pinOdometryRight, INPUT_PULLUP); + pinMode(pinOdometryRight2, INPUT_PULLUP); + + // user switches + pinMode(pinUserSwitch1, OUTPUT); + pinMode(pinUserSwitch2, OUTPUT); + pinMode(pinUserSwitch3, OUTPUT); + + // other + pinMode(pinVoltageMeasurement, INPUT); + + // PWM frequency setup + // For obstacle detection, motor torque should be detectable - torque can be computed by motor current. + // To get consistent current values, PWM frequency should be 3.9 Khz + // http://wiki.ardumower.de/index.php?title=Motor_driver + // http://sobisource.com/arduino-mega-pwm-pin-and-frequency-timer-control/ + // http://www.atmel.com/images/doc2549.pdf + #ifdef __AVR__ + TCCR3B = (TCCR3B & 0xF8) | 0x02; // set PWM frequency 3.9 Khz (pin2,3,5) + #else + analogWrite(pinMotorMowPWM, 0); // sets PWMEnabled=true in Arduino library + pmc_enable_periph_clk(PWM_INTERFACE_ID); + PWMC_ConfigureClocks(3900 * PWM_MAX_DUTY_CYCLE, 0, VARIANT_MCK); // 3.9 Khz + #endif + + // enable interrupts + #ifdef __AVR__ + // R/C + PCICR |= (1<. + + Private-use only! (you need to ask for a commercial-use) + +*/ + +#ifndef MEGA_H +#define MEGA_H + +#include +#include "robot.h" + +#include "drivers.h" +#include "bt.h" + +/* + Ardumower robot chassis +*/ + +class Mower : public Robot +{ + public: + Mower(); + virtual void setup(void); + virtual void resetMotorFault(); + virtual int readSensor(char type); + virtual void setActuator(char type, int value); + virtual void configureBluetooth(boolean quick); +}; + + +extern Mower robot; + +#endif + From 929177dc573aa8d83476f59c666dc23ca595f91a Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 10 Jun 2015 11:17:35 +0200 Subject: [PATCH 44/78] performance improvements and code cleanup also fixes https://github.com/Ardumower/ardumower/issues/21 --- ardumower/mower.cpp | 4 +- ardumower/pfod.cpp | 2 +- ardumower/robot.cpp | 171 ++++++++++++++++++++++++-------------------- ardumower/robot.h | 3 + 4 files changed, 99 insertions(+), 81 deletions(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 2b79a94eb..71f9b7419 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -127,7 +127,7 @@ Mower robot; Mower::Mower(){ name = "Ardumower"; // ------- wheel motors ----------------------------- - motorAccel = 500; // motor wheel acceleration - only functional when odometry is not in use (warning: do not set too low) + motorAccel = 1000; // motor wheel acceleration - only functional when odometry is not in use (warning: do not set too low) motorSpeedMaxRpm = 25; // motor wheel max RPM (WARNING: do not set too high, so there's still speed control when battery is low!) motorSpeedMaxPwm = 255; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) motorPowerMax = 75; // motor wheel max power (Watt) @@ -153,7 +153,7 @@ Mower::Mower(){ motorRightSwapDir = 0; // inverse right motor direction? motorLeftSwapDir = 0; // inverse left motor direction? // ------ mower motor ------------------------------- - motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) + motorMowAccel = 2000; // motor mower acceleration (warning: do not set too low) 2000 seems to fit best considerating start time and power consumption motorMowSpeedMaxPwm = 255; // motor mower max PWM motorMowPowerMax = 75.0; // motor mower max power (Watt) motorMowModulate = 0; // motor mower cutter modulation? diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index 538ae3e51..a4625ec09 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -296,7 +296,7 @@ void RemoteControl::sendMotorMenu(boolean update){ Bluetooth.print(robot->motorRightPWMCurr); sendSlider("a06", F("Speed max in rpm"), robot->motorSpeedMaxRpm, "", 1, 100); sendSlider("a15", F("Speed max in pwm"), robot->motorSpeedMaxPwm, "", 1, 255); - sendSlider("a11", F("Accel"), robot->motorAccel, "", 1, 1000, 300); + sendSlider("a11", F("Accel"), robot->motorAccel, "", 1, 2000, 500); sendSlider("a18", F("Power ignore time"), robot->motorPowerIgnoreTime, "", 1, 8000); sendSlider("a07", F("Roll time max"), robot->motorRollTimeMax, "", 1, 8000); sendSlider("a19", F("Roll time min"), robot->motorRollTimeMin, "", 1, (robot->motorRollTimeMax - 500)); diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index cbe283ff1..02e60af6d 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -85,6 +85,7 @@ Robot::Robot(){ motorMowSenseErrorCounter = 0; motorMowRpmCurr = 0; lastMowSpeedPWM = 0; + lastSetMotorMowSpeedTime = 0; bumperLeftCounter = bumperRightCounter = 0; bumperLeft = bumperRight = false; @@ -160,6 +161,8 @@ Robot::Robot(){ nextTimeErrorCounterReset = 0; nextTimeErrorBeep = 0; nextTimeMotorControl = 0; + nextTimeMotorImuControl = 0; + nextTimeMotorPerimeterControl = 0; nextTimeMotorMowControl = 0; nextTimeRobotStats = 0; @@ -708,15 +711,15 @@ void Robot::setRemotePPMState(unsigned long timeMicros, boolean remoteSpeedState // http://wiki.ardumower.de/images/a/a5/Motor_polarity_switch_protection.png // - optional: ensures that the motors (and gears) are not switched to 0% (or 100%) too fast (motorAccel) void Robot::setMotorPWM(int pwmLeft, int pwmRight, boolean useAccel){ - //Console.print(pwmLeft); unsigned long TaC = millis() - lastSetMotorSpeedTime; // sampling time in millis lastSetMotorSpeedTime = millis(); - if (TaC > 1000) TaC = 1; - if (useAccel){ - // http://phrogz.net/js/framerate-independent-low-pass-filter.html - // value += (currentValue - value) / (smoothing / timeSinceLastSample); - pwmLeft = motorLeftPWMCurr + (((float)pwmLeft)-motorLeftPWMCurr) / (motorAccel/((float)TaC)); - pwmRight = motorRightPWMCurr + (((float)pwmRight)-motorRightPWMCurr) / (motorAccel/((float)TaC)); + if (TaC > 1000) TaC = 1; + if (useAccel){ + // http://phrogz.net/js/framerate-independent-low-pass-filter.html + // smoothed += elapsedTime * ( newValue - smoothed ) / smoothing; + motorLeftPWMCurr += TaC * (pwmLeft - motorLeftPWMCurr) / motorAccel; + motorRightPWMCurr += TaC * (pwmRight - motorRightPWMCurr) / motorAccel; + } // ----- driver protection (avoids driver explosion) ---------- if ( ((pwmLeft < 0) && (motorLeftPWMCurr >= 0)) || @@ -730,6 +733,8 @@ void Robot::setMotorPWM(int pwmLeft, int pwmRight, boolean useAccel){ pwmRight = motorRightPWMCurr - motorRightPWMCurr * ((float)TaC)/200.0; // reduce speed } if (odometryUse){ + motorLeftPWMCurr = pwmLeft; + motorRightPWMCurr = pwmRight; if (abs(motorLeftRpmCurr) <1) motorLeftZeroTimeout = max(0, ((int)(motorLeftZeroTimeout - TaC)) ); else motorLeftZeroTimeout = 500; if (abs(motorRightRpmCurr) <1) motorRightZeroTimeout = max(0, ((int)(motorRightZeroTimeout - TaC)) ); @@ -741,10 +746,6 @@ void Robot::setMotorPWM(int pwmLeft, int pwmRight, boolean useAccel){ else motorRightZeroTimeout = 700; } // --------------------------------- - motorLeftPWMCurr = pwmLeft; - motorRightPWMCurr = pwmRight; - //Console.print("\t"); - //Console.println(motorLeftPWMCurr); if (motorLeftSwapDir) // swap pin polarity? setActuator(ACT_MOTOR_LEFT, -motorLeftPWMCurr); else @@ -760,18 +761,25 @@ void Robot::setMotorPWM(int pwmLeft, int pwmRight, boolean useAccel){ // - ensures that the motor is not switched to 100% too fast (motorMowAccel) // - ensures that the motor voltage is not higher than motorMowSpeedMaxPwm void Robot::setMotorMowPWM(int pwm, boolean useAccel){ + unsigned long TaC = millis() - lastSetMotorMowSpeedTime; // sampling time in millis + lastSetMotorMowSpeedTime = millis(); + if (TaC > 1000) TaC = 1; // we need to ignore acceleration for PID control, and we can ignore if speed is lowered (e.g. motor is shut down) if ( (!useAccel) || (pwm < motorMowPWMCurr) ) motorMowPWMCurr = pwm; else { - double accel = motorMowAccel * loopsTa; - motorMowPWMCurr = (1.0 - accel) * motorMowPWMCurr + accel * ((double)pwm); + // http://phrogz.net/js/framerate-independent-low-pass-filter.html + // smoothed += elapsedTime * ( newValue - smoothed ) / smoothing; + motorMowPWMCurr += TaC * (pwm - motorMowPWMCurr) / motorMowAccel; } setActuator(ACT_MOTOR_MOW, min(motorMowSpeedMaxPwm, max(0, motorMowPWMCurr))); } // PID controller: roll robot to heading (requires IMU) void Robot::motorControlImuRoll(){ + if (millis() < nextTimeMotorImuControl) return; + nextTimeMotorImuControl = millis() + 100; + // Regelbereich entspricht 80% der maximalen Drehzahl am Antriebsrad (motorSpeedMaxRpm) imuRollPID.x = distancePI(imu.ypr.yaw, imuRollHeading) / PI * 180.0; @@ -816,7 +824,10 @@ void Robot::motorControlImuRoll(){ // PID controller: track perimeter -void Robot::motorControlPerimeter(){ +void Robot::motorControlPerimeter(){ + if (millis() < nextTimeMotorPerimeterControl) return; + nextTimeMotorPerimeterControl = millis() + 100; + if ((millis() > stateStartTime + 5000) && (millis() > perimeterLastTransitionTime + trackingPerimeterTransitionTimeOut)){ // robot is wheel-spinning while tracking => roll to get ground again if (trackingBlockInnerWheelWhilePerimeterStruggling == 0){ @@ -855,6 +866,9 @@ void Robot::motorControlPerimeter(){ // PID controller: correct direction during normal driving (requires IMU) void Robot::motorControlImuDir(){ + if (millis() < nextTimeMotorImuControl) return; + nextTimeMotorImuControl = millis() + 100; + int correctLeft = 0; int correctRight = 0; @@ -938,7 +952,9 @@ void Robot::checkOdometryFaults(){ void Robot::motorControl(){ - static unsigned long nextMotorControlOutputTime = 0; + if (millis() < nextTimeMotorControl) return; + nextTimeMotorControl = millis() + 100; + static unsigned long nextMotorControlOutputTime = 0; if (odometryUse){ // Regelbereich entspricht maximaler PWM am Antriebsrad (motorSpeedMaxPwm), um auch an Steigungen höchstes Drehmoment für die Solldrehzahl zu gewährleisten motorLeftPID.x = motorLeftRpmCurr; // IST @@ -982,7 +998,8 @@ void Robot::motorControl(){ Console.print(motorLeftPID.y); Console.print("\tPWM="); Console.println(leftSpeed); - } */ + } */ + setMotorPWM( leftSpeed, rightSpeed, false ); } else{ @@ -992,7 +1009,7 @@ void Robot::motorControl(){ leftSpeed = rightSpeed = 0; // slow down at state start if (mowPatternCurr != MOW_LANES) imuDriveHeading = imu.ypr.yaw; // set drive heading } - setMotorPWM( leftSpeed, rightSpeed, true ); + setMotorPWM( leftSpeed, rightSpeed, true ); } } @@ -1001,6 +1018,9 @@ void Robot::motorControl(){ // input: motorMowEnable, motorMowModulate, motorMowRpmCurr // output: motorMowPWMCurr void Robot::motorMowControl(){ + if (millis() < nextTimeMotorMowControl) return; + + nextTimeMotorMowControl = millis() + 100; double mowSpeed ; if (!motorMowEnable) { mowSpeed = 0; @@ -1448,6 +1468,9 @@ void Robot::readSerial() { } void Robot::checkButton(){ + if ( (!buttonUse) || (millis() < nextTimeButtonCheck) ) return; + + nextTimeButtonCheck = millis() + 50; boolean buttonPressed = (readSensor(SEN_BUTTON) == LOW); if ( ((!buttonPressed) && (buttonCounter > 0)) || ((buttonPressed) && (millis() >= nextTimeButton)) ) { nextTimeButton = millis() + 1000; @@ -1506,12 +1529,8 @@ void Robot::checkButton(){ } void Robot::readSensors(){ -/*NOTE: this function should only read in sensors into variables - it should NOT change any state! +//NOTE: this function should only read in sensors into variables - it should NOT change any state! - //if ((odometryUse) && (millis() >= nextTimeOdometry)) { - // nextTimeOdometry = millis() + 50; - // calcOdometry(); - //} */ if (millis() >= nextTimeMotorSense){ nextTimeMotorSense = millis() + 50; double accel = 0.05; @@ -1519,14 +1538,9 @@ void Robot::readSensors(){ motorLeftSenseADC = readSensor(SEN_MOTOR_LEFT); motorMowSenseADC = readSensor(SEN_MOTOR_MOW); - if (motorRightPWMCurr < 160) motorRightSenseCurrent = motorRightSenseCurrent * (1.0-accel) + ((double)motorRightSenseADC) * (motorSenseRightScale*1.0) * accel; - else motorRightSenseCurrent = motorRightSenseCurrent * (1.0-accel) + ((double)motorRightSenseADC) * motorSenseRightScale * accel; - - if (motorLeftPWMCurr < 160) motorLeftSenseCurrent = motorLeftSenseCurrent * (1.0-accel) + ((double)motorLeftSenseADC) * (motorSenseLeftScale*1.0) * accel; - else motorLeftSenseCurrent = motorLeftSenseCurrent * (1.0-accel) + ((double)motorLeftSenseADC) * motorSenseLeftScale * accel; - - if (motorMowPWMCurr < 160) motorMowSenseCurrent = motorMowSenseCurrent * (1.0-accel) + ((double)motorMowSenseADC) * (motorMowSenseScale*1.0) * accel; - else motorMowSenseCurrent = motorMowSenseCurrent * (1.0-accel) + ((double)motorMowSenseADC) * motorMowSenseScale * accel; + motorRightSenseCurrent = motorRightSenseCurrent * (1.0-accel) + ((double)motorRightSenseADC) * motorSenseRightScale * accel; + motorLeftSenseCurrent = motorLeftSenseCurrent * (1.0-accel) + ((double)motorLeftSenseADC) * motorSenseLeftScale * accel; + motorMowSenseCurrent = motorMowSenseCurrent * (1.0-accel) + ((double)motorMowSenseADC) * motorMowSenseScale * accel; if (batVoltage > 8){ motorRightSense = motorRightSenseCurrent * batVoltage /1000; // conversion to power in Watt @@ -1553,7 +1567,9 @@ void Robot::readSensors(){ setNextState(STATE_ERROR, 0); } } - } + } + + if ((perimeterUse) && (millis() >= nextTimePerimeter)){ nextTimePerimeter = millis() + 50; // 50 perimeterMag = readSensor(SEN_PERIM_LEFT); @@ -1583,7 +1599,9 @@ void Robot::readSensors(){ setNextState(STATE_ERROR,0); } } - } + } + + if ((lawnSensorUse) && (millis() >= nextTimeLawnSensor)){ nextTimeLawnSensor = millis() + 100; double accel = 0.03; @@ -1605,13 +1623,16 @@ void Robot::readSensors(){ lawnSensorFrontOld = lawnSensorFront; lawnSensorBackOld = lawnSensorBack; } + + if ((sonarUse) && (millis() >= nextTimeSonar)){ -// nextTimeSonar = millis() + 500; nextTimeSonar = millis() + 250; if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); if (sonarLeftUse) sonarDistLeft = readSensor(SEN_SONAR_LEFT); if (sonarCenterUse) sonarDistCenter = readSensor(SEN_SONAR_CENTER); } + + if ((bumperUse) && (millis() >= nextTimeBumper)){ nextTimeBumper = millis() + 100; if (readSensor(SEN_BUMPER_LEFT) == 0) { @@ -1623,7 +1644,9 @@ void Robot::readSensors(){ bumperRightCounter++; bumperRight=true; } - } + } + + if ((dropUse) && (millis() >= nextTimeDrop)){ // Dropsensor - Absturzsensor nextTimeDrop = millis() + 100; // Dropsensor - Absturzsensor if (readSensor(SEN_DROP_LEFT) == dropcontact) { // Dropsensor - Absturzsensor @@ -1639,12 +1662,12 @@ void Robot::readSensors(){ //if ((timerUse) && (millis() >= nextTimeRTC)) { if (millis() >= nextTimeRTC) { - // read RTC nextTimeRTC = millis() + 60000; - readSensor(SEN_RTC); + readSensor(SEN_RTC); // read RTC Console.print(F("RTC date received: ")); Console.println(date2str(datetime.date)); } + if ((imuUse) && (millis() >= nextTimeIMU)) { // IMU @@ -1659,7 +1682,9 @@ void Robot::readSensors(){ addErrorCounter(ERR_IMU_CALIB); setNextState(STATE_ERROR, 0); } - } + } + + if (millis() >= nextTimeBattery){ // read battery nextTimeBattery = millis() + 100; @@ -2255,6 +2280,7 @@ void Robot::checkSonar(){ // check IMU (tilt) void Robot::checkTilt(){ + if(!imuUse) return; int pitchAngle = (imu.ypr.pitch/PI*180.0); int rollAngle = (imu.ypr.roll/PI*180.0); if ( (stateCurr != STATE_OFF) && (stateCurr != STATE_ERROR) && (stateCurr != STATE_STATION) ){ @@ -2346,6 +2372,9 @@ void Robot::processGPSData() // calculate map position by odometry sensors void Robot::calcOdometry(){ + if ((!odometryUse) || (millis() < nextTimeOdometry)) return; + nextTimeOdometry = millis() + 300; + static int lastOdoLeft = 0; static int lastOdoRight = 0; int odoLeft = odometryLeft; @@ -2384,47 +2413,52 @@ void Robot::checkTimeout(){ } -// robot state machine -// http://wiki.ardumower.de/images/f/ff/Ardumower_states.png - -void Robot::loop() { +void Robot::loop() { stateTime = millis() - stateStartTime; int steer; - + ADCMan.run(); readSerial(); if (rc.readSerial()) resetIdleTime(); readSensors(); checkBattery(); checkIfStucked(); checkRobotStats(); + calcOdometry(); + checkOdometryFaults(); + checkButton(); + motorMowControl(); + + if (imuUse) imu.update(); - if ((odometryUse) && (millis() >= nextTimeOdometryInfo)){ - nextTimeOdometryInfo = millis() + 300; - calcOdometry(); - checkOdometryFaults(); - //printOdometry(); + if (gpsUse) { + gps.feed(); + processGPSData(); } - + if (millis() >= nextTimePfodLoop){ nextTimePfodLoop = millis() + 200; rc.run(); } - + + if (millis() >= nextTimeInfo) { - nextTimeInfo = millis() + 1000; + nextTimeInfo = millis() + 1000; + printInfo(Console); ledState = ~ledState; /*if (ledState) setActuator(ACT_LED, HIGH); else setActuator(ACT_LED, LOW); */ - printInfo(Console); - if(imuUse) checkTilt(); - //checkErrorCounter(); + //checkErrorCounter(); if (stateCurr == STATE_REMOTE) printRemote(); loopsPerSec = loopsPerSecCounter; if (loopsPerSec > 0) loopsTa = 1000.0 / ((double)loopsPerSec); loopsPerSecCounter = 0; - } + } + + - // state machine - things to do *PERMANENTLY* for current state + // state machine - things to do *PERMANENTLY* for current state + // robot state machine + // http://wiki.ardumower.de/images/f/ff/Ardumower_states.png switch (stateCurr) { case STATE_ERROR: // fatal-error @@ -2613,13 +2647,7 @@ void Robot::loop() { // next line deactivated (issue with RC failsafe) //if ((useRemoteRC) && (remoteSwitch < -50)) setNextState(STATE_REMOTE, 0); - if (millis() >= nextTimeButtonCheck) { - nextTimeButtonCheck = millis() + 50; - if (buttonUse) checkButton(); - } - - if (millis() >= nextTimeMotorControl) { - nextTimeMotorControl = millis() + 100; + // decide which motor control to use if ( ((mowPatternCurr == MOW_LANES) && (stateCurr == STATE_ROLL)) || (stateCurr == STATE_ROLL_WAIT) ) motorControlImuRoll(); else if (stateCurr == STATE_PERI_TRACK) motorControlPerimeter(); @@ -2629,31 +2657,18 @@ void Robot::loop() { && (imuCorrectDir || (mowPatternCurr == MOW_LANES)) ) motorControlImuDir(); //&& (millis() > stateStartTime + 3000) else motorControl(); - } if (stateCurr != STATE_REMOTE) motorMowSpeedPWMSet = motorMowSpeedMaxPwm; - if (millis() >= nextTimeMotorMowControl){ - nextTimeMotorMowControl = millis() + 500; - motorMowControl(); - } - ADCMan.run(); - if (imuUse) imu.update(); - if (gpsUse) { - gps.feed(); - processGPSData(); - } bumperRight = false; bumperLeft = false; dropRight = false; // Dropsensor - Absturzsensor dropLeft = false; // Dropsensor - Absturzsensor - - delay(5); - loopsPerSecCounter++; - -} + + loopsPerSecCounter++; + } diff --git a/ardumower/robot.h b/ardumower/robot.h index 508800b25..f488ccb61 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -300,8 +300,11 @@ class Robot int motorMowRpmCurr ; // motor rpm (range 0..MOW_RPM) unsigned long lastMotorMowRpmTime; unsigned long nextTimeMotorControl; + unsigned long nextTimeMotorImuControl ; + unsigned long nextTimeMotorPerimeterControl; unsigned long nextTimeMotorMowControl; int lastMowSpeedPWM; + unsigned long lastSetMotorMowSpeedTime; // --------- bumper state --------------------------- // bumper state (true = pressed) char bumperUse ; // has bumpers? From 2ad982edc52ef3d0121d58041205e5d281d60fe6 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 12 Jun 2015 11:52:47 +0200 Subject: [PATCH 45/78] optimized mower motor over current behavior fixes: https://github.com/Ardumower/ardumower/issues/20 https://github.com/Ardumower/ardumower/issues/52 --- ardumower/pfod.cpp | 4 +++- ardumower/robot.cpp | 55 +++++++++++++++++++++++++++++---------------- ardumower/robot.h | 3 +++ 3 files changed, 42 insertions(+), 20 deletions(-) diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index a4625ec09..f14440888 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -931,7 +931,9 @@ void RemoteControl::processCommandMenu(String pfodCmd){ robot->setNextState(STATE_REMOTE, 0); sendCommandMenu(true); } else if (pfodCmd == "rm"){ - // cmd: mower motor on/off + // cmd: mower motor on/off + if (robot->stateCurr == STATE_OFF || robot->stateCurr == STATE_MANUAL) robot->motorMowEnableOverride = false; + else robot->motorMowEnableOverride = !robot->motorMowEnableOverride; robot->motorMowEnable = !robot->motorMowEnable; sendCommandMenu(true); } else if (pfodCmd == "rs"){ diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 02e60af6d..a0d846690 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -76,6 +76,7 @@ Robot::Robot(){ motorMowRpmCounter = 0; motorMowRpmLastState = LOW; motorMowEnable = false; + motorMowEnableOverride = false; motorMowSpeedPWMSet = motorSpeedMaxRpm; motorMowPWMCurr = 0; motorMowSenseADC = 0; @@ -86,6 +87,8 @@ Robot::Robot(){ motorMowRpmCurr = 0; lastMowSpeedPWM = 0; lastSetMotorMowSpeedTime = 0; + nextTimeCheckCurrent = 0; + lastTimeMotorMowStucked = 0; bumperLeftCounter = bumperRightCounter = 0; bumperLeft = bumperRight = false; @@ -600,7 +603,7 @@ void Robot::checkErrorCounter(){ if (millis() >= nextTimeErrorCounterReset){ // reset all temporary error counters after 30 seconds (maximum error counters still continue to count) for (int i=0; i < ERR_ENUM_COUNT; i++) errorCounter[i]=0; - nextTimeErrorCounterReset = millis() + 60000; // 30 sec + nextTimeErrorCounterReset = millis() + 30000; // 30 sec } if (stateCurr != STATE_OFF) { for (int i=0; i < ERR_ENUM_COUNT; i++){ @@ -1021,6 +1024,7 @@ void Robot::motorMowControl(){ if (millis() < nextTimeMotorMowControl) return; nextTimeMotorMowControl = millis() + 100; + if (motorMowEnableOverride) motorMowEnable = false; double mowSpeed ; if (!motorMowEnable) { mowSpeed = 0; @@ -1053,10 +1057,13 @@ void Robot::motorMowControl(){ setMotorMowPWM(mowSpeed / 20.0 + motorMowPID.y, false); lastMowSpeedPWM = mowSpeed; - } else { + } + else { + if((errorCounter[ERR_MOW_SENSE] == 0) && (errorCounter[ERR_STUCK] == 0)){ // no speed sensor available mowSpeed = motorMowSpeedPWMSet; setMotorMowPWM(mowSpeed, true); + } } } } @@ -1433,6 +1440,8 @@ void Robot::readSerial() { lawnSensorCounter++; break; case 'm': + if (stateCurr == STATE_OFF || stateCurr == STATE_MANUAL) motorMowEnableOverride = false; + else motorMowEnableOverride = !motorMowEnableOverride; motorMowEnable = !motorMowEnable; // press 'm' to toggle mower motor break; case 'c': @@ -2067,23 +2076,31 @@ void Robot::reverseOrBidir(byte aRollDir){ // check motor current void Robot::checkCurrent(){ + if (millis() < nextTimeCheckCurrent) return; + nextTimeCheckCurrent = millis() + 100; + if (motorMowSense >= motorMowPowerMax){ - // mower motor overpowered - setActuator(ACT_MOTOR_MOW, 0); - motorMowSenseCounter++; - // FIXME: doesn't work well with high gras :-/ - /*if (millis() > stateStartTime + motorReverseTime){ - motorMowSenseErrorCounter++; - if (motorMowSenseErrorCounter > 15){ - Console.println("Error: Motor mow current"); - addErrorCounter(ERR_MOW_SENSE); - setNextState(STATE_ERROR, 0); - return; + motorMowSenseCounter++; + } + else{ + errorCounterMax[ERR_MOW_SENSE] = 0; + motorMowSenseCounter = 0; + if (millis() >= lastTimeMotorMowStucked + 30000){ // wait 30 seconds before switching on again + errorCounter[ERR_MOW_SENSE] = 0; + motorMowEnable = true; } - }*/ - if (rollDir == RIGHT) reverseOrBidir(LEFT); // toggle roll dir - else reverseOrBidir(RIGHT); - } + } + + + if (motorMowSenseCounter >= 30){ //ignore motorMowPower for 3 seconds + motorMowEnable = false; + Console.println("Error: Motor mow current"); + addErrorCounter(ERR_MOW_SENSE); + lastTimeMotorMowStucked = millis(); + // if (rollDir == RIGHT) reverseOrBidir(LEFT); // toggle roll dir + //else reverseOrBidir(RIGHT); + } + if (motorLeftSense >=motorPowerMax){ // left wheel motor overpowered @@ -2314,8 +2331,8 @@ void Robot::checkIfStucked(){ robotIsStuckedCounter++; } - else { // if mower gets unstucked itresets errorCounterMax to zero and reenabling motorMow - robotIsStuckedCounter = 0; // resets temporary counter to zero + else { // if mower gets unstucked it resets errorCounterMax to zero and reenabling motorMow + robotIsStuckedCounter = 0; // resets temporary counter to zero if ( (errorCounter[ERR_STUCK] == 0) && (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION) && (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_STATION_CHECK) && (stateCurr != STATE_STATION_REV) && (stateCurr != STATE_STATION_ROLL) diff --git a/ardumower/robot.h b/ardumower/robot.h index f488ccb61..8d8da12ea 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -245,6 +245,7 @@ class Robot int motorMowRpmCounter ; // mower motor speed state boolean motorMowRpmLastState ; boolean motorMowEnable ; + boolean motorMowEnableOverride ; // user switch for mower motor on/off has highest priority // --------- wheel motor state ---------------------------- // wheel motor speed ( <0 backward, >0 forward); range -motorSpeedMaxRpm..motorSpeedMaxRpm float motorAccel ; // motor wheel acceleration (warning: do not set too high) @@ -305,6 +306,8 @@ class Robot unsigned long nextTimeMotorMowControl; int lastMowSpeedPWM; unsigned long lastSetMotorMowSpeedTime; + unsigned long nextTimeCheckCurrent; + unsigned long lastTimeMotorMowStucked; // --------- bumper state --------------------------- // bumper state (true = pressed) char bumperUse ; // has bumpers? From 0e8f26c37f379ff4edfd33c3a14f3910152317e4 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 12 Jun 2015 11:55:29 +0200 Subject: [PATCH 46/78] recharged battery capacity in maH is now only updated if mower is in STATE_STATION_CHARGING --- ardumower/robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index a0d846690..13e6a9744 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1697,7 +1697,7 @@ void Robot::readSensors(){ if (millis() >= nextTimeBattery){ // read battery nextTimeBattery = millis() + 100; - if ((abs(chgCurrent) > 0.04) && (chgVoltage > 5)){ + if (stateCurr == STATE_STATION_CHARGING){ // charging batCapacity += (chgCurrent / 36.0); } From 40064ecbbdb75242d8a6b1117bb407b69cfe3537 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 12 Jun 2015 20:06:28 +0200 Subject: [PATCH 47/78] Revert "recharged battery capacity in maH is now only updated if mower is in STATE_STATION_CHARGING" This reverts commit 0e8f26c37f379ff4edfd33c3a14f3910152317e4. --- ardumower/robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 13e6a9744..a0d846690 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1697,7 +1697,7 @@ void Robot::readSensors(){ if (millis() >= nextTimeBattery){ // read battery nextTimeBattery = millis() + 100; - if (stateCurr == STATE_STATION_CHARGING){ + if ((abs(chgCurrent) > 0.04) && (chgVoltage > 5)){ // charging batCapacity += (chgCurrent / 36.0); } From 6cbaa17f56138f46b78d9a15992c489ccf95cab8 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 14 Jun 2015 14:07:31 +0200 Subject: [PATCH 48/78] new stats: mower now records battery statistics --- ardumower/mega.cpp | 4 ++- ardumower/mower.cpp | 2 ++ ardumower/pfod.cpp | 10 +++++++- ardumower/robot.cpp | 61 +++++++++++++++++++++++++++++++++++++-------- ardumower/robot.h | 6 +++++ 5 files changed, 70 insertions(+), 13 deletions(-) diff --git a/ardumower/mega.cpp b/ardumower/mega.cpp index 3d707e128..29d3b33f9 100644 --- a/ardumower/mega.cpp +++ b/ardumower/mega.cpp @@ -247,8 +247,10 @@ Mower::Mower(){ // ----- timer ----------------------------------------- timerUse = 0; // use RTC and timer? // ------ mower stats------------------------------------------- - statsOverride = false; // if set to true mower stats are overwritten - be careful + statsOverride = false; // if set to true mower stats are overwritten with the values below - be careful statsMowTimeMinutesTotal = 300; + statsBatteryChargingCounterTotal = 11; + statsBatteryChargingCapacityTotal = 30000; // -----------configuration end------------------------------------- } diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 71f9b7419..132cb8248 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -249,6 +249,8 @@ Mower::Mower(){ // ------ mower stats------------------------------------------- statsOverride = false; // if set to true mower stats are overwritten - be careful statsMowTimeMinutesTotal = 300; + statsBatteryChargingCounterTotal = 11; + statsBatteryChargingCapacityTotal = 30000; // -----------configuration end------------------------------------- } diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index f14440888..540b71aad 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -864,7 +864,15 @@ void RemoteControl::sendInfoMenu(boolean update){ Bluetooth.print(F("|v02~Mowing time trip (min) ")); Bluetooth.print(robot->statsMowTimeMinutesTrip); Bluetooth.print(F("|v03~Mowing time total (hrs) ")); - Bluetooth.print(robot->statsMowTimeHoursTotal); + Bluetooth.print(robot->statsMowTimeHoursTotal); + Bluetooth.print(F("|v05~Battery charging cycles ")); + Bluetooth.print(robot->statsBatteryChargingCounterTotal); + Bluetooth.print(F("|v06~Battery recharged capacity trip (mAh)")); + Bluetooth.print(robot->statsBatteryChargingCapacityTrip); + Bluetooth.print(F("|v07~Battery recharged capacity total (Ah)")); + Bluetooth.print(robot->statsBatteryChargingCapacityTotal / 1000); + Bluetooth.print(F("|v08~Battery recharged capacity average (mAh)")); + Bluetooth.print(robot->statsBatteryChargingCapacityAverage); //Bluetooth.print("|d01~Perimeter v"); //Bluetooth.print(verToString(readPerimeterVer())); //Bluetooth.print("|d02~IMU v"); diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index a0d846690..adac271d8 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -25,7 +25,7 @@ #include "robot.h" -#define MAGIC 49 +#define MAGIC 50 #define ADDR_USER_SETTINGS 0 @@ -125,7 +125,8 @@ Robot::Robot(){ batADC = 0; batVoltage = 0; batRefFactor = 0; - batCapacity = 0; + batCapacity = 0; + lastTimeBatCapacity = 0; chgVoltage = 0; chgCurrent = 0; @@ -170,6 +171,7 @@ Robot::Robot(){ nextTimeRobotStats = 0; statsMowTimeMinutesTripCounter = 0; + statsBatteryChargingCounter = 0; } @@ -192,7 +194,12 @@ void Robot::loadSaveRobotStats(boolean readflag){ Console.println(F("PLEASE CHECK IF YOUR ROBOT STATS ARE CORRECT")); } eereadwrite(readflag, addr, statsMowTimeMinutesTrip); - eereadwrite(readflag, addr, statsMowTimeMinutesTotal); + eereadwrite(readflag, addr, statsMowTimeMinutesTotal); + eereadwrite(readflag, addr, statsBatteryChargingCounterTotal); + eereadwrite(readflag, addr, statsBatteryChargingCapacityTrip); + eereadwrite(readflag, addr, statsBatteryChargingCapacityTotal); + eereadwrite(readflag, addr, statsBatteryChargingCapacityAverage); + // <----------------------------new robot stats to save goes here!---------------- Console.print(F("loadSaveRobotStats addrstop=")); Console.println(addr); } @@ -561,6 +568,14 @@ void Robot::printSettingSerial(){ Console.println(statsMowTimeMinutesTrip); Console.print (F("statsMowTimeMinutesTotal : ")); Console.println(statsMowTimeMinutesTotal); + Console.print (F("statsBatteryChargingCounterTotal : ")); + Console.println(statsBatteryChargingCounterTotal); + Console.print (F("statsBatteryChargingCapacityTrip in mAh : ")); + Console.println(statsBatteryChargingCapacityTrip); + Console.print (F("statsBatteryChargingCapacityTotal in Ah : ")); + Console.println(statsBatteryChargingCapacityTotal / 1000); + Console.print (F("statsBatteryChargingCapacityAverage in mAh : ")); + Console.println(statsBatteryChargingCapacityAverage); return; } @@ -581,7 +596,8 @@ void Robot::deleteUserSettings(){ } void Robot::deleteRobotStats(){ - statsMowTimeMinutesTrip = statsMowTimeMinutesTotal = 0; + statsMowTimeMinutesTrip = statsMowTimeMinutesTotal = statsBatteryChargingCounterTotal = + statsBatteryChargingCapacityTotal = statsBatteryChargingCapacityTrip = 0; loadSaveRobotStats(false); Console.println(F("ALL ROBOT STATS ARE DELETED")); } @@ -1447,6 +1463,9 @@ void Robot::readSerial() { case 'c': setNextState(STATE_STATION, 0); // press 'c' to simulate in station break; + case 'a': + setNextState(STATE_STATION_CHARGING, 0); // press 't' to simulate in station charging + break; case '+': setNextState(STATE_ROLL_WAIT, 0); // press '+' to rotate 90 degrees (IMU) imuRollHeading = scalePI(imuRollHeading + PI/2); @@ -1877,8 +1896,8 @@ void Robot::setNextState(byte stateNew, byte dir){ if (stateNew == STATE_STATION){ setActuator(ACT_CHGRELAY, 0); setDefaults(); - statsMowTimeTotalStart = false; - loadSaveRobotStats(false); + statsMowTimeTotalStart = false; // stop stats mowTime counter + loadSaveRobotStats(false); //save robot stats } if (stateNew == STATE_STATION_CHARGING){ @@ -1888,8 +1907,8 @@ void Robot::setNextState(byte stateNew, byte dir){ if (stateNew == STATE_OFF){ setActuator(ACT_CHGRELAY, 0); setDefaults(); - statsMowTimeTotalStart = false; - loadSaveRobotStats(false); + statsMowTimeTotalStart = false; // stop stats mowTime counter + loadSaveRobotStats(false); //save robot stats } if (stateNew == STATE_ERROR){ motorMowEnable = false; @@ -1949,8 +1968,8 @@ if (millis() < nextTimeCheckBattery) return; if (idleTimeSec > batSwitchOffIfIdle * 60) { Console.println(F("triggered batSwitchOffIfIdle")); beep(1, true); - loadSaveErrorCounters(false); - loadSaveRobotStats(false); + loadSaveErrorCounters(false); // saves error counters + loadSaveRobotStats(false); // saves robot stats idleTimeSec = BATTERY_SW_OFF; // flag to remember that battery is switched off Console.println(F("BATTERY switching OFF")); setActuator(ACT_BATTERY_SW, 0); // switch off battery @@ -2010,7 +2029,9 @@ void Robot::receiveGPSTime(){ // check robot stats void Robot::checkRobotStats(){ if (millis() < nextTimeRobotStats) return; - nextTimeRobotStats = millis() + 60000; + nextTimeRobotStats = millis() + 60000; + +//----------------stats mow time------------------------------------------------------ statsMowTimeHoursTotal = double(statsMowTimeMinutesTotal)/60; if (statsMowTimeTotalStart) { statsMowTimeMinutesTripCounter++; @@ -2023,6 +2044,24 @@ void Robot::checkRobotStats(){ } +//---------------stats Battery--------------------------------------------------------- + if ((stateCurr == STATE_STATION_CHARGING) && (stateTime >= 60000)){ // count only if mower is charged longer then 60sec + statsBatteryChargingCounter++; // temporary counter + if (statsBatteryChargingCounter == 1) statsBatteryChargingCounterTotal +=1; + statsBatteryChargingCapacityTrip = batCapacity; + statsBatteryChargingCapacityTotal += (batCapacity - lastTimeBatCapacity); // summ up only the difference between actual batCapacity and last batCapacity + lastTimeBatCapacity = batCapacity; + } + else{ // resets values to 0 when mower is not charging + statsBatteryChargingCounter = 0; + batCapacity = 0; + } + + if(statsBatteryChargingCounterTotal <= 0) statsBatteryChargingCounterTotal = 0; // for first run ensures that the counter is 0 + if(statsBatteryChargingCapacityTotal == 0 || statsBatteryChargingCounterTotal == 0) statsBatteryChargingCapacityAverage = 0; // make sure that there is no dividing by zero + else statsBatteryChargingCapacityAverage = statsBatteryChargingCapacityTotal / statsBatteryChargingCounterTotal; + +//----------------new stats goes here------------------------------------------------------ } // check timer diff --git a/ardumower/robot.h b/ardumower/robot.h index 8d8da12ea..b9f9cd403 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -421,6 +421,12 @@ class Robot int stationCheckTime ; // charge station reverse check time (ms) unsigned long nextTimeBattery ; unsigned long nextTimeCheckBattery; + int statsBatteryChargingCounter; + int statsBatteryChargingCounterTotal; + float statsBatteryChargingCapacityTrip; + float statsBatteryChargingCapacityTotal; + float statsBatteryChargingCapacityAverage; + float lastTimeBatCapacity; // --------- error counters -------------------------- byte errorCounterMax[ERR_ENUM_COUNT]; byte errorCounter[ERR_ENUM_COUNT]; From 6d6b18a9d75007e1fb1661e99d546a06917ff1c3 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 14 Jun 2015 19:37:41 +0200 Subject: [PATCH 49/78] enabled checkTilt() again some code cleanup --- ardumower/robot.cpp | 20 ++++++++++++++------ ardumower/robot.h | 3 ++- 2 files changed, 16 insertions(+), 7 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index adac271d8..68416ae54 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -144,6 +144,7 @@ Robot::Robot(){ nextTimeInfo = 0; nextTimeMotorSense = 0; nextTimeIMU = 0; + nextTimeCheckTilt = 0; nextTimeOdometry = 0; nextTimeOdometryInfo = 0; nextTimeBumper = 0; @@ -1178,6 +1179,7 @@ void Robot::printOdometry(){ } void Robot::printInfo(Stream &s){ + /*Console.print(millis()/1000); Console.print(","); Console.print(motorMowRPMSet); @@ -2275,6 +2277,7 @@ void Robot::checkPerimeterFind(){ // check lawn void Robot::checkLawn(){ + if (!lawnSensorUse) return; if ( (lawnSensor) && (millis() > stateStartTime + 3000) ) { if (rollDir == RIGHT) reverseOrBidir(LEFT); // toggle roll dir else reverseOrBidir(RIGHT); @@ -2282,6 +2285,7 @@ void Robot::checkLawn(){ } void Robot::checkRain(){ + if (!rainUse) return; if (rain){ Console.println(F("RAIN")); if (perimeterUse) setNextState(STATE_PERI_FIND, 0); @@ -2337,6 +2341,9 @@ void Robot::checkSonar(){ // check IMU (tilt) void Robot::checkTilt(){ if(!imuUse) return; + if (millis() < nextTimeCheckTilt) return; + nextTimeCheckTilt = millis() + 200; // 5Hz same as nextTimeImu + int pitchAngle = (imu.ypr.pitch/PI*180.0); int rollAngle = (imu.ypr.roll/PI*180.0); if ( (stateCurr != STATE_OFF) && (stateCurr != STATE_ERROR) && (stateCurr != STATE_STATION) ){ @@ -2482,7 +2489,8 @@ void Robot::loop() { calcOdometry(); checkOdometryFaults(); checkButton(); - motorMowControl(); + motorMowControl(); + checkTilt(); if (imuUse) imu.update(); @@ -2563,8 +2571,8 @@ void Robot::loop() { checkBumpers(); checkDrop(); // Dropsensor - Absturzsensor checkSonar(); - checkPerimeterBoundary(); - if (lawnSensorUse) checkLawn(); + checkPerimeterBoundary(); + checkLawn(); checkTimeout(); break; case STATE_ROLL: @@ -2572,8 +2580,8 @@ void Robot::loop() { checkBumpers(); checkDrop(); // Dropsensor - Absturzsensor checkSonar(); - checkPerimeterBoundary(); - if (lawnSensorUse) checkLawn(); + checkPerimeterBoundary(); + checkLawn(); // making a roll (left/right) if (mowPatternCurr == MOW_LANES){ if (abs(distancePI(imu.ypr.yaw, imuRollHeading)) < PI/36) setNextState(STATE_FORWARD,0); @@ -2599,7 +2607,7 @@ void Robot::loop() { checkDrop(); // Dropsensor - Absturzsensor checkSonar(); checkPerimeterBoundary(); - if (lawnSensorUse) checkLawn(); + checkLawn(); if (mowPatternCurr == MOW_BIDIR){ double ratio = motorBiDirSpeedRatio1; diff --git a/ardumower/robot.h b/ardumower/robot.h index b9f9cd403..1f5112d8a 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -336,7 +336,8 @@ class Robot byte imuRollDir; //point_float_t accMin; //point_float_t accMax; - unsigned long nextTimeIMU ; + unsigned long nextTimeIMU ; //read IMU data + unsigned long nextTimeCheckTilt; // check if // ------- perimeter state -------------------------- Perimeter perimeter; char perimeterUse ; // use perimeter? From ea87fafeb7b1128dd1acca05dd15cda167dc1780 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Mon, 15 Jun 2015 12:07:14 +0200 Subject: [PATCH 50/78] better and more random driving behavior around obstacles and perimeter new values in Settings-Motor and Perimeter --- ardumower/mega.cpp | 13 ++++++++----- ardumower/mower.cpp | 13 ++++++++----- ardumower/pfod.cpp | 14 ++++++++++---- ardumower/robot.cpp | 17 +++++++++++++---- ardumower/robot.h | 7 +++++-- 5 files changed, 44 insertions(+), 20 deletions(-) diff --git a/ardumower/mega.cpp b/ardumower/mega.cpp index 29d3b33f9..69d763a63 100644 --- a/ardumower/mega.cpp +++ b/ardumower/mega.cpp @@ -134,10 +134,10 @@ Mower::Mower(){ motorSenseRightScale = 15.3; // motor right sense scale (mA=(ADC-zero)/scale) motorSenseLeftScale = 15.3; // motor left sense scale (mA=(ADC-zero)/scale) motorPowerIgnoreTime = 2000; // time to ignore motor power (ms) - motorZeroSettleTime = 2500 ; // how long (ms) to wait for motors to settle at zero speed - motorRollTimeMax = 2000; // max. roll time (ms) + motorZeroSettleTime = 3000 ; // how long (ms) to wait for motors to settle at zero speed + motorRollTimeMax = 1500; // max. roll time (ms) motorRollTimeMin = 750; //min. roll time (ms) should be smaller than motorRollTimeMax - motorReverseTime = 2200; // max. reverse time (ms) + motorReverseTime = 1200; // max. reverse time (ms) motorForwTimeMax = 80000; // max. forward time (ms) / timeout motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 @@ -178,8 +178,11 @@ Mower::Mower(){ // ------ perimeter --------------------------------- perimeterUse = 0; // use perimeter? perimeterTriggerTimeout = 0; // perimeter trigger timeout when escaping from inside (ms) - perimeterTrackRollTime = 2000; // perimter tracking roll time (ms) - perimeterTrackRevTime = 2200; // perimter tracking reverse time (ms) + perimeterOutRollTimeMax = 2000; // roll time max after perimeter out (ms) + perimeterOutRollTimeMin = 750; // roll time min after perimeter out (ms) + perimeterOutRevTime = 2200; // reverse time after perimeter out (ms) + perimeterTrackRollTime = 1500; //roll time during perimeter tracking + perimeterTrackRevTime = 2200; // reverse time during perimeter tracking perimeterPID.Kp = 51.0; // perimeter PID controller perimeterPID.Ki = 12.5; perimeterPID.Kd = 0.8; diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 132cb8248..13e42b805 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -134,10 +134,10 @@ Mower::Mower(){ motorSenseRightScale = 15.3; // motor right sense scale (mA=(ADC-zero)/scale) motorSenseLeftScale = 15.3; // motor left sense scale (mA=(ADC-zero)/scale) motorPowerIgnoreTime = 2000; // time to ignore motor power (ms) - motorZeroSettleTime = 2500 ; // how long (ms) to wait for motors to settle at zero speed - motorRollTimeMax = 2000; // max. roll time (ms) + motorZeroSettleTime = 3000 ; // how long (ms) to wait for motors to settle at zero speed + motorRollTimeMax = 1500; // max. roll time (ms) motorRollTimeMin = 750; //min. roll time (ms) should be smaller than motorRollTimeMax - motorReverseTime = 2200; // max. reverse time (ms) + motorReverseTime = 1200; // max. reverse time (ms) motorForwTimeMax = 80000; // max. forward time (ms) / timeout motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 @@ -178,8 +178,11 @@ Mower::Mower(){ // ------ perimeter --------------------------------- perimeterUse = 1; // use perimeter? perimeterTriggerTimeout = 0; // perimeter trigger timeout when escaping from inside (ms) - perimeterTrackRollTime = 2000; // perimter tracking roll time (ms) - perimeterTrackRevTime = 2200; // perimter tracking reverse time (ms) + perimeterOutRollTimeMax = 2000; // roll time max after perimeter out (ms) + perimeterOutRollTimeMin = 750; // roll time min after perimeter out (ms) + perimeterOutRevTime = 2200; // reverse time after perimeter out (ms) + perimeterTrackRollTime = 1500; //roll time during perimeter tracking + perimeterTrackRevTime = 2200; // reverse time during perimeter tracking perimeterPID.Kp = 51.0; // perimeter PID controller perimeterPID.Ki = 12.5; perimeterPID.Kd = 0.8; diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index 540b71aad..ebbf2962c 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -495,8 +495,11 @@ void RemoteControl::sendPerimeterMenu(boolean update){ sendSlider("e08", F("Timed-out if below smag"), robot->perimeter.timedOutIfBelowSmag, "", 1, 2000); sendSlider("e14", F("Timeout (s) if not inside"), robot->perimeter.timeOutSecIfNotInside, "", 1, 20, 1); sendSlider("e04", F("Trigger timeout"), robot->perimeterTriggerTimeout, "", 1, 2000); - sendSlider("e05", F("Track roll time"), robot->perimeterTrackRollTime, "", 1, 8000); - sendSlider("e06", F("Track rev time"), robot->perimeterTrackRevTime, "", 1, 8000); + sendSlider("e05", F("Perimeter out roll time max"), robot->perimeterOutRollTimeMax, "", 1, 8000); + sendSlider("e06", F("Perimeter out roll time min"), robot->perimeterOutRollTimeMin, "", 1, 8000); + sendSlider("e15", F("Perimeter out reverse time"), robot->perimeterOutRevTime, "", 1, 8000); + sendSlider("e16", F("Perimeter tracking roll time"), robot->perimeterTrackRollTime, "", 1, 8000); + sendSlider("e17", F("Perimeter tracking reverse time"), robot->perimeterTrackRevTime, "", 1, 8000); sendSlider("e11", F("Transition timeout"), robot->trackingPerimeterTransitionTimeOut, "", 1, 5000); sendSlider("e12", F("Track error timeout"), robot->trackingErrorTimeOut, "", 1, 10000); sendPIDSlider("e07", F("Track"), robot->perimeterPID, 0.1, 100); @@ -512,8 +515,11 @@ void RemoteControl::sendPerimeterMenu(boolean update){ void RemoteControl::processPerimeterMenu(String pfodCmd){ if (pfodCmd == "e00") robot->perimeterUse = !robot->perimeterUse; else if (pfodCmd.startsWith("e04")) processSlider(pfodCmd, robot->perimeterTriggerTimeout, 1); - else if (pfodCmd.startsWith("e05")) processSlider(pfodCmd, robot->perimeterTrackRollTime, 1); - else if (pfodCmd.startsWith("e06")) processSlider(pfodCmd, robot->perimeterTrackRevTime, 1); + else if (pfodCmd.startsWith("e05")) processSlider(pfodCmd, robot->perimeterOutRollTimeMax, 1); + else if (pfodCmd.startsWith("e06")) processSlider(pfodCmd, robot->perimeterOutRollTimeMin, 1); + else if (pfodCmd.startsWith("e15")) processSlider(pfodCmd, robot->perimeterOutRevTime, 1); + else if (pfodCmd.startsWith("e16")) processSlider(pfodCmd, robot->perimeterTrackRollTime, 1); + else if (pfodCmd.startsWith("e17")) processSlider(pfodCmd, robot->perimeterTrackRevTime, 1); else if (pfodCmd.startsWith("e07")) processPIDSlider(pfodCmd, "e07", robot->perimeterPID, 0.1, 100); else if (pfodCmd.startsWith("e08")) processSlider(pfodCmd, robot->perimeter.timedOutIfBelowSmag, 1); else if (pfodCmd.startsWith("e09")) robot->perimeter.useDifferentialPerimeterSignal = !robot->perimeter.useDifferentialPerimeterSignal; diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 68416ae54..753f7e17b 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -25,7 +25,7 @@ #include "robot.h" -#define MAGIC 50 +#define MAGIC 51 #define ADDR_USER_SETTINGS 0 @@ -271,6 +271,9 @@ void Robot::loadSaveUserSettings(boolean readflag){ eereadwrite(readflag, addr, perimeterUse); eereadwrite(readflag, addr, perimeter.timedOutIfBelowSmag); eereadwrite(readflag, addr, perimeterTriggerTimeout); + eereadwrite(readflag, addr, perimeterOutRollTimeMax); + eereadwrite(readflag, addr, perimeterOutRollTimeMin); + eereadwrite(readflag, addr, perimeterOutRevTime); eereadwrite(readflag, addr, perimeterTrackRollTime ); eereadwrite(readflag, addr, perimeterTrackRevTime); eereadwrite(readflag, addr, perimeterPID.Kp); @@ -432,6 +435,12 @@ void Robot::printSettingSerial(){ Console.println(perimeterUse); Console.print (F("perimeterTriggerTimeout : ")); Console.println(perimeterTriggerTimeout); + Console.print (F("perimeterOutRollTimeMax : ")); + Console.println(perimeterOutRollTimeMax); + Console.print (F("perimeterOutRollTimeMin : ")); + Console.println(perimeterOutRollTimeMin); + Console.print (F("perimeterOutRevTime : ")); + Console.println(perimeterOutRevTime); Console.print (F("perimeterTrackRollTime : ")); Console.println(perimeterTrackRollTime); Console.print (F("perimeterTrackRevTime : ")); @@ -1847,14 +1856,14 @@ void Robot::setNextState(byte stateNew, byte dir){ } else if (stateNew == STATE_PERI_OUT_FORW){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; - stateEndTime = millis() + motorReverseTime + motorZeroSettleTime + 1000; + stateEndTime = millis() + perimeterOutRevTime + motorZeroSettleTime + 1000; } else if (stateNew == STATE_PERI_OUT_REV){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/1.25; - stateEndTime = millis() + motorReverseTime + motorZeroSettleTime; + stateEndTime = millis() + perimeterOutRevTime + motorZeroSettleTime; } else if (stateNew == STATE_PERI_OUT_ROLL){ - stateEndTime = millis() + random(motorRollTimeMin,motorRollTimeMax) + motorZeroSettleTime; + stateEndTime = millis() + random(perimeterOutRollTimeMin,perimeterOutRollTimeMax) + motorZeroSettleTime; if (dir == RIGHT){ motorLeftSpeedRpmSet = motorSpeedMaxRpm/1.25; motorRightSpeedRpmSet = -motorLeftSpeedRpmSet; diff --git a/ardumower/robot.h b/ardumower/robot.h index 1f5112d8a..e89627eef 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -341,8 +341,11 @@ class Robot // ------- perimeter state -------------------------- Perimeter perimeter; char perimeterUse ; // use perimeter? - int perimeterTrackRollTime ; // perimter tracking roll time (ms) - int perimeterTrackRevTime ; // perimter tracking reverse time (ms) + int perimeterOutRollTimeMax ; + int perimeterOutRollTimeMin ; + int perimeterOutRevTime ; + int perimeterTrackRollTime ; // perimeter tracking roll time (ms) + int perimeterTrackRevTime ; // perimeter tracking reverse time (ms) PID perimeterPID ; // perimeter PID controller int perimeterMag ; // perimeter magnitude boolean perimeterInside ; // is inside perimeter? From 2db07b75772a3a66f48072259c2e59e679e5b5c9 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 15 Jun 2015 14:47:43 +0200 Subject: [PATCH 51/78] leftright pid sync --- ardumower/robot.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 753f7e17b..6ecf30263 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -986,8 +986,15 @@ void Robot::motorControl(){ static unsigned long nextMotorControlOutputTime = 0; if (odometryUse){ // Regelbereich entspricht maximaler PWM am Antriebsrad (motorSpeedMaxPwm), um auch an Steigungen höchstes Drehmoment für die Solldrehzahl zu gewährleisten - motorLeftPID.x = motorLeftRpmCurr; // IST motorLeftPID.w = motorLeftSpeedRpmSet; // SOLL + motorRightPID.w = motorRightSpeedRpmSet; // SOLL + float RLdiff = motorLeftRpmCurr - motorRightRpmCurr; + if (motorLeftSpeedRpmSet == motorRightSpeedRpmSet){ + // line motion + motorLeftPID.w = motorLeftSpeedRpmSet - RLdiff/2; + motorRightPID.w = motorRightSpeedRpmSet + RLdiff/2; + } + motorLeftPID.x = motorLeftRpmCurr; // IST if (millis() < stateStartTime + motorZeroSettleTime) motorLeftPID.w = 0; // get zero speed first after state change motorLeftPID.y_min = -motorSpeedMaxPwm; // Regel-MIN motorLeftPID.y_max = motorSpeedMaxPwm; // Regel-MAX @@ -1003,7 +1010,6 @@ void Robot::motorControl(){ motorRightPID.Ki = motorLeftPID.Ki; motorRightPID.Kd = motorLeftPID.Kd; motorRightPID.x = motorRightRpmCurr; // IST - motorRightPID.w = motorRightSpeedRpmSet; // SOLL if (millis() < stateStartTime + motorZeroSettleTime) motorRightPID.w = 0; // get zero speed first after state change motorRightPID.y_min = -motorSpeedMaxPwm; // Regel-MIN motorRightPID.y_max = motorSpeedMaxPwm; // Regel-MAX From 5d4848d81c21e834a39f21e7bb9ed64dbb9e66dc Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 15 Jun 2015 15:17:09 +0200 Subject: [PATCH 52/78] pfodapp plot adjustments --- ardumower/pfod.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index ebbf2962c..ae69c81c7 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -1320,9 +1320,11 @@ void RemoteControl::run(){ Bluetooth.print(","); Bluetooth.print(robot->motorRightRpmCurr); Bluetooth.print(","); - Bluetooth.print(robot->motorLeftSpeedRpmSet); + // Bluetooth.print(robot->motorLeftSpeedRpmSet); + Bluetooth.print(robot->motorLeftPID.w); Bluetooth.print(","); - Bluetooth.print(robot->motorRightSpeedRpmSet); + // Bluetooth.print(robot->motorRightSpeedRpmSet); + Bluetooth.print(robot->motorRightPID.w); Bluetooth.print(","); Bluetooth.print(robot->motorLeftPWMCurr); Bluetooth.print(","); From ab1db818f68bdcaa6ac554329a3fb791cb95247f Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Wed, 17 Jun 2015 16:42:58 +0200 Subject: [PATCH 53/78] mini config fix --- ardumower/mini.cpp | 973 +++++++++++++++++++++++---------------------- 1 file changed, 487 insertions(+), 486 deletions(-) diff --git a/ardumower/mini.cpp b/ardumower/mini.cpp index fdd96494f..1ad47f90a 100644 --- a/ardumower/mini.cpp +++ b/ardumower/mini.cpp @@ -1,487 +1,488 @@ -/* - Ardumower (www.ardumower.de) - Copyright (c) 2013-2014 by Alexander Grau - Copyright (c) 2013-2014 by Sven Gennat - Copyright (c) 2014 by Maxime Carpentieri - - Private-use only! (you need to ask for a commercial-use) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - - Private-use only! (you need to ask for a commercial-use) - -*/ - -/* Ardumower Mini - robot configuration (Ardumower electronics, Arduino Mega) - http://wiki.ardumower.de/index.php?title=Ardumower_Mini -*/ - -// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * -// NOTE: Verify in config.h that you have enabled 'USE_MINI' ! -// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * - - -#include "config.h" -#ifdef USE_MINI - -#include -#include "mini.h" -#include "due.h" - -// ------ pins--------------------------------------- -#define pinMotorEnable 37 // EN motors enable -#define pinMotorLeftPWM 5 // M1_IN1 left motor PWM pin -#define pinMotorLeftDir 31 // M1_IN2 left motor Dir pin -#define pinMotorLeftSense A1 // M1_FB left motor current sense -#define pinMotorLeftFault 25 // M1_SF left motor fault - -#define pinMotorRightPWM 3 // M2_IN1 right motor PWM pin -#define pinMotorRightDir 33 // M2_IN2 right motor Dir pin -#define pinMotorRightSense A0 // M2_FB right motor current sense -#define pinMotorRightFault 27 // M2_SF right motor fault - -#define pinMotorMowPWM 2 // M1_IN1 mower motor PWM pin -#define pinMotorMowDir 29 // M1_IN2 mower motor Dir pin -#define pinMotorMowSense A3 // M1_FB mower motor current sense -#define pinMotorMowFault 26 // M1_SF mower motor fault -#define pinMotorMowEnable 28 // EN mower motor enable -#define pinMotorMowRpm 18 - -#define pinBumperLeft 39 // bumper pins -#define pinBumperRight 38 - -#define pinDropLeft 45 // drop pins Dropsensor - Absturzsensor -#define pinDropRight 23 // drop pins Dropsensor - Absturzsensor - -#define pinSonarCenterTrigger 24 // ultrasonic sensor pins -#define pinSonarCenterEcho 22 -#define pinSonarRightTrigger 30 -#define pinSonarRightEcho 32 -#define pinSonarLeftTrigger 34 -#define pinSonarLeftEcho 36 -#define pinPerimeterRight A4 // perimeter -#define pinPerimeterLeft A5 -//#define pinPerimeterMuxZ A6 // perimeter mux Z (only TC-G158 board) -#define pinLED 13 // LED -#define pinBuzzer 53 // Buzzer -#define pinTilt 35 // Tilt sensor (required for TC-G158 board) -#define pinButton 51 // digital ON/OFF button -#define pinBatteryVoltage A2 // battery voltage sensor -#define pinChargeVoltage A9 // charging voltage sensor -#define pinChargeCurrent A8 // charge current sensor -#define pinChargeRelay 49 // charge current sensor -#define pinRemoteMow 12 // remote control mower motor -#define pinRemoteSteer 11 // remote control steering -#define pinRemoteSpeed 10 // remote control speed -#define pinRemoteSwitch 52 // remote control switch -//#define pinMuxS0 28 // mux S0 (only TC-G158 board) -//#define pinMuxS1 26 // mux S1 (only TC-G158 board) -//#define pinMuxZ A7 // mux Z (only TC-G158 board) -#ifdef __AVR__ - #define pinOdometryLeft A12 // left odometry sensor - #define pinOdometryLeft2 A13 // left odometry sensor (optional two-wire) - #define pinOdometryRight A15 // right odometry sensor - #define pinOdometryRight2 A14 // right odometry sensor (optional two-wire) -#else - #define pinOdometryLeft DAC0 // left odometry sensor - #define pinOdometryLeft2 DAC1 // left odometry sensor (optional two-wire) - #define pinOdometryRight CANTX // right odometry sensor - #define pinOdometryRight2 CANRX // right odometry sensor (optional two-wire) -#endif -#define pinLawnFrontRecv 40 // lawn sensor front receive -#define pinLawnFrontSend 41 // lawn sensor front sender -#define pinLawnBackRecv 42 // lawn sensor back receive -#define pinLawnBackSend 43 // lawn sensor back sender -#define pinUserSwitch1 46 // user-defined switch 1 -#define pinUserSwitch2 47 // user-defined switch 2 -#define pinUserSwitch3 48 // user-defined switch 3 -#define pinRain 44 // rain sensor -// IMU (compass/gyro/accel): I2C (SCL, SDA) -// Bluetooth: Serial2 (TX2, RX2) -// GPS: Serial3 (TX3, RX3) - -// ------- baudrates--------------------------------- -#define BAUDRATE 19200 // serial output baud rate -#define PFOD_BAUDRATE 19200 // pfod app serial output baud rate -#define PFOD_PIN 1234 // Bluetooth pin - -//#define USE_DEVELOPER_TEST 1 // uncomment for new perimeter signal test (developers) - -Mini robot; - - -Mini::Mini(){ - name = "Mini"; - // ------- wheel motors ----------------------------- - motorAccel = 0.03; // motor wheel acceleration (warning: do not set too high) - motorSpeedMax = 120; // motor wheel max RPM - motorSpeedMaxPwm = 127; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) -// motorPowerMax = 30; // motor wheel max power (Watt) - motorPowerMax = 30000; // motor wheel max power (Watt) - motorSenseRightScale = 15.3; // motor right sense scale (mA=(ADC-zero)/scale) - motorSenseLeftScale = 15.3; // motor left sense scale (mA=(ADC-zero)/scale) - motorRollTimeMax = 2000; // max. roll time (ms) - motorReverseTime = 2000; // max. reverse time (ms) - motorForwTimeMax = 60000; // max. forward time (ms) / timeout - motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 - motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 - motorLeftPID.Kp = 0.2; // motor wheel PID controller - motorLeftPID.Ki = 0.0; - motorLeftPID.Kd = 0.0; - motorRightSwapDir = 0; // inverse right motor direction? - motorLeftSwapDir = 0; // inverse left motor direction? - // ------ mower motor ------------------------------- - motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) - motorMowSpeedMax = 255; // motor mower max PWM -// motorMowPowerMax = 50.0; // motor mower max power (Watt) - motorMowPowerMax = 50000.0; // motor mower max power (Watt) - motorMowModulate = 0; // motor mower cutter modulation? - motorMowRPM = 3300; // motor mower RPM (only for cutter modulation) - motorMowSenseScale = 15.3; // motor mower sense scale (mA=(ADC-zero)/scale) - motorMowPID.Kp = 0.005; // motor mower RPM PID controller - motorMowPID.Ki = 0.01; - motorMowPID.Kd = 0.01; - // ------ bumper ----------------------------------- - bumperUse = 0; // has bumpers? - // ------ drop ----------------------------------- - dropUse = 0; // has drops? Dropsensor - Absturzsensor vorhanden ? - dropcontact = 1; //contact 0-openers 1-closers Dropsensor - Kontakt 0-Öffner - 1-Schließer betätigt gegen GND - // ------ rain ------------------------------------ - rainUse = 0; // use rain sensor? - // ------ sonar ------------------------------------ - sonarUse = 1; // use ultra sonic sensor? (WARNING: robot will slow down, if enabled but not connected!) - sonarTriggerBelow = 300; // ultrasonic sensor trigger distance - // ------ perimeter --------------------------------- - perimeterUse = 0; // use perimeter? - perimeterTriggerTimeout = 0; // perimeter trigger timeout (ms) - perimeterTrackRollTime = 2000; // perimter tracking roll time (ms) - perimeterTrackRevTime = 2000; // perimter tracking reverse time (ms) - perimeterPID.Kp = 60.0; // perimeter PID controller - perimeterPID.Ki = 6.0; - perimeterPID.Kd = 5.0; - // ------ lawn sensor -------------------------------- - lawnSensorUse = 0; // use capacitive Sensor - // ------ IMU (compass/accel/gyro) ---------------------- - imuUse = 1; // use IMU? - imuCorrectDir = 0; // correct direction by compass? - imuDirPID.Kp = 0.6; // direction PID controller - imuDirPID.Ki = 1.2; - imuDirPID.Kd = 0.3; - imuRollPID.Kp = 0.6; // roll PID controller - imuRollPID.Ki = 1.2; - imuRollPID.Kd = 0.3; - // ------ model R/C ------------------------------------ - remoteUse = 1; // use model remote control (R/C)? - // ------ battery ------------------------------------- - batMonitor = 0; // monitor battery and charge voltage? - batGoHomeIfBelow = 23.7; // drive home voltage (Volt) - batSwitchOffIfBelow = 21.7; // switch off if below voltage (Volt) - batFactor = 0.0658; // battery conversion factor - batChgFactor = 0.0658; // battery conversion factor - batSenseZero =77; // battery volt sense zero point - batFull =29.4; // battery reference Voltage (fully charged) - chgSenseZero = 0; // charge current sense zero point - chgFactor = 2.7; // charge current conversion factor - // ------ charging station --------------------------- - stationRevTime = 4000; // charge station reverse time (ms) - stationRollTime = 2000; // charge station roll time (ms) - stationForwTime = 2000; // charge station forward time (ms) - // ------ odometry ------------------------------------ - odometryUse = 1; // use odometry? - twoWayOdometrySensorUse = 0; // use optional two-wire odometry sensor? - odometryTicksPerRevolution = 20; // encoder ticks per one full resolution - odometryTicksPerCm = 0.5; // encoder ticks per cm - odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) - odometryRightSwapDir = 0; // inverse right encoder direction? - odometryLeftSwapDir = 0; // inverse left encoder direction? - // ----- GPS ------------------------------------------- - gpsUse = 0; // use GPS? - // ----- other ----------------------------------------- - buttonUse = 1; // has digital ON/OFF button? - // ----- user-defined switch --------------------------- - userSwitch1 = 0; // user-defined switch 1 (default value) - userSwitch2 = 0; // user-defined switch 2 (default value) - userSwitch3 = 0; // user-defined switch 3 (default value) - // ----- timer ----------------------------------------- - timerUse = 0; // use timer? - // ------ configuration end ------------------------------------------- -} - - -// remote control (RC) ppm signal change interrupt -ISR(PCINT0_vect){ - unsigned long timeMicros = micros(); - boolean remoteSpeedState = digitalRead(pinRemoteSpeed); - boolean remoteSteerState = digitalRead(pinRemoteSteer); - boolean remoteMowState = digitalRead(pinRemoteMow); - boolean remoteSwitchState = digitalRead(pinRemoteSwitch); - robot.setRemotePPMState(timeMicros, remoteSpeedState, remoteSteerState, remoteMowState, remoteSwitchState); -} - -// odometry signal change interrupt -ISR(PCINT2_vect){ - unsigned long timeMicros = micros(); - boolean odometryLeftState = digitalRead(pinOdometryLeft); - boolean odometryLeftState2 = digitalRead(pinOdometryLeft2); - boolean odometryRightState = digitalRead(pinOdometryRight); - boolean odometryRightState2 = digitalRead(pinOdometryRight2); - robot.setOdometryState(timeMicros, odometryLeftState, odometryRightState, odometryLeftState2, odometryRightState2); -} - -// mower motor speed sensor interrupt -void rpm_interrupt(){ - boolean motorMowRpmState = digitalRead(pinMotorMowRpm); - robot.setMotorMowRPMState(motorMowRpmState); -} - - -// WARNING: never use 'Serial' in the Ardumower code - use 'Console' instead -// (required so we can use Arduino Due native port) - -void Mini::setup(){ - Wire.begin(); - Console.begin(BAUDRATE); - //while (!Console) ; // required if using Due native port - Console.println("SETUP"); - rc.initSerial(PFOD_BAUDRATE); - - // http://sobisource.com/arduino-mega-pwm-pin-and-frequency-timer-control/ - #ifdef __AVR__ - // might be better to use default PWM freq (as perimeter v2 otherwise uses the same freq band) - // TCCR3B = (TCCR3B & 0xF8) | 0x02; // set PWM frequency 3.9 Khz (pin2,3,5) - #endif - - // i2c -- turn off internal pull-ups (and use external pull-ups) - //digitalWrite(SDA, 0); - //digitalWrite(SCL, 0); - - // LED, buzzer, battery - pinMode(pinLED, OUTPUT); - pinMode(pinBuzzer, OUTPUT); - digitalWrite(pinBuzzer,0); - pinMode(pinBatteryVoltage, INPUT); - pinMode(pinChargeCurrent, INPUT); - pinMode(pinChargeVoltage, INPUT); - pinMode(pinChargeRelay, OUTPUT); - setActuator(ACT_CHGRELAY, 0); - - // left wheel motor - pinMode(pinMotorEnable, OUTPUT); - digitalWrite(pinMotorEnable, HIGH); - pinMode(pinMotorLeftPWM, OUTPUT); - pinMode(pinMotorLeftDir, OUTPUT); - pinMode(pinMotorLeftSense, INPUT); - pinMode(pinMotorLeftFault, INPUT); - - // right wheel motor - pinMode(pinMotorRightPWM, OUTPUT); - pinMode(pinMotorRightDir, OUTPUT); - pinMode(pinMotorRightSense, INPUT); - pinMode(pinMotorRightFault, INPUT); - - // mower motor - pinMode(pinMotorMowDir, OUTPUT); - pinMode(pinMotorMowPWM, OUTPUT); - pinMode(pinMotorMowSense, INPUT); - pinMode(pinMotorMowRpm, INPUT); - pinMode(pinMotorMowEnable, OUTPUT); - digitalWrite(pinMotorMowEnable, HIGH); - pinMode(pinMotorMowFault, INPUT); - - // lawn sensor - pinMode(pinLawnBackRecv, INPUT); - pinMode(pinLawnBackSend, OUTPUT); - pinMode(pinLawnFrontRecv, INPUT); - pinMode(pinLawnFrontSend, OUTPUT); - - // perimeter - pinMode(pinPerimeterRight, INPUT); - pinMode(pinPerimeterLeft, INPUT); - - // button - pinMode(pinButton, INPUT); - pinMode(pinButton, INPUT_PULLUP); - - // bumpers - pinMode(pinBumperLeft, INPUT); - pinMode(pinBumperLeft, INPUT_PULLUP); - pinMode(pinBumperRight, INPUT); - pinMode(pinBumperRight, INPUT_PULLUP); - - // drops - pinMode(pinDropLeft, INPUT); // Dropsensor - Absturzsensor - Deklariert als Eingang - pinMode(pinDropLeft, INPUT_PULLUP); // Dropsensor - Absturzsensor - Intern Pullab Widerstand aktiviert (Auslösung erfolgt gegen GND) - pinMode(pinDropRight, INPUT); // Dropsensor - Absturzsensor - Deklariert als Eingang - pinMode(pinDropRight, INPUT_PULLUP); // Dropsensor - Absturzsensor - Intern Pullab Widerstand aktiviert (Auslösung erfolgt gegen GND) - - // sonar - pinMode(pinSonarCenterTrigger, OUTPUT); - pinMode(pinSonarCenterEcho, INPUT); - pinMode(pinSonarLeftTrigger, OUTPUT); - pinMode(pinSonarLeftEcho, INPUT); - pinMode(pinSonarRightTrigger, OUTPUT); - pinMode(pinSonarRightEcho, INPUT); - - // rain - pinMode(pinRain, INPUT); - - // R/C - pinMode(pinRemoteMow, INPUT); - pinMode(pinRemoteSteer, INPUT); - pinMode(pinRemoteSpeed, INPUT); - pinMode(pinRemoteSwitch, INPUT); - - // odometry - pinMode(pinOdometryLeft, INPUT_PULLUP); - pinMode(pinOdometryLeft2, INPUT_PULLUP); - pinMode(pinOdometryRight, INPUT_PULLUP); - pinMode(pinOdometryRight2, INPUT_PULLUP); - - // user switches - pinMode(pinUserSwitch1, OUTPUT); - pinMode(pinUserSwitch2, OUTPUT); - pinMode(pinUserSwitch3, OUTPUT); - - // enable interrupts - #ifdef __AVR__ - // R/C - PCICR |= (1<. + + Private-use only! (you need to ask for a commercial-use) + +*/ + +/* Ardumower Mini - robot configuration (Ardumower electronics, Arduino Mega) + http://wiki.ardumower.de/index.php?title=Ardumower_Mini +*/ + +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * +// NOTE: Verify in config.h that you have enabled 'USE_MINI' ! +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + + +#include "config.h" +#ifdef USE_MINI + +#include +#include "mini.h" +#include "due.h" + +// ------ pins--------------------------------------- +#define pinMotorEnable 37 // EN motors enable +#define pinMotorLeftPWM 5 // M1_IN1 left motor PWM pin +#define pinMotorLeftDir 31 // M1_IN2 left motor Dir pin +#define pinMotorLeftSense A1 // M1_FB left motor current sense +#define pinMotorLeftFault 25 // M1_SF left motor fault + +#define pinMotorRightPWM 3 // M2_IN1 right motor PWM pin +#define pinMotorRightDir 33 // M2_IN2 right motor Dir pin +#define pinMotorRightSense A0 // M2_FB right motor current sense +#define pinMotorRightFault 27 // M2_SF right motor fault + +#define pinMotorMowPWM 2 // M1_IN1 mower motor PWM pin +#define pinMotorMowDir 29 // M1_IN2 mower motor Dir pin +#define pinMotorMowSense A3 // M1_FB mower motor current sense +#define pinMotorMowFault 26 // M1_SF mower motor fault +#define pinMotorMowEnable 28 // EN mower motor enable +#define pinMotorMowRpm 18 + +#define pinBumperLeft 39 // bumper pins +#define pinBumperRight 38 + +#define pinDropLeft 45 // drop pins Dropsensor - Absturzsensor +#define pinDropRight 23 // drop pins Dropsensor - Absturzsensor + +#define pinSonarCenterTrigger 24 // ultrasonic sensor pins +#define pinSonarCenterEcho 22 +#define pinSonarRightTrigger 30 +#define pinSonarRightEcho 32 +#define pinSonarLeftTrigger 34 +#define pinSonarLeftEcho 36 +#define pinPerimeterRight A4 // perimeter +#define pinPerimeterLeft A5 +//#define pinPerimeterMuxZ A6 // perimeter mux Z (only TC-G158 board) +#define pinLED 13 // LED +#define pinBuzzer 53 // Buzzer +#define pinTilt 35 // Tilt sensor (required for TC-G158 board) +#define pinButton 51 // digital ON/OFF button +#define pinBatteryVoltage A2 // battery voltage sensor +#define pinChargeVoltage A9 // charging voltage sensor +#define pinChargeCurrent A8 // charge current sensor +#define pinChargeRelay 49 // charge current sensor +#define pinRemoteMow 12 // remote control mower motor +#define pinRemoteSteer 11 // remote control steering +#define pinRemoteSpeed 10 // remote control speed +#define pinRemoteSwitch 52 // remote control switch +//#define pinMuxS0 28 // mux S0 (only TC-G158 board) +//#define pinMuxS1 26 // mux S1 (only TC-G158 board) +//#define pinMuxZ A7 // mux Z (only TC-G158 board) +#ifdef __AVR__ + #define pinOdometryLeft A12 // left odometry sensor + #define pinOdometryLeft2 A13 // left odometry sensor (optional two-wire) + #define pinOdometryRight A14 // right odometry sensor + #define pinOdometryRight2 A15 // right odometry sensor (optional two-wire) +#else + #define pinOdometryLeft DAC0 // left odometry sensor + #define pinOdometryLeft2 DAC1 // left odometry sensor (optional two-wire) + #define pinOdometryRight CANTX // right odometry sensor + #define pinOdometryRight2 CANRX // right odometry sensor (optional two-wire) +#endif +#define pinLawnFrontRecv 40 // lawn sensor front receive +#define pinLawnFrontSend 41 // lawn sensor front sender +#define pinLawnBackRecv 42 // lawn sensor back receive +#define pinLawnBackSend 43 // lawn sensor back sender +#define pinUserSwitch1 46 // user-defined switch 1 +#define pinUserSwitch2 47 // user-defined switch 2 +#define pinUserSwitch3 48 // user-defined switch 3 +#define pinRain 44 // rain sensor +// IMU (compass/gyro/accel): I2C (SCL, SDA) +// Bluetooth: Serial2 (TX2, RX2) +// GPS: Serial3 (TX3, RX3) + +// ------- baudrates--------------------------------- +#define BAUDRATE 19200 // serial output baud rate +#define PFOD_BAUDRATE 19200 // pfod app serial output baud rate +#define PFOD_PIN 1234 // Bluetooth pin + +//#define USE_DEVELOPER_TEST 1 // uncomment for new perimeter signal test (developers) + +Mini robot; + + +Mini::Mini(){ + name = "Mini"; + // ------- wheel motors ----------------------------- + motorAccel = 0.03; // motor wheel acceleration (warning: do not set too high) + motorSpeedMaxRpm = 120; // motor wheel max RPM + motorSpeedMaxPwm = 127; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023) +// motorPowerMax = 30; // motor wheel max power (Watt) + motorPowerMax = 30000; // motor wheel max power (Watt) + motorSenseRightScale = 15.3; // motor right sense scale (mA=(ADC-zero)/scale) + motorSenseLeftScale = 15.3; // motor left sense scale (mA=(ADC-zero)/scale) + motorRollTimeMax = 2000; // max. roll time (ms) + motorReverseTime = 2000; // max. reverse time (ms) + motorForwTimeMax = 60000; // max. forward time (ms) / timeout + motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 + motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 + motorLeftPID.Kp = 0.2; // motor wheel PID controller + motorLeftPID.Ki = 0.0; + motorLeftPID.Kd = 0.0; + motorRightSwapDir = 0; // inverse right motor direction? + motorLeftSwapDir = 0; // inverse left motor direction? + // ------ mower motor ------------------------------- + motorMowAccel = 0.1; // motor mower acceleration (warning: do not set too high) + motorMowSpeedMaxPwm = 255; // motor mower max PWM +// motorMowPowerMax = 50.0; // motor mower max power (Watt) + motorMowPowerMax = 50000.0; // motor mower max power (Watt) + motorMowModulate = 0; // motor mower cutter modulation? + motorMowRPMSet = 3300; // motor mower RPM (only for cutter modulation) + motorMowSenseScale = 15.3; // motor mower sense scale (mA=(ADC-zero)/scale) + motorMowPID.Kp = 0.005; // motor mower RPM PID controller + motorMowPID.Ki = 0.01; + motorMowPID.Kd = 0.01; + // ------ bumper ----------------------------------- + bumperUse = 0; // has bumpers? + // ------ drop ----------------------------------- + dropUse = 0; // has drops? Dropsensor - Absturzsensor vorhanden ? + dropcontact = 1; //contact 0-openers 1-closers Dropsensor - Kontakt 0-Öffner - 1-Schließer betätigt gegen GND + // ------ rain ------------------------------------ + rainUse = 0; // use rain sensor? + // ------ sonar ------------------------------------ + sonarUse = 1; // use ultra sonic sensor? (WARNING: robot will slow down, if enabled but not connected!) + sonarTriggerBelow = 300; // ultrasonic sensor trigger distance + // ------ perimeter --------------------------------- + perimeterUse = 0; // use perimeter? + perimeterTriggerTimeout = 0; // perimeter trigger timeout (ms) + perimeterTrackRollTime = 2000; // perimter tracking roll time (ms) + perimeterTrackRevTime = 2000; // perimter tracking reverse time (ms) + perimeterPID.Kp = 60.0; // perimeter PID controller + perimeterPID.Ki = 6.0; + perimeterPID.Kd = 5.0; + // ------ lawn sensor -------------------------------- + lawnSensorUse = 0; // use capacitive Sensor + // ------ IMU (compass/accel/gyro) ---------------------- + imuUse = 1; // use IMU? + imuCorrectDir = 0; // correct direction by compass? + imuDirPID.Kp = 0.6; // direction PID controller + imuDirPID.Ki = 1.2; + imuDirPID.Kd = 0.3; + imuRollPID.Kp = 0.6; // roll PID controller + imuRollPID.Ki = 1.2; + imuRollPID.Kd = 0.3; + // ------ model R/C ------------------------------------ + remoteUse = 1; // use model remote control (R/C)? + // ------ battery ------------------------------------- + batMonitor = 0; // monitor battery and charge voltage? + batGoHomeIfBelow = 23.7; // drive home voltage (Volt) + //batSwitchOffIfBelow = 21.7; // switch off if below voltage (Volt) + batSwitchOffIfBelow = 0.0; // switch off if below voltage (Volt) + batFactor = 0.0658; // battery conversion factor + batChgFactor = 0.0658; // battery conversion factor + //batSenseZero =77; // battery volt sense zero point + batFull =29.4; // battery reference Voltage (fully charged) + chgSenseZero = 0; // charge current sense zero point + chgFactor = 2.7; // charge current conversion factor + // ------ charging station --------------------------- + stationRevTime = 4000; // charge station reverse time (ms) + stationRollTime = 2000; // charge station roll time (ms) + stationForwTime = 2000; // charge station forward time (ms) + // ------ odometry ------------------------------------ + odometryUse = 1; // use odometry? + twoWayOdometrySensorUse = 0; // use optional two-wire odometry sensor? + odometryTicksPerRevolution = 20; // encoder ticks per one full resolution + odometryTicksPerCm = 0.5; // encoder ticks per cm + odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm) + odometryRightSwapDir = 0; // inverse right encoder direction? + odometryLeftSwapDir = 0; // inverse left encoder direction? + // ----- GPS ------------------------------------------- + gpsUse = 0; // use GPS? + // ----- other ----------------------------------------- + buttonUse = 1; // has digital ON/OFF button? + // ----- user-defined switch --------------------------- + userSwitch1 = 0; // user-defined switch 1 (default value) + userSwitch2 = 0; // user-defined switch 2 (default value) + userSwitch3 = 0; // user-defined switch 3 (default value) + // ----- timer ----------------------------------------- + timerUse = 0; // use timer? + // ------ configuration end ------------------------------------------- +} + + +// remote control (RC) ppm signal change interrupt +ISR(PCINT0_vect){ + unsigned long timeMicros = micros(); + boolean remoteSpeedState = digitalRead(pinRemoteSpeed); + boolean remoteSteerState = digitalRead(pinRemoteSteer); + boolean remoteMowState = digitalRead(pinRemoteMow); + boolean remoteSwitchState = digitalRead(pinRemoteSwitch); + robot.setRemotePPMState(timeMicros, remoteSpeedState, remoteSteerState, remoteMowState, remoteSwitchState); +} + +// odometry signal change interrupt +ISR(PCINT2_vect){ + unsigned long timeMicros = micros(); + boolean odometryLeftState = digitalRead(pinOdometryLeft); + boolean odometryLeftState2 = digitalRead(pinOdometryLeft2); + boolean odometryRightState = digitalRead(pinOdometryRight); + boolean odometryRightState2 = digitalRead(pinOdometryRight2); + robot.setOdometryState(timeMicros, odometryLeftState, odometryRightState, odometryLeftState2, odometryRightState2); +} + +// mower motor speed sensor interrupt +void rpm_interrupt(){ + boolean motorMowRpmState = digitalRead(pinMotorMowRpm); + robot.setMotorMowRPMState(motorMowRpmState); +} + + +// WARNING: never use 'Serial' in the Ardumower code - use 'Console' instead +// (required so we can use Arduino Due native port) + +void Mini::setup(){ + Wire.begin(); + Console.begin(BAUDRATE); + //while (!Console) ; // required if using Due native port + Console.println("SETUP"); + rc.initSerial(PFOD_BAUDRATE); + + // http://sobisource.com/arduino-mega-pwm-pin-and-frequency-timer-control/ + #ifdef __AVR__ + // might be better to use default PWM freq (as perimeter v2 otherwise uses the same freq band) + // TCCR3B = (TCCR3B & 0xF8) | 0x02; // set PWM frequency 3.9 Khz (pin2,3,5) + #endif + + // i2c -- turn off internal pull-ups (and use external pull-ups) + //digitalWrite(SDA, 0); + //digitalWrite(SCL, 0); + + // LED, buzzer, battery + pinMode(pinLED, OUTPUT); + pinMode(pinBuzzer, OUTPUT); + digitalWrite(pinBuzzer,0); + pinMode(pinBatteryVoltage, INPUT); + pinMode(pinChargeCurrent, INPUT); + pinMode(pinChargeVoltage, INPUT); + pinMode(pinChargeRelay, OUTPUT); + setActuator(ACT_CHGRELAY, 0); + + // left wheel motor + pinMode(pinMotorEnable, OUTPUT); + digitalWrite(pinMotorEnable, HIGH); + pinMode(pinMotorLeftPWM, OUTPUT); + pinMode(pinMotorLeftDir, OUTPUT); + pinMode(pinMotorLeftSense, INPUT); + pinMode(pinMotorLeftFault, INPUT); + + // right wheel motor + pinMode(pinMotorRightPWM, OUTPUT); + pinMode(pinMotorRightDir, OUTPUT); + pinMode(pinMotorRightSense, INPUT); + pinMode(pinMotorRightFault, INPUT); + + // mower motor + pinMode(pinMotorMowDir, OUTPUT); + pinMode(pinMotorMowPWM, OUTPUT); + pinMode(pinMotorMowSense, INPUT); + pinMode(pinMotorMowRpm, INPUT); + pinMode(pinMotorMowEnable, OUTPUT); + digitalWrite(pinMotorMowEnable, HIGH); + pinMode(pinMotorMowFault, INPUT); + + // lawn sensor + pinMode(pinLawnBackRecv, INPUT); + pinMode(pinLawnBackSend, OUTPUT); + pinMode(pinLawnFrontRecv, INPUT); + pinMode(pinLawnFrontSend, OUTPUT); + + // perimeter + pinMode(pinPerimeterRight, INPUT); + pinMode(pinPerimeterLeft, INPUT); + + // button + pinMode(pinButton, INPUT); + pinMode(pinButton, INPUT_PULLUP); + + // bumpers + pinMode(pinBumperLeft, INPUT); + pinMode(pinBumperLeft, INPUT_PULLUP); + pinMode(pinBumperRight, INPUT); + pinMode(pinBumperRight, INPUT_PULLUP); + + // drops + pinMode(pinDropLeft, INPUT); // Dropsensor - Absturzsensor - Deklariert als Eingang + pinMode(pinDropLeft, INPUT_PULLUP); // Dropsensor - Absturzsensor - Intern Pullab Widerstand aktiviert (Auslösung erfolgt gegen GND) + pinMode(pinDropRight, INPUT); // Dropsensor - Absturzsensor - Deklariert als Eingang + pinMode(pinDropRight, INPUT_PULLUP); // Dropsensor - Absturzsensor - Intern Pullab Widerstand aktiviert (Auslösung erfolgt gegen GND) + + // sonar + pinMode(pinSonarCenterTrigger, OUTPUT); + pinMode(pinSonarCenterEcho, INPUT); + pinMode(pinSonarLeftTrigger, OUTPUT); + pinMode(pinSonarLeftEcho, INPUT); + pinMode(pinSonarRightTrigger, OUTPUT); + pinMode(pinSonarRightEcho, INPUT); + + // rain + pinMode(pinRain, INPUT); + + // R/C + pinMode(pinRemoteMow, INPUT); + pinMode(pinRemoteSteer, INPUT); + pinMode(pinRemoteSpeed, INPUT); + pinMode(pinRemoteSwitch, INPUT); + + // odometry + pinMode(pinOdometryLeft, INPUT_PULLUP); + pinMode(pinOdometryLeft2, INPUT_PULLUP); + pinMode(pinOdometryRight, INPUT_PULLUP); + pinMode(pinOdometryRight2, INPUT_PULLUP); + + // user switches + pinMode(pinUserSwitch1, OUTPUT); + pinMode(pinUserSwitch2, OUTPUT); + pinMode(pinUserSwitch3, OUTPUT); + + // enable interrupts + #ifdef __AVR__ + // R/C + PCICR |= (1< Date: Thu, 18 Jun 2015 12:59:02 +0200 Subject: [PATCH 54/78] bugfix: now reacting on motorcurrent in state PFND, PTRK --- ardumower/robot.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 6ecf30263..22959e184 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1817,7 +1817,7 @@ void Robot::setNextState(byte stateNew, byte dir){ unsigned long stateTime = millis() - stateStartTime; if (stateNew == stateCurr) return; // state correction - if (stateCurr == STATE_PERI_FIND){ + if ((stateCurr == STATE_PERI_FIND) || (stateCurr == STATE_PERI_TRACK)) { if (stateNew == STATE_ROLL) stateNew = STATE_PERI_ROLL; if (stateNew == STATE_REVERSE) stateNew = STATE_PERI_REV; } @@ -1848,7 +1848,7 @@ void Robot::setNextState(byte stateNew, byte dir){ stateEndTime = millis() + stationCheckTime + motorZeroSettleTime; } else if (stateNew == STATE_PERI_ROLL) { - stateEndTime = millis() + perimeterTrackRollTime; + stateEndTime = millis() + perimeterTrackRollTime + motorZeroSettleTime; if (dir == RIGHT){ motorLeftSpeedRpmSet = motorSpeedMaxRpm/2; motorRightSpeedRpmSet = -motorLeftSpeedRpmSet; @@ -1858,7 +1858,7 @@ void Robot::setNextState(byte stateNew, byte dir){ } } if (stateNew == STATE_PERI_REV) { motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/2; - stateEndTime = millis() + perimeterTrackRevTime; + stateEndTime = millis() + perimeterTrackRevTime + motorZeroSettleTime; } else if (stateNew == STATE_PERI_OUT_FORW){ motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm; @@ -2160,12 +2160,13 @@ void Robot::checkCurrent(){ if (motorLeftSense >=motorPowerMax){ // left wheel motor overpowered - if ((stateCurr == STATE_FORWARD) && (millis() > stateStartTime + motorPowerIgnoreTime)){ + if ( ((stateCurr == STATE_FORWARD) || (stateCurr == STATE_PERI_FIND) || (stateCurr == STATE_PERI_TRACK)) + && (millis() > stateStartTime + motorPowerIgnoreTime)){ //beep(1); motorLeftSenseCounter++; setMotorPWM( 0, 0, false ); reverseOrBidir(RIGHT); - } else if ((stateCurr == STATE_REVERSE) && (millis() > stateStartTime + motorPowerIgnoreTime)){ + } else if ((stateCurr == STATE_REVERSE) && (millis() > stateStartTime + motorPowerIgnoreTime)){ motorLeftSenseCounter++; setMotorPWM( 0, 0, false ); // reverseOrBidir(RIGHT); @@ -2178,7 +2179,7 @@ void Robot::checkCurrent(){ } else if (motorRightSense >= motorPowerMax){ // right wheel motor overpowered - if ((stateCurr == STATE_FORWARD) && (millis() > stateStartTime + motorPowerIgnoreTime)){ + if ( ((stateCurr == STATE_FORWARD) || (stateCurr == STATE_PERI_FIND)) && (millis() > stateStartTime + motorPowerIgnoreTime)){ //beep(1); motorRightSenseCounter++; setMotorPWM( 0, 0, false ); @@ -2660,7 +2661,7 @@ void Robot::loop() { break; case STATE_PERI_TRACK: // track perimeter - //checkCurrent(); + checkCurrent(); checkBumpersPerimeter(); //checkSonar(); if (batMonitor){ From 57d6f63bd68f248f1496897fd42230cdc62b9ca4 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 18 Jun 2015 13:48:29 +0200 Subject: [PATCH 55/78] bugfix: really stop if setspeed=0 and actualspeed almost zero --- ardumower/robot.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 22959e184..371476ea3 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1020,8 +1020,8 @@ void Robot::motorControl(){ //if((motorRightSpeedRpmSet >= 0 ) && (rightSpeed <0 )) rightSpeed = 0; //if((motorRightSpeedRpmSet <= 0 ) && (rightSpeed >0 )) rightSpeed = 0; - if ( (motorLeftPID.x == 0) && (motorLeftPID.w == 0) ) leftSpeed = 0; // ensures PWM is really zero - if ( (motorRightPID.x == 0) && (motorRightPID.w == 0) ) rightSpeed = 0; // ensures PWM is really zero + if ( (abs(motorLeftPID.x) < 2) && (motorLeftPID.w == 0) ) leftSpeed = 0; // ensures PWM is really zero + if ( (abs(motorRightPID.x) < 2) && (motorRightPID.w == 0) ) rightSpeed = 0; // ensures PWM is really zero /*if (millis() >= nextMotorControlOutputTime){ nextMotorControlOutputTime = millis() + 3000; From 95500b4cdd6caf3543fd3e3eb409dc5f552ee9f6 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 18 Jun 2015 13:54:26 +0200 Subject: [PATCH 56/78] bugfix: better checking for zero values (float is never exactly zero) --- ardumower/robot.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 371476ea3..32b9728fd 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1020,8 +1020,8 @@ void Robot::motorControl(){ //if((motorRightSpeedRpmSet >= 0 ) && (rightSpeed <0 )) rightSpeed = 0; //if((motorRightSpeedRpmSet <= 0 ) && (rightSpeed >0 )) rightSpeed = 0; - if ( (abs(motorLeftPID.x) < 2) && (motorLeftPID.w == 0) ) leftSpeed = 0; // ensures PWM is really zero - if ( (abs(motorRightPID.x) < 2) && (motorRightPID.w == 0) ) rightSpeed = 0; // ensures PWM is really zero + if ( (abs(motorLeftPID.x) < 2) && (abs(motorLeftPID.w) < 0.1) ) leftSpeed = 0; // ensures PWM is really zero + if ( (abs(motorRightPID.x) < 2) && (abs(motorRightPID.w) < 0.1) ) rightSpeed = 0; // ensures PWM is really zero /*if (millis() >= nextMotorControlOutputTime){ nextMotorControlOutputTime = millis() + 3000; From 9e6e473325f857a499db30381de06ae7482da15b Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Fri, 19 Jun 2015 12:03:36 +0200 Subject: [PATCH 57/78] optimized station times --- ardumower/mower.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 13e42b805..13060026a 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -224,10 +224,10 @@ Mower::Mower(){ chgChange = 0; // Messwertumkehr von - nach + 1 oder 0 chgNull = 2; // Nullduchgang abziehen (1 oder 2) // ------ charging station --------------------------- - stationRevTime = 4000; // charge station reverse time (ms) - stationRollTime = 2000; // charge station roll time (ms) - stationForwTime = 2000; // charge station forward time (ms) - stationCheckTime = 2500; // charge station reverse check time (ms) + stationRevTime = 1800; // charge station reverse time (ms) + stationRollTime = 1000; // charge station roll time (ms) + stationForwTime = 1500; // charge station forward time (ms) + stationCheckTime = 1700; // charge station reverse check time (ms) // ------ odometry ------------------------------------ odometryUse = 1; // use odometry? twoWayOdometrySensorUse = 0; // use optional two-wire odometry sensor? From 568d6c5deda51e4ceab2424a71ecee8a14fe9579 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Sun, 21 Jun 2015 16:17:02 +0200 Subject: [PATCH 58/78] charging current value for perimeter sender is now displayed correct --- sender/sender.ino | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/sender/sender.ino b/sender/sender.ino index 35a824275..22d9d81bc 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -56,7 +56,7 @@ // sender detects robot via a charging current through the charging pins #define USE_CHG_CURRENT 1 // use charging current sensor for robot detection? (set to '0' if not connected!) #define pinChargeCurrent A2 // ACS712-05 current sensor OUT -#define CHG_CURRENT_MIN 0.02 // must be at least 50 mA for charging detection +#define CHG_CURRENT_MIN 0.0025 // must be at least 50 mA for charging detection // ---- sender status LED ---- #define pinLED 13 // ON: perimeter closed, OFF: perimeter open, BLINK: robot is charging @@ -79,7 +79,7 @@ double periCurrentMax = 0; int faults = 0; boolean isCharging = false; boolean stateLED = false; -unsigned int chargeADCZero = 511; +unsigned int chargeADCZero = 0; RunningMedian periCurrentMeasurements; RunningMedian chargeCurrentMeasurements; @@ -266,7 +266,8 @@ void loop(){ // determine charging current (Ampere) if (USE_CHG_CURRENT) { chargeCurrentMeasurements.getAverage(v); - chargeCurrent = ((double)(((int)v) - ((int)chargeADCZero))) / 1023.0 * 5.0 / 0.185; // 185 mV per amp + //chargeCurrent = ((double)(((int)v) - ((int)chargeADCZero))) / 1023.0 * 5.0 / 0.185; // 185 mV per amp + chargeCurrent = ((double)(((int)v) - ((int)chargeADCZero))) / 1023.0 * 5.0; // 0.185; // 185 mV per amp isCharging = (abs(chargeCurrent) >= CHG_CURRENT_MIN); // must be at least 9 mA for charging detection } @@ -294,7 +295,9 @@ void loop(){ Serial.print("\tdutyPWM="); Serial.print(dutyPWM); Serial.print("\tfaults="); - Serial.print(faults); + Serial.print(faults); + Serial.print("\tadc="); + Serial.print( analogRead( pinChargeCurrent) ); Serial.println(); if (USE_POT){ From 50bfd30b026caf40ed18f05080ba7c632314ff6b Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 22 Jun 2015 08:44:11 +0200 Subject: [PATCH 59/78] made "mow modulate" a developer option (use at your own risk) --- ardumower/pfod.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ardumower/pfod.cpp b/ardumower/pfod.cpp index ae69c81c7..95223e645 100644 --- a/ardumower/pfod.cpp +++ b/ardumower/pfod.cpp @@ -374,8 +374,10 @@ void RemoteControl::sendMowMenu(boolean update){ Bluetooth.print(F("|o04~Speed ")); Bluetooth.print(robot->motorMowPWMCurr); sendSlider("o05", F("Speed max"), robot->motorMowSpeedMaxPwm, "", 1, 255); - Bluetooth.print(F("|o06~Modulate ")); - sendYesNo(robot->motorMowModulate); + if (robot->developerActive) { + Bluetooth.print(F("|o06~Modulate ")); + sendYesNo(robot->motorMowModulate); + } Bluetooth.print(F("|o07~RPM ")); Bluetooth.print(robot->motorMowRpmCurr); sendSlider("o08", F("RPM set"), robot->motorMowRPMSet, "", 1, 4500); From 95f06269895f00039a5b8b4ffab281a32608f919 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 22 Jun 2015 21:59:38 +0200 Subject: [PATCH 60/78] added analogReadMillivolt (not used yet) --- sender/sender.ino | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/sender/sender.ino b/sender/sender.ino index 22d9d81bc..71dc2aa15 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -101,7 +101,25 @@ unsigned long nextTimeToggleLED = 0; #else int8_t sigcode[] = { 1,1,-1,-1,1,-1,1,-1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,-1,1,1,-1 }; #endif - + + +// using transparently 5v / 1.1v ref +int analogReadMillivolt(int pin){ + int millivolt; + int adc; + // first read using 5v ref + adc = analogRead(pin); + millivolt = ((double)adc) / 1024.0 * 5000.0; + if (adc < 10){ + // read using 1.1v ref + analogReference(INTERNAL); + adc = analogRead(pin); + millivolt = ((double)adc) / 1024.0 * 1100.0; + analogReference(DEFAULT); + } + return millivolt; +} + void timerCallback(){ if (enableSender){ From 3b6a7cb37a4ee99e99ff1957e127e38974cafb5d Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 23 Jun 2015 09:33:47 +0200 Subject: [PATCH 61/78] changed sender to use ADC ref 1.1v --- sender/sender.ino | 29 ++++++++++++++++------------- 1 file changed, 16 insertions(+), 13 deletions(-) diff --git a/sender/sender.ino b/sender/sender.ino index 71dc2aa15..3d3c1ee85 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -49,7 +49,7 @@ // ---- sender current control (via potentiometer) ---- // sender modulates signal (PWM), based on duty-cycle set via this potentiometer -#define USE_POT 1 // use potentiometer for current control? (set to '0' if not connected!) +#define USE_POT 0 // use potentiometer for current control? (set to '0' if not connected!) #define pinPot A3 // 100k potentiometer (current control) // ---- sender automatic standby (via current sensor for charger) ---- @@ -63,7 +63,7 @@ // code version -#define VER "591" +#define VER "592" // -------------------------------------- @@ -146,7 +146,7 @@ void timerCallback(){ } void readEEPROM(){ - if (EEPROM.read(0) == 42){ + if (EEPROM.read(0) == 43){ // EEPROM data available chargeADCZero = (EEPROM.read(1) << 8) | EEPROM.read(2); } else Serial.println("no EEPROM data found, using default calibration"); @@ -185,7 +185,10 @@ void setup() { pinMode(pinFault, INPUT); pinMode(pinPot, INPUT); pinMode(pinChargeCurrent, INPUT); - + + // configure ADC reference + // analogReference(DEFAULT); // ADC 5.0v ref + analogReference(INTERNAL); // ADC 1.1v ref // sample rate 9615 Hz (19230,76923076923 / 2 => 9615.38) int T = 1000.0*1000.0/ 9615.38; @@ -283,25 +286,27 @@ void loop(){ float v = 0; // determine charging current (Ampere) if (USE_CHG_CURRENT) { - chargeCurrentMeasurements.getAverage(v); - //chargeCurrent = ((double)(((int)v) - ((int)chargeADCZero))) / 1023.0 * 5.0 / 0.185; // 185 mV per amp - chargeCurrent = ((double)(((int)v) - ((int)chargeADCZero))) / 1023.0 * 5.0; // 0.185; // 185 mV per amp - isCharging = (abs(chargeCurrent) >= CHG_CURRENT_MIN); // must be at least 9 mA for charging detection + chargeCurrentMeasurements.getAverage(v); + chargeCurrent = ((double)(((int)v) - ((int)chargeADCZero))) / 1023.0 * 1.1; + isCharging = (abs(chargeCurrent) >= CHG_CURRENT_MIN); } if (USE_PERI_CURRENT) { // determine perimeter current (Ampere) periCurrentMeasurements.getAverage(v); - periCurrentAvg = ((double)v) / 1023.0 * 5.0 / 0.525; // 525 mV per amp + periCurrentAvg = ((double)v) / 1023.0 * 1.1 / 0.525; // 525 mV per amp unsigned int h; periCurrentMeasurements.getHighest(h); - periCurrentMax = ((double)h) / 1023.0 * 5.0 / 0.525; // 525 mV per amp + periCurrentMax = ((double)h) / 1023.0 * 1.1 / 0.525; // 525 mV per amp } Serial.print("time="); Serial.print(millis()/1000); Serial.print("\tchgCurrent="); Serial.print(chargeCurrent, 3); + Serial.print("\tchgCurrentADC="); + chargeCurrentMeasurements.getAverage(v); + Serial.print( v ); Serial.print("\tisCharging="); Serial.print(isCharging); Serial.print("\tperiCurrent avg="); @@ -313,9 +318,7 @@ void loop(){ Serial.print("\tdutyPWM="); Serial.print(dutyPWM); Serial.print("\tfaults="); - Serial.print(faults); - Serial.print("\tadc="); - Serial.print( analogRead( pinChargeCurrent) ); + Serial.print(faults); Serial.println(); if (USE_POT){ From be0639dde7fe405772b34ee4fcb395614e31b8d5 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Tue, 23 Jun 2015 10:49:57 +0200 Subject: [PATCH 62/78] adjusted default values --- sender/sender.ino | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sender/sender.ino b/sender/sender.ino index 3d3c1ee85..b85e085bb 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -45,7 +45,7 @@ // motor driver feedback pin (=perimeter open/close detection, used for status LED) #define USE_PERI_CURRENT 1 // use pinFeedback for perimeter current measurements? (set to '0' if not connected!) #define pinFeedback A0 // M1_FB -#define PERI_CURRENT_MIN 0.03 // must be at least 100 mA for perimeter-is-closed detection +#define PERI_CURRENT_MIN 0.03 // minimum Ampere for perimeter-is-closed detection // ---- sender current control (via potentiometer) ---- // sender modulates signal (PWM), based on duty-cycle set via this potentiometer @@ -56,7 +56,7 @@ // sender detects robot via a charging current through the charging pins #define USE_CHG_CURRENT 1 // use charging current sensor for robot detection? (set to '0' if not connected!) #define pinChargeCurrent A2 // ACS712-05 current sensor OUT -#define CHG_CURRENT_MIN 0.0025 // must be at least 50 mA for charging detection +#define CHG_CURRENT_MIN 0.008 // minimum Ampere for charging detection // ---- sender status LED ---- #define pinLED 13 // ON: perimeter closed, OFF: perimeter open, BLINK: robot is charging @@ -71,7 +71,7 @@ volatile int step = 0; volatile boolean enableSender = true; -double duty = 0.1; // 10% +double duty = 1.0; // 100 duty% int dutyPWM = 0; double chargeCurrent = 0; double periCurrentAvg = 0; From f202943ac85fff89eb901c6ee4705c58b06fe297 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 24 Jun 2015 19:09:52 +0200 Subject: [PATCH 63/78] small bugfix for battery stats --- ardumower/robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 32b9728fd..90d7ebb32 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2075,7 +2075,7 @@ void Robot::checkRobotStats(){ } if(statsBatteryChargingCounterTotal <= 0) statsBatteryChargingCounterTotal = 0; // for first run ensures that the counter is 0 - if(statsBatteryChargingCapacityTotal == 0 || statsBatteryChargingCounterTotal == 0) statsBatteryChargingCapacityAverage = 0; // make sure that there is no dividing by zero + if(statsBatteryChargingCapacityTotal <= 0 || statsBatteryChargingCounterTotal == 0) statsBatteryChargingCapacityAverage = 0; // make sure that there is no dividing by zero else statsBatteryChargingCapacityAverage = statsBatteryChargingCapacityTotal / statsBatteryChargingCounterTotal; //----------------new stats goes here------------------------------------------------------ From 649df5e17b913ce406a900a6099d4d38c4320c4b Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 24 Jun 2015 19:22:18 +0200 Subject: [PATCH 64/78] another small bugfix for battery stats --- ardumower/robot.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 90d7ebb32..2a2baf4a8 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2075,6 +2075,7 @@ void Robot::checkRobotStats(){ } if(statsBatteryChargingCounterTotal <= 0) statsBatteryChargingCounterTotal = 0; // for first run ensures that the counter is 0 + if(statsBatteryChargingCapacityTotal <= 0) statsBatteryChargingCapacityTotal = 0; // for first run ensures that the counter is 0 if(statsBatteryChargingCapacityTotal <= 0 || statsBatteryChargingCounterTotal == 0) statsBatteryChargingCapacityAverage = 0; // make sure that there is no dividing by zero else statsBatteryChargingCapacityAverage = statsBatteryChargingCapacityTotal / statsBatteryChargingCounterTotal; From 5d89591e975c4c1d6c0400260088ae5458038d78 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 25 Jun 2015 09:58:31 +0200 Subject: [PATCH 65/78] added sonar turn feature ( http://www.ardumower.de/index.php/de/forum/anleitungen-hilfe/585-ultraschallsensoren-bitte-um-hilfe#7146) --- ardumower/robot.cpp | 28 ++++++++++++++++++++++++---- 1 file changed, 24 insertions(+), 4 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 2a2baf4a8..2c4c47aac 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1671,10 +1671,30 @@ void Robot::readSensors(){ if ((sonarUse) && (millis() >= nextTimeSonar)){ - nextTimeSonar = millis() + 250; - if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); - if (sonarLeftUse) sonarDistLeft = readSensor(SEN_SONAR_LEFT); - if (sonarCenterUse) sonarDistCenter = readSensor(SEN_SONAR_CENTER); + static char senSonarTurn = SEN_SONAR_RIGHT; + nextTimeSonar = millis() + 80; + + switch(senSonarTurn) { + case SEN_SONAR_RIGHT: + if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); + senSonarTurn = SEN_SONAR_LEFT; + break; + case SEN_SONAR_LEFT: + if (sonarLeftUse) sonarDistLeft = readSensor(SEN_SONAR_LEFT); + senSonarTurn = SEN_SONAR_CENTER; + break; + case SEN_SONAR_CENTER: + if (sonarCenterUse) sonarDistCenter = readSensor(SEN_SONAR_CENTER); + senSonarTurn = SEN_SONAR_RIGHT; + break; + default: + senSonarTurn = SEN_SONAR_RIGHT; + break; + } + + //if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); + //if (sonarLeftUse) sonarDistLeft = readSensor(SEN_SONAR_LEFT); + //if (sonarCenterUse) sonarDistCenter = readSensor(SEN_SONAR_CENTER); } From a46da5dae28fc71ea764be89e3ef6809fb89068c Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 25 Jun 2015 10:34:47 +0200 Subject: [PATCH 66/78] sender calibration bugfix --- sender/sender.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sender/sender.ino b/sender/sender.ino index b85e085bb..cf2467b44 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -167,7 +167,7 @@ void calibrateChargeCurrentSensor(){ float v; measurements.getAverage(v); chargeADCZero = v; - EEPROM.write(0, 42); + EEPROM.write(0, 43); EEPROM.write(1, chargeADCZero >> 8); EEPROM.write(2, chargeADCZero & 255); Serial.println("calibration done"); From c8768d3cbd2d74294e8625deb75c5953a4357235 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Thu, 25 Jun 2015 10:55:41 +0200 Subject: [PATCH 67/78] removed calibration message --- sender/sender.ino | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/sender/sender.ino b/sender/sender.ino index cf2467b44..8614bf2d3 100644 --- a/sender/sender.ino +++ b/sender/sender.ino @@ -149,7 +149,7 @@ void readEEPROM(){ if (EEPROM.read(0) == 43){ // EEPROM data available chargeADCZero = (EEPROM.read(1) << 8) | EEPROM.read(2); - } else Serial.println("no EEPROM data found, using default calibration"); + } else Serial.println("no EEPROM data found, using default calibration (INA169)"); Serial.print("chargeADCZero="); Serial.println(chargeADCZero); } @@ -195,14 +195,14 @@ void setup() { Serial.begin(19200); Serial.println("START"); - Serial.print("Ardumower "); + Serial.print("Ardumower Sender "); Serial.println(VER); #ifdef USE_DEVELOPER_TEST Serial.println("Warning: USE_DEVELOPER_TEST activated"); #endif - Serial.println("press..."); - Serial.println(" 1 for current sensor calibration"); - Serial.println(); + //Serial.println("press..."); + //Serial.println(" 1 for current sensor calibration"); + //Serial.println(); readEEPROM(); Serial.print("T="); From c21f778b4160db19adab58b3c9a37af534a5dc60 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Thu, 25 Jun 2015 11:34:20 +0200 Subject: [PATCH 68/78] mower now stops immediately when in station --- ardumower/robot.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 2c4c47aac..efa2d3dca 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1931,6 +1931,7 @@ void Robot::setNextState(byte stateNew, byte dir){ //motorMowModulate = false; } if (stateNew == STATE_STATION){ + setMotorPWM(0,0,false); setActuator(ACT_CHGRELAY, 0); setDefaults(); statsMowTimeTotalStart = false; // stop stats mowTime counter From 8e8c805950246664c4416160d08f9386b5ba7ba4 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Thu, 25 Jun 2015 11:38:03 +0200 Subject: [PATCH 69/78] optimized driving behavior around perimeter --- ardumower/robot.cpp | 13 +++++++++++-- ardumower/robot.h | 2 ++ 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index efa2d3dca..55c04af08 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -68,6 +68,7 @@ Robot::Robot(){ motorZeroSettleTime = 0; motorLeftZeroTimeout = 0; motorRightZeroTimeout = 0; + rotateLeft = true; remoteSteer = remoteSpeed = remoteMow = remoteSwitch = 0; remoteSteerLastTime = remoteSpeedLastTime =remoteMowLastTime =remoteSwitchLastTime = 0; @@ -169,6 +170,7 @@ Robot::Robot(){ nextTimeMotorImuControl = 0; nextTimeMotorPerimeterControl = 0; nextTimeMotorMowControl = 0; + nextTimeRotationChange = 0; nextTimeRobotStats = 0; statsMowTimeMinutesTripCounter = 0; @@ -2257,6 +2259,11 @@ void Robot::checkBumpersPerimeter(){ // check perimeter as a boundary void Robot::checkPerimeterBoundary(){ + if (millis() >= nextTimeRotationChange){ + nextTimeRotationChange = millis() + 60000; + rotateLeft = !rotateLeft; + } + if (mowPatternCurr == MOW_BIDIR){ if ((millis() < stateStartTime + 3000)) return; if (!perimeterInside) { @@ -2271,7 +2278,8 @@ void Robot::checkPerimeterBoundary(){ if (perimeterTriggerTime != 0) { if (millis() >= perimeterTriggerTime){ perimeterTriggerTime = 0; - if ((rand() % 2) == 0){ + //if ((rand() % 2) == 0){ + if(rotateLeft){ setNextState(STATE_PERI_OUT_REV, LEFT); } else { setNextState(STATE_PERI_OUT_REV, RIGHT); @@ -2284,7 +2292,8 @@ void Robot::checkPerimeterBoundary(){ if (millis() >= perimeterTriggerTime){ perimeterTriggerTime = 0; setMotorPWM( 0, 0, false ); - if ((rand() % 2) == 0){ + //if ((rand() % 2) == 0){ + if (rotateLeft){ setNextState(STATE_PERI_OUT_FORW, LEFT); } else { setNextState(STATE_PERI_OUT_FORW, RIGHT); diff --git a/ardumower/robot.h b/ardumower/robot.h index e89627eef..abc447aee 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -282,6 +282,8 @@ class Robot unsigned long lastSetMotorSpeedTime; unsigned long motorLeftZeroTimeout; unsigned long motorRightZeroTimeout; + boolean rotateLeft; + unsigned long nextTimeRotationChange; // -------- mower motor state ----------------------- // mower motor sppeed; range 0..motorMowSpeedMaxPwm float motorMowAccel ; // motor mower acceleration (warning: do not set too high) From cfe7a3ee72387a8f0f4d857404659d638c25e53e Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Fri, 26 Jun 2015 08:26:13 +0200 Subject: [PATCH 70/78] battery stats display fix (nan) --- ardumower/robot.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 55c04af08..9dba4320d 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2097,11 +2097,13 @@ void Robot::checkRobotStats(){ batCapacity = 0; } - if(statsBatteryChargingCounterTotal <= 0) statsBatteryChargingCounterTotal = 0; // for first run ensures that the counter is 0 - if(statsBatteryChargingCapacityTotal <= 0) statsBatteryChargingCapacityTotal = 0; // for first run ensures that the counter is 0 - if(statsBatteryChargingCapacityTotal <= 0 || statsBatteryChargingCounterTotal == 0) statsBatteryChargingCapacityAverage = 0; // make sure that there is no dividing by zero + if(isnan(statsBatteryChargingCapacityTrip)) statsBatteryChargingCapacityTrip = 0; + if(isnan(statsBatteryChargingCounterTotal)) statsBatteryChargingCounterTotal = 0; // for first run ensures that the counter is 0 + if(isnan(statsBatteryChargingCapacityTotal)) statsBatteryChargingCapacityTotal = 0; // for first run ensures that the counter is 0 + if(statsBatteryChargingCapacityTotal <= 0 || statsBatteryChargingCounterTotal == 0) statsBatteryChargingCapacityAverage = 0; // make sure that there is no dividing by zero else statsBatteryChargingCapacityAverage = statsBatteryChargingCapacityTotal / statsBatteryChargingCounterTotal; + //----------------new stats goes here------------------------------------------------------ } From 22cde8a6c492395c31ec062fb028e6ae7e7bf04b Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 26 Jun 2015 11:56:51 +0200 Subject: [PATCH 71/78] more robust sonar sensor --- ardumower/robot.cpp | 29 ++++++++++++++++------------- ardumower/robot.h | 1 + 2 files changed, 17 insertions(+), 13 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 9dba4320d..8f21e75f9 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -1673,10 +1673,10 @@ void Robot::readSensors(){ if ((sonarUse) && (millis() >= nextTimeSonar)){ - static char senSonarTurn = SEN_SONAR_RIGHT; - nextTimeSonar = millis() + 80; + //static char senSonarTurn = SEN_SONAR_RIGHT; + nextTimeSonar = millis() + 250; - switch(senSonarTurn) { + /*switch(senSonarTurn) { case SEN_SONAR_RIGHT: if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); senSonarTurn = SEN_SONAR_LEFT; @@ -1693,10 +1693,10 @@ void Robot::readSensors(){ senSonarTurn = SEN_SONAR_RIGHT; break; } - - //if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); - //if (sonarLeftUse) sonarDistLeft = readSensor(SEN_SONAR_LEFT); - //if (sonarCenterUse) sonarDistCenter = readSensor(SEN_SONAR_CENTER); + */ + if (sonarRightUse) sonarDistRight = readSensor(SEN_SONAR_RIGHT); + if (sonarLeftUse) sonarDistLeft = readSensor(SEN_SONAR_LEFT); + if (sonarCenterUse) sonarDistCenter = readSensor(SEN_SONAR_CENTER); } @@ -2344,8 +2344,11 @@ void Robot::checkRain(){ // check sonar void Robot::checkSonar(){ + if(!sonarUse) return; + if (millis() < nextTimeCheckSonar) return; + nextTimeCheckSonar = millis() + 200; if ((mowPatternCurr == MOW_BIDIR) && (millis() < stateStartTime + 4000)) return; - + // slow down motor wheel speed near obstacles if ( (stateCurr == STATE_FORWARD) || ( (mowPatternCurr == MOW_BIDIR) && ((stateCurr == STATE_FORWARD) || (stateCurr == STATE_REVERSE)) ) @@ -2355,13 +2358,13 @@ void Robot::checkSonar(){ || ((NO_ECHO != sonarDistRight) && (sonarDistRight < sonarTriggerBelow*2)) || ((NO_ECHO != sonarDistLeft) && (sonarDistLeft < sonarTriggerBelow*2)) ) { tempSonarDistCounter++; - if (tempSonarDistCounter >= 50){ + if (tempSonarDistCounter >= 5){ // Console.println("sonar slow down"); motorLeftSpeedRpmSet /= 1.5; motorRightSpeedRpmSet /= 1.5; - sonarObstacleTimeout = millis() + 7000; + sonarObstacleTimeout = millis() + 3000; } - } + } else tempSonarDistCounter = 0; } else if ((sonarObstacleTimeout != 0) && (millis() > sonarObstacleTimeout)) { //Console.println("no sonar"); sonarObstacleTimeout = 0; @@ -2628,7 +2631,7 @@ void Robot::loop() { checkCurrent(); checkBumpers(); checkDrop(); // Dropsensor - Absturzsensor - checkSonar(); + //checkSonar(); checkPerimeterBoundary(); checkLawn(); // making a roll (left/right) @@ -2654,7 +2657,7 @@ void Robot::loop() { checkCurrent(); checkBumpers(); checkDrop(); // Dropsensor - Absturzsensor - checkSonar(); + //checkSonar(); checkPerimeterBoundary(); checkLawn(); diff --git a/ardumower/robot.h b/ardumower/robot.h index abc447aee..13d825e98 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -388,6 +388,7 @@ class Robot unsigned int tempSonarDistCounter ; unsigned long sonarObstacleTimeout ; unsigned long nextTimeSonar ; + unsigned long nextTimeCheckSonar ; // --------- pfodApp ---------------------------------- RemoteControl rc; // pfodApp unsigned long nextTimePfodLoop ; From 036e08dfae9d261400ed2678f75caf88f3c49848 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Fri, 26 Jun 2015 11:58:23 +0200 Subject: [PATCH 72/78] better driving around perimeter --- ardumower/robot.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/ardumower/robot.cpp b/ardumower/robot.cpp index 8f21e75f9..df812681e 100644 --- a/ardumower/robot.cpp +++ b/ardumower/robot.cpp @@ -2726,11 +2726,15 @@ void Robot::loop() { } } break; - case STATE_PERI_OUT_FORW: - if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); + case STATE_PERI_OUT_FORW: + checkPerimeterBoundary(); + //if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); + if (perimeterInside || (millis() >= stateEndTime)) setNextState(STATE_PERI_OUT_ROLL, rollDir); break; case STATE_PERI_OUT_REV: - if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); + checkPerimeterBoundary(); + // if (millis() >= stateEndTime) setNextState(STATE_PERI_OUT_ROLL, rollDir); + if (perimeterInside || (millis() >= stateEndTime)) setNextState (STATE_PERI_OUT_ROLL, rollDir); break; case STATE_PERI_OUT_ROLL: if (millis() >= stateEndTime) setNextState(STATE_FORWARD,0); From 4dd8ae9bf8d8ae18f4b9117acc468ff93a74fb44 Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 29 Jun 2015 11:47:30 +0200 Subject: [PATCH 73/78] ultrasonic filter test --- tests/ultrasonic/RunningMedian.h | 136 +++++++++++++++++++++++++++++++ tests/ultrasonic/ultrasonic.ino | 48 ++++++++--- 2 files changed, 173 insertions(+), 11 deletions(-) create mode 100644 tests/ultrasonic/RunningMedian.h diff --git a/tests/ultrasonic/RunningMedian.h b/tests/ultrasonic/RunningMedian.h new file mode 100644 index 000000000..904c1628c --- /dev/null +++ b/tests/ultrasonic/RunningMedian.h @@ -0,0 +1,136 @@ +// running median filter +// +// usage: +// RunningMedian myMedian; +// if (myMedian.getStatus() == myMedian.OK) myMedian.getMedian(_median); + + +#ifndef RunningMedian_h +#define RunningMedian_h +// +// FILE: RunningMedian.h +// AUTHOR: Rob dot Tillaart at gmail dot com +// PURPOSE: RunningMedian library for Arduino +// VERSION: 0.2.00 - template edition +// URL: http://arduino.cc/playground/Main/RunningMedian +// HISTORY: 0.2.00 first template version by Ronny +// 0.2.01 added getAverage(uint8_t nMedians, float val) +// +// Released to the public domain +// + +#include + +template class RunningMedian { + +public: + + enum STATUS {OK = 0, NOK = 1}; + + RunningMedian() { + _size = N; + clear(); + }; + + void clear() { + _cnt = 0; + _idx = 0; + }; + + void add(T value) { + _ar[_idx++] = value; + if (_idx >= _size) _idx = 0; // wrap around + if (_cnt < _size) _cnt++; + }; + + STATUS getMedian(T& value) { + if (_cnt > 0) { + sort(); + value = _as[_cnt/2]; + return OK; + } + return NOK; + }; + + STATUS getAverage(float &value) { + if (_cnt > 0) { + float sum = 0; + for (uint8_t i=0; i< _cnt; i++) sum += _ar[i]; + value = sum / _cnt; + return OK; + } + return NOK; + }; + + STATUS getAverage(uint8_t nMedians, float &value) { + if ((_cnt > 0) && (nMedians > 0)) + { + if (_cnt < nMedians) nMedians = _cnt; // when filling the array for first time + uint8_t start = ((_cnt - nMedians)/2); + uint8_t stop = start + nMedians; + sort(); + float sum = 0; + for (uint8_t i = start; i < stop; i++) sum += _as[i]; + value = sum / nMedians; + return OK; + } + return NOK; + } + + STATUS getHighest(T& value) { + if (_cnt > 0) { + sort(); + value = _as[_cnt-1]; + return OK; + } + return NOK; + }; + + STATUS getLowest(T& value) { + if (_cnt > 0) { + sort(); + value = _as[0]; + return OK; + } + return NOK; + }; + + unsigned getSize() { + return _size; + }; + + unsigned getCount() { + return _cnt; + } + + STATUS getStatus() { + return (_cnt > 0 ? OK : NOK); + }; + +private: + uint8_t _size; + uint8_t _cnt; + uint8_t _idx; + T _ar[N]; + T _as[N]; + void sort() { + // copy + for (uint8_t i=0; i< _cnt; i++) _as[i] = _ar[i]; + + // sort all + for (uint8_t i=0; i< _cnt-1; i++) { + uint8_t m = i; + for (uint8_t j=i+1; j< _cnt; j++) { + if (_as[j] < _as[m]) m = j; + } + if (m != i) { + T t = _as[m]; + _as[m] = _as[i]; + _as[i] = t; + } + } + }; +}; + +#endif + diff --git a/tests/ultrasonic/ultrasonic.ino b/tests/ultrasonic/ultrasonic.ino index 55a6f53af..06cc023d0 100644 --- a/tests/ultrasonic/ultrasonic.ino +++ b/tests/ultrasonic/ultrasonic.ino @@ -3,15 +3,20 @@ */ #include +#include "RunningMedian.h" -#ifndef __AVR__ - #define Serial SerialUSB -#endif +#define pinTrigger 24 +#define pinEcho 22 -#define pinTrigger 5 -#define pinEcho 6 +// ultrasonic sensor max echo time (WARNING: do not set too high, it consumes CPU time!) +#define MAX_ECHO_TIME 3000 +#define MIN_ECHO_TIME 150 +#define NO_ECHO 0 + + +RunningMedian sonarMeasurements; // HC-SR04 ultrasonic sensor driver @@ -22,7 +27,10 @@ unsigned int readHCSR04(int triggerPin, int echoPin){ digitalWrite(triggerPin, HIGH); delayMicroseconds(10); digitalWrite(triggerPin, LOW); - uS = pulseIn(echoPin, HIGH); + uS = pulseIn(echoPin, HIGH, MAX_ECHO_TIME); + // if there is no reflection, we will get MAX_ECHO_TIME + //if (uS == MAX_ECHO_TIME) uS = NO_ECHO; + //if (uS < MIN_ECHO_TIME) uS = NO_ECHO; return uS; } @@ -31,15 +39,33 @@ void setup() { pinMode(pinTrigger , OUTPUT); pinMode(pinEcho , INPUT); - Serial.begin(19200); - while (!Serial) ; // required if using Due native port + Serial.begin(19200); Serial.println("START"); + Serial.println("raw,avg,median"); } void loop() { - int x = readHCSR04(pinTrigger, pinEcho); - Serial.println(x); - delay(200); + float avg; + unsigned int median; + int raw; + raw = readHCSR04(pinTrigger, pinEcho); + //if (x != NO_ECHO){ + sonarMeasurements.add(raw); + //} + sonarMeasurements.getAverage(avg); + //if (sonarMeasurements.getStatus() == sonarMeasurements.OK) { + sonarMeasurements.getMedian(median); + //} + + for (int i=0; i < 10; i++){ + Serial.print(raw); + Serial.print(","); + Serial.print(avg); + Serial.print(","); + Serial.print(median); + Serial.println(); + } + delay(250); } From 1c7992190e750e645a76ae0c0e6ec56e688d770a Mon Sep 17 00:00:00 2001 From: Alexander Grau Date: Mon, 29 Jun 2015 12:00:52 +0200 Subject: [PATCH 74/78] ultrasonic filter minor changes --- tests/ultrasonic/ultrasonic.ino | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/tests/ultrasonic/ultrasonic.ino b/tests/ultrasonic/ultrasonic.ino index 06cc023d0..2848ce24b 100644 --- a/tests/ultrasonic/ultrasonic.ino +++ b/tests/ultrasonic/ultrasonic.ino @@ -27,8 +27,8 @@ unsigned int readHCSR04(int triggerPin, int echoPin){ digitalWrite(triggerPin, HIGH); delayMicroseconds(10); digitalWrite(triggerPin, LOW); + // if there is no reflection, we will get 0 (NO_ECHO) uS = pulseIn(echoPin, HIGH, MAX_ECHO_TIME); - // if there is no reflection, we will get MAX_ECHO_TIME //if (uS == MAX_ECHO_TIME) uS = NO_ECHO; //if (uS < MIN_ECHO_TIME) uS = NO_ECHO; return uS; @@ -41,10 +41,11 @@ void setup() { Serial.begin(19200); Serial.println("START"); - Serial.println("raw,avg,median"); + Serial.println("raw,avg,median,triggered"); } void loop() { + int triggered = 0; float avg; unsigned int median; int raw; @@ -57,13 +58,17 @@ void loop() { sonarMeasurements.getMedian(median); //} + if ( (median != NO_ECHO) && (median < 800) ) triggered = 1; + for (int i=0; i < 10; i++){ Serial.print(raw); Serial.print(","); Serial.print(avg); Serial.print(","); Serial.print(median); - Serial.println(); + Serial.print(","); + Serial.print(triggered); + Serial.println(); } delay(250); } From 10e83a11f75979b1921c6c123f12b9a0d08cfe3c Mon Sep 17 00:00:00 2001 From: Uwe Date: Tue, 7 Jul 2015 17:17:38 +0200 Subject: [PATCH 75/78] Platine V1.3 Platine V1.3 --- .../Batteriespannung.sch | 11 +- .../Blockkondensatoren.sch | 315 +- .../Bohrl\303\266cher.sch" | 15 +- .../Dropsensor.sch | 3 +- .../Dual1_Ms_Links.sch | 19 +- .../Dual1_Ms_Rechts.sch | 19 +- .../Dual1_Vin.sch | 11 +- .../Dual2_Ms_Mower.sch | 19 +- .../Dual2_Vin.sch | 11 +- pcb/megashield_svn_1.3_geoeffnet/I2C.sch | 3 +- .../Ladespannung.sch | 11 +- .../Motortreiber.sch | 91 +- pcb/megashield_svn_1.3_geoeffnet/Odometry.sch | 3 +- .../Perimeter.sch | 3 +- pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch | 11 +- .../ReservePins.sch | 3 +- pcb/megashield_svn_1.3_geoeffnet/Sonar.sch | 3 +- .../Sonstiges.sch | 40 +- .../Stepdownwandler.sch | 67 +- .../Stiftleisten.sch | 1695 ++++- .../UnterSpannungsSchutz.sch | 11 +- .../Verpols.B.sch | 7 +- .../Verpols.L.sch | 7 +- .../ARDUINO_MEGA_SHIELD_DUO_3D.kicad_mod | 9 +- .../ardumower mega shield svn-cache.lib | 73 +- .../ardumower mega shield svn.kicad_pcb | 5456 ++++++++-------- .../ardumower mega shield svn.kicad_pcb-bak | 5553 ++++++++--------- .../ardumower mega shield svn.net | 1938 +++--- .../ardumower mega shield svn.pro | 10 +- .../ardumower mega shield svn.sch | 314 +- .../serielle Schnittstelle.sch | 2988 ++++++++- 31 files changed, 11550 insertions(+), 7169 deletions(-) diff --git a/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch b/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch index 8bd32ccec..4e604376a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Batteriespannung.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -59,10 +60,10 @@ $EndComp Wire Wire Line 6340 1755 6340 1970 $Comp -L GND #PWR0177 +L GND #PWR0180 U 1 1 554BD908 P 6340 2600 -F 0 "#PWR0177" H 6340 2350 60 0001 C CNN +F 0 "#PWR0180" H 6340 2350 60 0001 C CNN F 1 "GND" H 6340 2450 60 0000 C CNN F 2 "" H 6340 2600 60 0000 C CNN F 3 "" H 6340 2600 60 0000 C CNN @@ -72,10 +73,10 @@ $EndComp Wire Wire Line 6340 2470 6340 2600 $Comp -L GND #PWR0178 +L GND #PWR0181 U 1 1 554C8CE9 P 6660 2600 -F 0 "#PWR0178" H 6660 2350 60 0001 C CNN +F 0 "#PWR0181" H 6660 2350 60 0001 C CNN F 1 "GND" H 6660 2450 60 0000 C CNN F 2 "" H 6660 2600 60 0000 C CNN F 3 "" H 6660 2600 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch b/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch index f124b853c..2e04c34bf 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Blockkondensatoren.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -31,10 +32,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0182 +L +5V #PWR0183 U 1 1 5558DFBF P 2245 845 -F 0 "#PWR0182" H 2245 695 50 0001 C CNN +F 0 "#PWR0183" H 2245 695 50 0001 C CNN F 1 "+5V" H 2245 985 50 0000 C CNN F 2 "" H 2245 845 60 0000 C CNN F 3 "" H 2245 845 60 0000 C CNN @@ -42,10 +43,10 @@ F 3 "" H 2245 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0183 +L GND #PWR0184 U 1 1 5558E62E P 2245 1415 -F 0 "#PWR0183" H 2245 1165 50 0001 C CNN +F 0 "#PWR0184" H 2245 1165 50 0001 C CNN F 1 "GND" H 2245 1265 50 0000 C CNN F 2 "" H 2245 1415 60 0000 C CNN F 3 "" H 2245 1415 60 0000 C CNN @@ -70,10 +71,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0184 +L +5V #PWR0185 U 1 1 5558E6C8 P 1395 845 -F 0 "#PWR0184" H 1395 695 50 0001 C CNN +F 0 "#PWR0185" H 1395 695 50 0001 C CNN F 1 "+5V" H 1395 985 50 0000 C CNN F 2 "" H 1395 845 60 0000 C CNN F 3 "" H 1395 845 60 0000 C CNN @@ -81,10 +82,10 @@ F 3 "" H 1395 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0185 +L GND #PWR0186 U 1 1 5558E6CE P 1395 1415 -F 0 "#PWR0185" H 1395 1165 50 0001 C CNN +F 0 "#PWR0186" H 1395 1165 50 0001 C CNN F 1 "GND" H 1395 1265 50 0000 C CNN F 2 "" H 1395 1415 60 0000 C CNN F 3 "" H 1395 1415 60 0000 C CNN @@ -109,10 +110,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0186 +L +5V #PWR0187 U 1 1 5558E70B P 1815 840 -F 0 "#PWR0186" H 1815 690 50 0001 C CNN +F 0 "#PWR0187" H 1815 690 50 0001 C CNN F 1 "+5V" H 1815 980 50 0000 C CNN F 2 "" H 1815 840 60 0000 C CNN F 3 "" H 1815 840 60 0000 C CNN @@ -120,10 +121,10 @@ F 3 "" H 1815 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0187 +L GND #PWR0188 U 1 1 5558E711 P 1815 1410 -F 0 "#PWR0187" H 1815 1160 50 0001 C CNN +F 0 "#PWR0188" H 1815 1160 50 0001 C CNN F 1 "GND" H 1815 1260 50 0000 C CNN F 2 "" H 1815 1410 60 0000 C CNN F 3 "" H 1815 1410 60 0000 C CNN @@ -148,10 +149,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0188 +L +5V #PWR0189 U 1 1 5558E7FE P 3505 845 -F 0 "#PWR0188" H 3505 695 50 0001 C CNN +F 0 "#PWR0189" H 3505 695 50 0001 C CNN F 1 "+5V" H 3505 985 50 0000 C CNN F 2 "" H 3505 845 60 0000 C CNN F 3 "" H 3505 845 60 0000 C CNN @@ -159,10 +160,10 @@ F 3 "" H 3505 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0189 +L GND #PWR0190 U 1 1 5558E804 P 3505 1415 -F 0 "#PWR0189" H 3505 1165 50 0001 C CNN +F 0 "#PWR0190" H 3505 1165 50 0001 C CNN F 1 "GND" H 3505 1265 50 0000 C CNN F 2 "" H 3505 1415 60 0000 C CNN F 3 "" H 3505 1415 60 0000 C CNN @@ -187,10 +188,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0190 +L +5V #PWR0191 U 1 1 5558E814 P 2655 845 -F 0 "#PWR0190" H 2655 695 50 0001 C CNN +F 0 "#PWR0191" H 2655 695 50 0001 C CNN F 1 "+5V" H 2655 985 50 0000 C CNN F 2 "" H 2655 845 60 0000 C CNN F 3 "" H 2655 845 60 0000 C CNN @@ -198,10 +199,10 @@ F 3 "" H 2655 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0191 +L GND #PWR0192 U 1 1 5558E81A P 2655 1415 -F 0 "#PWR0191" H 2655 1165 50 0001 C CNN +F 0 "#PWR0192" H 2655 1165 50 0001 C CNN F 1 "GND" H 2655 1265 50 0000 C CNN F 2 "" H 2655 1415 60 0000 C CNN F 3 "" H 2655 1415 60 0000 C CNN @@ -226,10 +227,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0192 +L +5V #PWR0193 U 1 1 5558E82A P 3075 840 -F 0 "#PWR0192" H 3075 690 50 0001 C CNN +F 0 "#PWR0193" H 3075 690 50 0001 C CNN F 1 "+5V" H 3075 980 50 0000 C CNN F 2 "" H 3075 840 60 0000 C CNN F 3 "" H 3075 840 60 0000 C CNN @@ -237,10 +238,10 @@ F 3 "" H 3075 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0193 +L GND #PWR0194 U 1 1 5558E830 P 3075 1410 -F 0 "#PWR0193" H 3075 1160 50 0001 C CNN +F 0 "#PWR0194" H 3075 1160 50 0001 C CNN F 1 "GND" H 3075 1260 50 0000 C CNN F 2 "" H 3075 1410 60 0000 C CNN F 3 "" H 3075 1410 60 0000 C CNN @@ -265,10 +266,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0194 +L +5V #PWR0195 U 1 1 5558EA92 P 4765 845 -F 0 "#PWR0194" H 4765 695 50 0001 C CNN +F 0 "#PWR0195" H 4765 695 50 0001 C CNN F 1 "+5V" H 4765 985 50 0000 C CNN F 2 "" H 4765 845 60 0000 C CNN F 3 "" H 4765 845 60 0000 C CNN @@ -276,10 +277,10 @@ F 3 "" H 4765 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0195 +L GND #PWR0196 U 1 1 5558EA98 P 4765 1415 -F 0 "#PWR0195" H 4765 1165 50 0001 C CNN +F 0 "#PWR0196" H 4765 1165 50 0001 C CNN F 1 "GND" H 4765 1265 50 0000 C CNN F 2 "" H 4765 1415 60 0000 C CNN F 3 "" H 4765 1415 60 0000 C CNN @@ -304,10 +305,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0196 +L +5V #PWR0197 U 1 1 5558EAA8 P 3915 845 -F 0 "#PWR0196" H 3915 695 50 0001 C CNN +F 0 "#PWR0197" H 3915 695 50 0001 C CNN F 1 "+5V" H 3915 985 50 0000 C CNN F 2 "" H 3915 845 60 0000 C CNN F 3 "" H 3915 845 60 0000 C CNN @@ -315,10 +316,10 @@ F 3 "" H 3915 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0197 +L GND #PWR0198 U 1 1 5558EAAE P 3915 1415 -F 0 "#PWR0197" H 3915 1165 50 0001 C CNN +F 0 "#PWR0198" H 3915 1165 50 0001 C CNN F 1 "GND" H 3915 1265 50 0000 C CNN F 2 "" H 3915 1415 60 0000 C CNN F 3 "" H 3915 1415 60 0000 C CNN @@ -343,10 +344,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0198 +L +5V #PWR0199 U 1 1 5558EABE P 4335 840 -F 0 "#PWR0198" H 4335 690 50 0001 C CNN +F 0 "#PWR0199" H 4335 690 50 0001 C CNN F 1 "+5V" H 4335 980 50 0000 C CNN F 2 "" H 4335 840 60 0000 C CNN F 3 "" H 4335 840 60 0000 C CNN @@ -354,10 +355,10 @@ F 3 "" H 4335 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0199 +L GND #PWR0200 U 1 1 5558EAC4 P 4335 1410 -F 0 "#PWR0199" H 4335 1160 50 0001 C CNN +F 0 "#PWR0200" H 4335 1160 50 0001 C CNN F 1 "GND" H 4335 1260 50 0000 C CNN F 2 "" H 4335 1410 60 0000 C CNN F 3 "" H 4335 1410 60 0000 C CNN @@ -382,10 +383,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0200 +L +5V #PWR0201 U 1 1 5558EAD4 P 6025 845 -F 0 "#PWR0200" H 6025 695 50 0001 C CNN +F 0 "#PWR0201" H 6025 695 50 0001 C CNN F 1 "+5V" H 6025 985 50 0000 C CNN F 2 "" H 6025 845 60 0000 C CNN F 3 "" H 6025 845 60 0000 C CNN @@ -393,10 +394,10 @@ F 3 "" H 6025 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0201 +L GND #PWR0202 U 1 1 5558EADA P 6025 1415 -F 0 "#PWR0201" H 6025 1165 50 0001 C CNN +F 0 "#PWR0202" H 6025 1165 50 0001 C CNN F 1 "GND" H 6025 1265 50 0000 C CNN F 2 "" H 6025 1415 60 0000 C CNN F 3 "" H 6025 1415 60 0000 C CNN @@ -421,10 +422,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0202 +L +5V #PWR0203 U 1 1 5558EAEA P 5175 845 -F 0 "#PWR0202" H 5175 695 50 0001 C CNN +F 0 "#PWR0203" H 5175 695 50 0001 C CNN F 1 "+5V" H 5175 985 50 0000 C CNN F 2 "" H 5175 845 60 0000 C CNN F 3 "" H 5175 845 60 0000 C CNN @@ -432,10 +433,10 @@ F 3 "" H 5175 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0203 +L GND #PWR0204 U 1 1 5558EAF0 P 5175 1415 -F 0 "#PWR0203" H 5175 1165 50 0001 C CNN +F 0 "#PWR0204" H 5175 1165 50 0001 C CNN F 1 "GND" H 5175 1265 50 0000 C CNN F 2 "" H 5175 1415 60 0000 C CNN F 3 "" H 5175 1415 60 0000 C CNN @@ -460,10 +461,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0204 +L +5V #PWR0205 U 1 1 5558EB00 P 5595 840 -F 0 "#PWR0204" H 5595 690 50 0001 C CNN +F 0 "#PWR0205" H 5595 690 50 0001 C CNN F 1 "+5V" H 5595 980 50 0000 C CNN F 2 "" H 5595 840 60 0000 C CNN F 3 "" H 5595 840 60 0000 C CNN @@ -471,10 +472,10 @@ F 3 "" H 5595 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0205 +L GND #PWR0206 U 1 1 5558EB06 P 5595 1410 -F 0 "#PWR0205" H 5595 1160 50 0001 C CNN +F 0 "#PWR0206" H 5595 1160 50 0001 C CNN F 1 "GND" H 5595 1260 50 0000 C CNN F 2 "" H 5595 1410 60 0000 C CNN F 3 "" H 5595 1410 60 0000 C CNN @@ -499,10 +500,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0206 +L +5V #PWR0207 U 1 1 555C50C8 P 1065 845 -F 0 "#PWR0206" H 1065 695 50 0001 C CNN +F 0 "#PWR0207" H 1065 695 50 0001 C CNN F 1 "+5V" H 1065 985 50 0000 C CNN F 2 "" H 1065 845 60 0000 C CNN F 3 "" H 1065 845 60 0000 C CNN @@ -510,10 +511,10 @@ F 3 "" H 1065 845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0207 +L GND #PWR0208 U 1 1 555C50CE P 1065 1415 -F 0 "#PWR0207" H 1065 1165 50 0001 C CNN +F 0 "#PWR0208" H 1065 1165 50 0001 C CNN F 1 "GND" H 1065 1265 50 0000 C CNN F 2 "" H 1065 1415 60 0000 C CNN F 3 "" H 1065 1415 60 0000 C CNN @@ -538,10 +539,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0208 +L +5V #PWR0209 U 1 1 555CF775 P 6410 840 -F 0 "#PWR0208" H 6410 690 50 0001 C CNN +F 0 "#PWR0209" H 6410 690 50 0001 C CNN F 1 "+5V" H 6410 980 50 0000 C CNN F 2 "" H 6410 840 60 0000 C CNN F 3 "" H 6410 840 60 0000 C CNN @@ -549,10 +550,10 @@ F 3 "" H 6410 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0209 +L GND #PWR0210 U 1 1 555CF77B P 6410 1410 -F 0 "#PWR0209" H 6410 1160 50 0001 C CNN +F 0 "#PWR0210" H 6410 1160 50 0001 C CNN F 1 "GND" H 6410 1260 50 0000 C CNN F 2 "" H 6410 1410 60 0000 C CNN F 3 "" H 6410 1410 60 0000 C CNN @@ -577,10 +578,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0210 +L +5V #PWR0211 U 1 1 555CF78B P 7670 840 -F 0 "#PWR0210" H 7670 690 50 0001 C CNN +F 0 "#PWR0211" H 7670 690 50 0001 C CNN F 1 "+5V" H 7670 980 50 0000 C CNN F 2 "" H 7670 840 60 0000 C CNN F 3 "" H 7670 840 60 0000 C CNN @@ -588,10 +589,10 @@ F 3 "" H 7670 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0211 +L GND #PWR0212 U 1 1 555CF791 P 7670 1410 -F 0 "#PWR0211" H 7670 1160 50 0001 C CNN +F 0 "#PWR0212" H 7670 1160 50 0001 C CNN F 1 "GND" H 7670 1260 50 0000 C CNN F 2 "" H 7670 1410 60 0000 C CNN F 3 "" H 7670 1410 60 0000 C CNN @@ -616,10 +617,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0212 +L +5V #PWR0213 U 1 1 555CF7A1 P 6820 840 -F 0 "#PWR0212" H 6820 690 50 0001 C CNN +F 0 "#PWR0213" H 6820 690 50 0001 C CNN F 1 "+5V" H 6820 980 50 0000 C CNN F 2 "" H 6820 840 60 0000 C CNN F 3 "" H 6820 840 60 0000 C CNN @@ -627,10 +628,10 @@ F 3 "" H 6820 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0213 +L GND #PWR0214 U 1 1 555CF7A7 P 6820 1410 -F 0 "#PWR0213" H 6820 1160 50 0001 C CNN +F 0 "#PWR0214" H 6820 1160 50 0001 C CNN F 1 "GND" H 6820 1260 50 0000 C CNN F 2 "" H 6820 1410 60 0000 C CNN F 3 "" H 6820 1410 60 0000 C CNN @@ -655,10 +656,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0214 +L +5V #PWR0215 U 1 1 555CF7B7 P 7240 835 -F 0 "#PWR0214" H 7240 685 50 0001 C CNN +F 0 "#PWR0215" H 7240 685 50 0001 C CNN F 1 "+5V" H 7240 975 50 0000 C CNN F 2 "" H 7240 835 60 0000 C CNN F 3 "" H 7240 835 60 0000 C CNN @@ -666,10 +667,10 @@ F 3 "" H 7240 835 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0215 +L GND #PWR0216 U 1 1 555CF7BD P 7240 1405 -F 0 "#PWR0215" H 7240 1155 50 0001 C CNN +F 0 "#PWR0216" H 7240 1155 50 0001 C CNN F 1 "GND" H 7240 1255 50 0000 C CNN F 2 "" H 7240 1405 60 0000 C CNN F 3 "" H 7240 1405 60 0000 C CNN @@ -694,10 +695,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0216 +L +5V #PWR0217 U 1 1 555CF7CD P 8930 840 -F 0 "#PWR0216" H 8930 690 50 0001 C CNN +F 0 "#PWR0217" H 8930 690 50 0001 C CNN F 1 "+5V" H 8930 980 50 0000 C CNN F 2 "" H 8930 840 60 0000 C CNN F 3 "" H 8930 840 60 0000 C CNN @@ -705,10 +706,10 @@ F 3 "" H 8930 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0217 +L GND #PWR0218 U 1 1 555CF7D3 P 8930 1410 -F 0 "#PWR0217" H 8930 1160 50 0001 C CNN +F 0 "#PWR0218" H 8930 1160 50 0001 C CNN F 1 "GND" H 8930 1260 50 0000 C CNN F 2 "" H 8930 1410 60 0000 C CNN F 3 "" H 8930 1410 60 0000 C CNN @@ -733,10 +734,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0218 +L +5V #PWR0219 U 1 1 555CF7E3 P 8080 840 -F 0 "#PWR0218" H 8080 690 50 0001 C CNN +F 0 "#PWR0219" H 8080 690 50 0001 C CNN F 1 "+5V" H 8080 980 50 0000 C CNN F 2 "" H 8080 840 60 0000 C CNN F 3 "" H 8080 840 60 0000 C CNN @@ -744,10 +745,10 @@ F 3 "" H 8080 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0219 +L GND #PWR0220 U 1 1 555CF7E9 P 8080 1410 -F 0 "#PWR0219" H 8080 1160 50 0001 C CNN +F 0 "#PWR0220" H 8080 1160 50 0001 C CNN F 1 "GND" H 8080 1260 50 0000 C CNN F 2 "" H 8080 1410 60 0000 C CNN F 3 "" H 8080 1410 60 0000 C CNN @@ -772,10 +773,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0220 +L +5V #PWR0221 U 1 1 555CF7F9 P 8500 835 -F 0 "#PWR0220" H 8500 685 50 0001 C CNN +F 0 "#PWR0221" H 8500 685 50 0001 C CNN F 1 "+5V" H 8500 975 50 0000 C CNN F 2 "" H 8500 835 60 0000 C CNN F 3 "" H 8500 835 60 0000 C CNN @@ -783,10 +784,10 @@ F 3 "" H 8500 835 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0221 +L GND #PWR0222 U 1 1 555CF7FF P 8500 1405 -F 0 "#PWR0221" H 8500 1155 50 0001 C CNN +F 0 "#PWR0222" H 8500 1155 50 0001 C CNN F 1 "GND" H 8500 1255 50 0000 C CNN F 2 "" H 8500 1405 60 0000 C CNN F 3 "" H 8500 1405 60 0000 C CNN @@ -811,10 +812,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0222 +L +5V #PWR0223 U 1 1 555CF80F P 10190 840 -F 0 "#PWR0222" H 10190 690 50 0001 C CNN +F 0 "#PWR0223" H 10190 690 50 0001 C CNN F 1 "+5V" H 10190 980 50 0000 C CNN F 2 "" H 10190 840 60 0000 C CNN F 3 "" H 10190 840 60 0000 C CNN @@ -822,10 +823,10 @@ F 3 "" H 10190 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0223 +L GND #PWR0224 U 1 1 555CF815 P 10190 1410 -F 0 "#PWR0223" H 10190 1160 50 0001 C CNN +F 0 "#PWR0224" H 10190 1160 50 0001 C CNN F 1 "GND" H 10190 1260 50 0000 C CNN F 2 "" H 10190 1410 60 0000 C CNN F 3 "" H 10190 1410 60 0000 C CNN @@ -850,10 +851,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0224 +L +5V #PWR0225 U 1 1 555CF825 P 9340 840 -F 0 "#PWR0224" H 9340 690 50 0001 C CNN +F 0 "#PWR0225" H 9340 690 50 0001 C CNN F 1 "+5V" H 9340 980 50 0000 C CNN F 2 "" H 9340 840 60 0000 C CNN F 3 "" H 9340 840 60 0000 C CNN @@ -861,10 +862,10 @@ F 3 "" H 9340 840 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0225 +L GND #PWR0226 U 1 1 555CF82B P 9340 1410 -F 0 "#PWR0225" H 9340 1160 50 0001 C CNN +F 0 "#PWR0226" H 9340 1160 50 0001 C CNN F 1 "GND" H 9340 1260 50 0000 C CNN F 2 "" H 9340 1410 60 0000 C CNN F 3 "" H 9340 1410 60 0000 C CNN @@ -889,10 +890,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0226 +L +5V #PWR0227 U 1 1 555CF83B P 9760 835 -F 0 "#PWR0226" H 9760 685 50 0001 C CNN +F 0 "#PWR0227" H 9760 685 50 0001 C CNN F 1 "+5V" H 9760 975 50 0000 C CNN F 2 "" H 9760 835 60 0000 C CNN F 3 "" H 9760 835 60 0000 C CNN @@ -900,10 +901,10 @@ F 3 "" H 9760 835 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0227 +L GND #PWR0228 U 1 1 555CF841 P 9760 1405 -F 0 "#PWR0227" H 9760 1155 50 0001 C CNN +F 0 "#PWR0228" H 9760 1155 50 0001 C CNN F 1 "GND" H 9760 1255 50 0000 C CNN F 2 "" H 9760 1405 60 0000 C CNN F 3 "" H 9760 1405 60 0000 C CNN @@ -928,10 +929,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0228 +L +5V #PWR0229 U 1 1 555FA4FB P 1870 1930 -F 0 "#PWR0228" H 1870 1780 50 0001 C CNN +F 0 "#PWR0229" H 1870 1780 50 0001 C CNN F 1 "+5V" H 1870 2070 50 0000 C CNN F 2 "" H 1870 1930 60 0000 C CNN F 3 "" H 1870 1930 60 0000 C CNN @@ -939,10 +940,10 @@ F 3 "" H 1870 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0229 +L GND #PWR0230 U 1 1 555FA501 P 1870 2500 -F 0 "#PWR0229" H 1870 2250 50 0001 C CNN +F 0 "#PWR0230" H 1870 2250 50 0001 C CNN F 1 "GND" H 1870 2350 50 0000 C CNN F 2 "" H 1870 2500 60 0000 C CNN F 3 "" H 1870 2500 60 0000 C CNN @@ -967,10 +968,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0230 +L +5V #PWR0231 U 1 1 555FA511 P 1020 1930 -F 0 "#PWR0230" H 1020 1780 50 0001 C CNN +F 0 "#PWR0231" H 1020 1780 50 0001 C CNN F 1 "+5V" H 1020 2070 50 0000 C CNN F 2 "" H 1020 1930 60 0000 C CNN F 3 "" H 1020 1930 60 0000 C CNN @@ -978,10 +979,10 @@ F 3 "" H 1020 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0231 +L GND #PWR0232 U 1 1 555FA517 P 1020 2500 -F 0 "#PWR0231" H 1020 2250 50 0001 C CNN +F 0 "#PWR0232" H 1020 2250 50 0001 C CNN F 1 "GND" H 1020 2350 50 0000 C CNN F 2 "" H 1020 2500 60 0000 C CNN F 3 "" H 1020 2500 60 0000 C CNN @@ -1006,10 +1007,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0232 +L +5V #PWR0233 U 1 1 555FA527 P 1440 1925 -F 0 "#PWR0232" H 1440 1775 50 0001 C CNN +F 0 "#PWR0233" H 1440 1775 50 0001 C CNN F 1 "+5V" H 1440 2065 50 0000 C CNN F 2 "" H 1440 1925 60 0000 C CNN F 3 "" H 1440 1925 60 0000 C CNN @@ -1017,10 +1018,10 @@ F 3 "" H 1440 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0233 +L GND #PWR0234 U 1 1 555FA52D P 1440 2495 -F 0 "#PWR0233" H 1440 2245 50 0001 C CNN +F 0 "#PWR0234" H 1440 2245 50 0001 C CNN F 1 "GND" H 1440 2345 50 0000 C CNN F 2 "" H 1440 2495 60 0000 C CNN F 3 "" H 1440 2495 60 0000 C CNN @@ -1045,10 +1046,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0234 +L +5V #PWR0235 U 1 1 555FA53D P 3130 1930 -F 0 "#PWR0234" H 3130 1780 50 0001 C CNN +F 0 "#PWR0235" H 3130 1780 50 0001 C CNN F 1 "+5V" H 3130 2070 50 0000 C CNN F 2 "" H 3130 1930 60 0000 C CNN F 3 "" H 3130 1930 60 0000 C CNN @@ -1056,10 +1057,10 @@ F 3 "" H 3130 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0235 +L GND #PWR0236 U 1 1 555FA543 P 3130 2500 -F 0 "#PWR0235" H 3130 2250 50 0001 C CNN +F 0 "#PWR0236" H 3130 2250 50 0001 C CNN F 1 "GND" H 3130 2350 50 0000 C CNN F 2 "" H 3130 2500 60 0000 C CNN F 3 "" H 3130 2500 60 0000 C CNN @@ -1084,10 +1085,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0236 +L +5V #PWR0237 U 1 1 555FA553 P 2280 1930 -F 0 "#PWR0236" H 2280 1780 50 0001 C CNN +F 0 "#PWR0237" H 2280 1780 50 0001 C CNN F 1 "+5V" H 2280 2070 50 0000 C CNN F 2 "" H 2280 1930 60 0000 C CNN F 3 "" H 2280 1930 60 0000 C CNN @@ -1095,10 +1096,10 @@ F 3 "" H 2280 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0237 +L GND #PWR0238 U 1 1 555FA559 P 2280 2500 -F 0 "#PWR0237" H 2280 2250 50 0001 C CNN +F 0 "#PWR0238" H 2280 2250 50 0001 C CNN F 1 "GND" H 2280 2350 50 0000 C CNN F 2 "" H 2280 2500 60 0000 C CNN F 3 "" H 2280 2500 60 0000 C CNN @@ -1123,10 +1124,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0238 +L +5V #PWR0239 U 1 1 555FA569 P 2700 1925 -F 0 "#PWR0238" H 2700 1775 50 0001 C CNN +F 0 "#PWR0239" H 2700 1775 50 0001 C CNN F 1 "+5V" H 2700 2065 50 0000 C CNN F 2 "" H 2700 1925 60 0000 C CNN F 3 "" H 2700 1925 60 0000 C CNN @@ -1134,10 +1135,10 @@ F 3 "" H 2700 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0239 +L GND #PWR0240 U 1 1 555FA56F P 2700 2495 -F 0 "#PWR0239" H 2700 2245 50 0001 C CNN +F 0 "#PWR0240" H 2700 2245 50 0001 C CNN F 1 "GND" H 2700 2345 50 0000 C CNN F 2 "" H 2700 2495 60 0000 C CNN F 3 "" H 2700 2495 60 0000 C CNN @@ -1162,10 +1163,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0240 +L +5V #PWR0241 U 1 1 555FA57F P 4390 1930 -F 0 "#PWR0240" H 4390 1780 50 0001 C CNN +F 0 "#PWR0241" H 4390 1780 50 0001 C CNN F 1 "+5V" H 4390 2070 50 0000 C CNN F 2 "" H 4390 1930 60 0000 C CNN F 3 "" H 4390 1930 60 0000 C CNN @@ -1173,10 +1174,10 @@ F 3 "" H 4390 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0241 +L GND #PWR0242 U 1 1 555FA585 P 4390 2500 -F 0 "#PWR0241" H 4390 2250 50 0001 C CNN +F 0 "#PWR0242" H 4390 2250 50 0001 C CNN F 1 "GND" H 4390 2350 50 0000 C CNN F 2 "" H 4390 2500 60 0000 C CNN F 3 "" H 4390 2500 60 0000 C CNN @@ -1201,10 +1202,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0242 +L +5V #PWR0243 U 1 1 555FA595 P 3540 1930 -F 0 "#PWR0242" H 3540 1780 50 0001 C CNN +F 0 "#PWR0243" H 3540 1780 50 0001 C CNN F 1 "+5V" H 3540 2070 50 0000 C CNN F 2 "" H 3540 1930 60 0000 C CNN F 3 "" H 3540 1930 60 0000 C CNN @@ -1212,10 +1213,10 @@ F 3 "" H 3540 1930 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0243 +L GND #PWR0244 U 1 1 555FA59B P 3540 2500 -F 0 "#PWR0243" H 3540 2250 50 0001 C CNN +F 0 "#PWR0244" H 3540 2250 50 0001 C CNN F 1 "GND" H 3540 2350 50 0000 C CNN F 2 "" H 3540 2500 60 0000 C CNN F 3 "" H 3540 2500 60 0000 C CNN @@ -1240,10 +1241,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0244 +L +5V #PWR0245 U 1 1 555FA5AB P 3960 1925 -F 0 "#PWR0244" H 3960 1775 50 0001 C CNN +F 0 "#PWR0245" H 3960 1775 50 0001 C CNN F 1 "+5V" H 3960 2065 50 0000 C CNN F 2 "" H 3960 1925 60 0000 C CNN F 3 "" H 3960 1925 60 0000 C CNN @@ -1251,10 +1252,10 @@ F 3 "" H 3960 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0245 +L GND #PWR0246 U 1 1 555FA5B1 P 3960 2495 -F 0 "#PWR0245" H 3960 2245 50 0001 C CNN +F 0 "#PWR0246" H 3960 2245 50 0001 C CNN F 1 "GND" H 3960 2345 50 0000 C CNN F 2 "" H 3960 2495 60 0000 C CNN F 3 "" H 3960 2495 60 0000 C CNN @@ -1279,10 +1280,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0246 +L GND #PWR0247 U 1 1 55609E08 P 1020 3685 -F 0 "#PWR0246" H 1020 3435 50 0001 C CNN +F 0 "#PWR0247" H 1020 3435 50 0001 C CNN F 1 "GND" H 1020 3535 50 0000 C CNN F 2 "" H 1020 3685 60 0000 C CNN F 3 "" H 1020 3685 60 0000 C CNN @@ -1307,10 +1308,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0247 +L GND #PWR0248 U 1 1 55609E1E P 2280 3685 -F 0 "#PWR0247" H 2280 3435 50 0001 C CNN +F 0 "#PWR0248" H 2280 3435 50 0001 C CNN F 1 "GND" H 2280 3535 50 0000 C CNN F 2 "" H 2280 3685 60 0000 C CNN F 3 "" H 2280 3685 60 0000 C CNN @@ -1335,10 +1336,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0248 +L GND #PWR0249 U 1 1 55609E34 P 1430 3685 -F 0 "#PWR0248" H 1430 3435 50 0001 C CNN +F 0 "#PWR0249" H 1430 3435 50 0001 C CNN F 1 "GND" H 1430 3535 50 0000 C CNN F 2 "" H 1430 3685 60 0000 C CNN F 3 "" H 1430 3685 60 0000 C CNN @@ -1363,10 +1364,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0249 +L GND #PWR0250 U 1 1 55609E4A P 1850 3680 -F 0 "#PWR0249" H 1850 3430 50 0001 C CNN +F 0 "#PWR0250" H 1850 3430 50 0001 C CNN F 1 "GND" H 1850 3530 50 0000 C CNN F 2 "" H 1850 3680 60 0000 C CNN F 3 "" H 1850 3680 60 0000 C CNN @@ -1378,10 +1379,10 @@ Wire Wire Line Wire Wire Line 1850 3110 1850 3195 $Comp -L +3.3V #PWR0250 +L +3.3V #PWR0251 U 1 1 5560A02A P 1020 3115 -F 0 "#PWR0250" H 1020 2965 50 0001 C CNN +F 0 "#PWR0251" H 1020 2965 50 0001 C CNN F 1 "+3.3V" H 1020 3255 50 0000 C CNN F 2 "" H 1020 3115 60 0000 C CNN F 3 "" H 1020 3115 60 0000 C CNN @@ -1389,10 +1390,10 @@ F 3 "" H 1020 3115 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0251 +L +3.3V #PWR0252 U 1 1 5560A179 P 1430 3115 -F 0 "#PWR0251" H 1430 2965 50 0001 C CNN +F 0 "#PWR0252" H 1430 2965 50 0001 C CNN F 1 "+3.3V" H 1430 3255 50 0000 C CNN F 2 "" H 1430 3115 60 0000 C CNN F 3 "" H 1430 3115 60 0000 C CNN @@ -1400,10 +1401,10 @@ F 3 "" H 1430 3115 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0252 +L +3.3V #PWR0253 U 1 1 5560A25C P 1850 3110 -F 0 "#PWR0252" H 1850 2960 50 0001 C CNN +F 0 "#PWR0253" H 1850 2960 50 0001 C CNN F 1 "+3.3V" H 1850 3250 50 0000 C CNN F 2 "" H 1850 3110 60 0000 C CNN F 3 "" H 1850 3110 60 0000 C CNN @@ -1411,10 +1412,10 @@ F 3 "" H 1850 3110 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0253 +L +3.3V #PWR0254 U 1 1 5560A31B P 2280 3115 -F 0 "#PWR0253" H 2280 2965 50 0001 C CNN +F 0 "#PWR0254" H 2280 2965 50 0001 C CNN F 1 "+3.3V" H 2280 3255 50 0000 C CNN F 2 "" H 2280 3115 60 0000 C CNN F 3 "" H 2280 3115 60 0000 C CNN @@ -1435,10 +1436,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0254 +L +5V #PWR0255 U 1 1 5560A613 P 5630 1925 -F 0 "#PWR0254" H 5630 1775 50 0001 C CNN +F 0 "#PWR0255" H 5630 1775 50 0001 C CNN F 1 "+5V" H 5630 2065 50 0000 C CNN F 2 "" H 5630 1925 60 0000 C CNN F 3 "" H 5630 1925 60 0000 C CNN @@ -1446,10 +1447,10 @@ F 3 "" H 5630 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0255 +L GND #PWR0256 U 1 1 5560A619 P 5630 2495 -F 0 "#PWR0255" H 5630 2245 50 0001 C CNN +F 0 "#PWR0256" H 5630 2245 50 0001 C CNN F 1 "GND" H 5630 2345 50 0000 C CNN F 2 "" H 5630 2495 60 0000 C CNN F 3 "" H 5630 2495 60 0000 C CNN @@ -1474,10 +1475,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0256 +L +5V #PWR0257 U 1 1 5560A629 P 4780 1925 -F 0 "#PWR0256" H 4780 1775 50 0001 C CNN +F 0 "#PWR0257" H 4780 1775 50 0001 C CNN F 1 "+5V" H 4780 2065 50 0000 C CNN F 2 "" H 4780 1925 60 0000 C CNN F 3 "" H 4780 1925 60 0000 C CNN @@ -1485,10 +1486,10 @@ F 3 "" H 4780 1925 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0257 +L GND #PWR0258 U 1 1 5560A62F P 4780 2495 -F 0 "#PWR0257" H 4780 2245 50 0001 C CNN +F 0 "#PWR0258" H 4780 2245 50 0001 C CNN F 1 "GND" H 4780 2345 50 0000 C CNN F 2 "" H 4780 2495 60 0000 C CNN F 3 "" H 4780 2495 60 0000 C CNN @@ -1513,10 +1514,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L +5V #PWR0258 +L +5V #PWR0259 U 1 1 5560A63F P 5200 1920 -F 0 "#PWR0258" H 5200 1770 50 0001 C CNN +F 0 "#PWR0259" H 5200 1770 50 0001 C CNN F 1 "+5V" H 5200 2060 50 0000 C CNN F 2 "" H 5200 1920 60 0000 C CNN F 3 "" H 5200 1920 60 0000 C CNN @@ -1524,10 +1525,10 @@ F 3 "" H 5200 1920 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0259 +L GND #PWR0260 U 1 1 5560A645 P 5200 2490 -F 0 "#PWR0259" H 5200 2240 50 0001 C CNN +F 0 "#PWR0260" H 5200 2240 50 0001 C CNN F 1 "GND" H 5200 2340 50 0000 C CNN F 2 "" H 5200 2490 60 0000 C CNN F 3 "" H 5200 2490 60 0000 C CNN diff --git "a/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" "b/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" index 174388f39..2a90f637d 100644 --- "a/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" +++ "b/pcb/megashield_svn_1.3_geoeffnet/Bohrl\303\266cher.sch" @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -195,10 +196,10 @@ F 3 "" H 3915 1610 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0116 +L GND #PWR0120 U 1 1 553D45B9 P 3820 1070 -F 0 "#PWR0116" H 3820 820 60 0001 C CNN +F 0 "#PWR0120" H 3820 820 60 0001 C CNN F 1 "GND" V 3820 855 60 0000 C CNN F 2 "" H 3820 1070 60 0000 C CNN F 3 "" H 3820 1070 60 0000 C CNN @@ -206,10 +207,10 @@ F 3 "" H 3820 1070 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR0117 +L GND #PWR0121 U 1 1 553D46A2 P 3820 1345 -F 0 "#PWR0117" H 3820 1095 60 0001 C CNN +F 0 "#PWR0121" H 3820 1095 60 0001 C CNN F 1 "GND" V 3820 1130 60 0000 C CNN F 2 "" H 3820 1345 60 0000 C CNN F 3 "" H 3820 1345 60 0000 C CNN @@ -217,10 +218,10 @@ F 3 "" H 3820 1345 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR0118 +L GND #PWR0122 U 1 1 553D46E4 P 3820 1610 -F 0 "#PWR0118" H 3820 1360 60 0001 C CNN +F 0 "#PWR0122" H 3820 1360 60 0001 C CNN F 1 "GND" V 3820 1395 60 0000 C CNN F 2 "" H 3820 1610 60 0000 C CNN F 3 "" H 3820 1610 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch b/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch index 3dcb4e532..f68617e4a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dropsensor.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch index 57d8da656..b155998e6 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Links.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -26,8 +27,8 @@ L +24V #PWR0137 U 1 1 554BE910 P 4895 3310 AR Path="/553D8AD9/5542A35A/554BE910" Ref="#PWR0137" Part="1" -AR Path="/553D8AD9/554D3EE8/554BE910" Ref="#PWR0145" Part="1" -F 0 "#PWR0145" H 4895 3160 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/554BE910" Ref="#PWR0149" Part="1" +F 0 "#PWR0149" H 4895 3160 60 0001 C CNN F 1 "+24V" H 4895 3450 60 0000 C CNN F 2 "" H 4895 3310 60 0000 C CNN F 3 "" H 4895 3310 60 0000 C CNN @@ -39,8 +40,8 @@ L GND #PWR0138 U 1 1 5542A3C5 P 4895 4445 AR Path="/553D8AD9/5542A35A/5542A3C5" Ref="#PWR0138" Part="1" -AR Path="/553D8AD9/554D3EE8/5542A3C5" Ref="#PWR0146" Part="1" -F 0 "#PWR0146" H 4895 4195 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/5542A3C5" Ref="#PWR0150" Part="1" +F 0 "#PWR0150" H 4895 4195 60 0001 C CNN F 1 "GND" H 4895 4295 60 0000 C CNN F 2 "" H 4895 4445 60 0000 C CNN F 3 "" H 4895 4445 60 0000 C CNN @@ -91,8 +92,8 @@ L +24V #PWR0139 U 1 1 5542A69A P 3170 3310 AR Path="/553D8AD9/5542A35A/5542A69A" Ref="#PWR0139" Part="1" -AR Path="/553D8AD9/554D3EE8/5542A69A" Ref="#PWR0147" Part="1" -F 0 "#PWR0147" H 3170 3160 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/5542A69A" Ref="#PWR0151" Part="1" +F 0 "#PWR0151" H 3170 3160 60 0001 C CNN F 1 "+24V" H 3170 3450 60 0000 C CNN F 2 "" H 3170 3310 60 0000 C CNN F 3 "" H 3170 3310 60 0000 C CNN @@ -104,8 +105,8 @@ L GND #PWR0140 U 1 1 554BE919 P 3170 4445 AR Path="/553D8AD9/5542A35A/554BE919" Ref="#PWR0140" Part="1" -AR Path="/553D8AD9/554D3EE8/554BE919" Ref="#PWR0148" Part="1" -F 0 "#PWR0148" H 3170 4195 60 0001 C CNN +AR Path="/553D8AD9/554D3EE8/554BE919" Ref="#PWR0152" Part="1" +F 0 "#PWR0152" H 3170 4195 60 0001 C CNN F 1 "GND" H 3170 4295 60 0000 C CNN F 2 "" H 3170 4445 60 0000 C CNN F 3 "" H 3170 4445 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch index 34fe59bbd..07ed0bde0 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Ms_Rechts.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -22,10 +23,10 @@ MotorRechtsA Text HLabel 5125 3870 2 60 BiDi ~ 0 MotorRechtsB $Comp -L +24V #PWR0139 +L +24V #PWR0143 U 1 1 554BE90F P 4895 3310 -F 0 "#PWR0139" H 4895 3160 60 0001 C CNN +F 0 "#PWR0143" H 4895 3160 60 0001 C CNN F 1 "+24V" H 4895 3450 60 0000 C CNN F 2 "" H 4895 3310 60 0000 C CNN F 3 "" H 4895 3310 60 0000 C CNN @@ -33,10 +34,10 @@ F 3 "" H 4895 3310 60 0000 C CNN -1 0 0 -1 $EndComp $Comp -L GND #PWR0140 +L GND #PWR0144 U 1 1 554BE911 P 4895 4445 -F 0 "#PWR0140" H 4895 4195 60 0001 C CNN +F 0 "#PWR0144" H 4895 4195 60 0001 C CNN F 1 "GND" H 4895 4295 60 0000 C CNN F 2 "" H 4895 4445 60 0000 C CNN F 3 "" H 4895 4445 60 0000 C CNN @@ -79,10 +80,10 @@ Wire Wire Line 4600 3870 5125 3870 Connection ~ 4895 3870 $Comp -L +24V #PWR0141 +L +24V #PWR0145 U 1 1 554BE918 P 3170 3310 -F 0 "#PWR0141" H 3170 3160 60 0001 C CNN +F 0 "#PWR0145" H 3170 3160 60 0001 C CNN F 1 "+24V" H 3170 3450 60 0000 C CNN F 2 "" H 3170 3310 60 0000 C CNN F 3 "" H 3170 3310 60 0000 C CNN @@ -90,10 +91,10 @@ F 3 "" H 3170 3310 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0142 +L GND #PWR0146 U 1 1 554BE91A P 3170 4445 -F 0 "#PWR0142" H 3170 4195 60 0001 C CNN +F 0 "#PWR0146" H 3170 4195 60 0001 C CNN F 1 "GND" H 3170 4295 60 0000 C CNN F 2 "" H 3170 4445 60 0000 C CNN F 3 "" H 3170 4445 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch index 9fabd0043..867a08f9c 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual1_Vin.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -30,10 +31,10 @@ F 4 "Value" H 5110 4020 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L +24V #PWR0143 +L +24V #PWR0147 U 1 1 5543AA9F P 4370 2960 -F 0 "#PWR0143" H 4370 2810 60 0001 C CNN +F 0 "#PWR0147" H 4370 2810 60 0001 C CNN F 1 "+24V" H 4370 3100 60 0000 C CNN F 2 "" H 4370 2960 60 0000 C CNN F 3 "" H 4370 2960 60 0000 C CNN @@ -41,10 +42,10 @@ F 3 "" H 4370 2960 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0144 +L GND #PWR0148 U 1 1 554BE925 P 4370 4555 -F 0 "#PWR0144" H 4370 4305 60 0001 C CNN +F 0 "#PWR0148" H 4370 4305 60 0001 C CNN F 1 "GND" H 4370 4405 60 0000 C CNN F 2 "" H 4370 4555 60 0000 C CNN F 3 "" H 4370 4555 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch index 46f60c657..2e9a3c31e 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Ms_Mower.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -27,8 +28,8 @@ U 1 1 5542A3B1 P 4895 3310 AR Path="/553D8AD9/5542A35A/5542A3B1" Ref="#PWR0130" Part="1" AR Path="/553D8AD9/554D3EE8/5542A3B1" Ref="#PWR0136" Part="1" -AR Path="/553D8AD9/554D4C79/5542A3B1" Ref="#PWR0149" Part="1" -F 0 "#PWR0149" H 4895 3160 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/5542A3B1" Ref="#PWR0153" Part="1" +F 0 "#PWR0153" H 4895 3160 60 0001 C CNN F 1 "+24V" H 4895 3450 60 0000 C CNN F 2 "" H 4895 3310 60 0000 C CNN F 3 "" H 4895 3310 60 0000 C CNN @@ -41,8 +42,8 @@ U 1 1 554BE912 P 4895 4445 AR Path="/553D8AD9/5542A35A/554BE912" Ref="#PWR0131" Part="1" AR Path="/553D8AD9/554D3EE8/554BE912" Ref="#PWR0137" Part="1" -AR Path="/553D8AD9/554D4C79/554BE912" Ref="#PWR0150" Part="1" -F 0 "#PWR0150" H 4895 4195 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/554BE912" Ref="#PWR0154" Part="1" +F 0 "#PWR0154" H 4895 4195 60 0001 C CNN F 1 "GND" H 4895 4295 60 0000 C CNN F 2 "" H 4895 4445 60 0000 C CNN F 3 "" H 4895 4445 60 0000 C CNN @@ -96,8 +97,8 @@ U 1 1 554BE917 P 3170 3310 AR Path="/553D8AD9/5542A35A/554BE917" Ref="#PWR0132" Part="1" AR Path="/553D8AD9/554D3EE8/554BE917" Ref="#PWR0138" Part="1" -AR Path="/553D8AD9/554D4C79/554BE917" Ref="#PWR0151" Part="1" -F 0 "#PWR0151" H 3170 3160 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/554BE917" Ref="#PWR0155" Part="1" +F 0 "#PWR0155" H 3170 3160 60 0001 C CNN F 1 "+24V" H 3170 3450 60 0000 C CNN F 2 "" H 3170 3310 60 0000 C CNN F 3 "" H 3170 3310 60 0000 C CNN @@ -110,8 +111,8 @@ U 1 1 5542A6A0 P 3170 4445 AR Path="/553D8AD9/5542A35A/5542A6A0" Ref="#PWR0133" Part="1" AR Path="/553D8AD9/554D3EE8/5542A6A0" Ref="#PWR0139" Part="1" -AR Path="/553D8AD9/554D4C79/5542A6A0" Ref="#PWR0152" Part="1" -F 0 "#PWR0152" H 3170 4195 60 0001 C CNN +AR Path="/553D8AD9/554D4C79/5542A6A0" Ref="#PWR0156" Part="1" +F 0 "#PWR0156" H 3170 4195 60 0001 C CNN F 1 "GND" H 3170 4295 60 0000 C CNN F 2 "" H 3170 4445 60 0000 C CNN F 3 "" H 3170 4445 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch index a63035842..1a6a8a614 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Dual2_Vin.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -37,8 +38,8 @@ L +24V #PWR0134 U 1 1 554BE924 P 4370 2960 AR Path="/553D8AD9/5543A988/554BE924" Ref="#PWR0134" Part="1" -AR Path="/553D8AD9/554D9DA2/554BE924" Ref="#PWR0153" Part="1" -F 0 "#PWR0153" H 4370 2810 60 0001 C CNN +AR Path="/553D8AD9/554D9DA2/554BE924" Ref="#PWR0157" Part="1" +F 0 "#PWR0157" H 4370 2810 60 0001 C CNN F 1 "+24V" H 4370 3100 60 0000 C CNN F 2 "" H 4370 2960 60 0000 C CNN F 3 "" H 4370 2960 60 0000 C CNN @@ -50,8 +51,8 @@ L GND #PWR0135 U 1 1 5543AAB4 P 4370 4555 AR Path="/553D8AD9/5543A988/5543AAB4" Ref="#PWR0135" Part="1" -AR Path="/553D8AD9/554D9DA2/5543AAB4" Ref="#PWR0154" Part="1" -F 0 "#PWR0154" H 4370 4305 60 0001 C CNN +AR Path="/553D8AD9/554D9DA2/5543AAB4" Ref="#PWR0158" Part="1" +F 0 "#PWR0158" H 4370 4305 60 0001 C CNN F 1 "GND" H 4370 4405 60 0000 C CNN F 2 "" H 4370 4555 60 0000 C CNN F 3 "" H 4370 4555 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/I2C.sch b/pcb/megashield_svn_1.3_geoeffnet/I2C.sch index a7a518999..a50e903d1 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/I2C.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/I2C.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 diff --git a/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch b/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch index 180b1443f..788bc2ebf 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Ladespannung.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -69,8 +70,8 @@ L GND #PWR164 U 1 1 554C8CE8 P 6340 2600 AR Path="/554BCB67/554C8CE8" Ref="#PWR164" Part="1" -AR Path="/554C1C35/554C8CE8" Ref="#PWR0179" Part="1" -F 0 "#PWR0179" H 6340 2350 60 0001 C CNN +AR Path="/554C1C35/554C8CE8" Ref="#PWR0261" Part="1" +F 0 "#PWR0261" H 6340 2350 60 0001 C CNN F 1 "GND" H 6340 2450 60 0000 C CNN F 2 "" H 6340 2600 60 0000 C CNN F 3 "" H 6340 2600 60 0000 C CNN @@ -84,8 +85,8 @@ L GND #PWR165 U 1 1 554BDA01 P 6660 2600 AR Path="/554BCB67/554BDA01" Ref="#PWR165" Part="1" -AR Path="/554C1C35/554BDA01" Ref="#PWR0180" Part="1" -F 0 "#PWR0180" H 6660 2350 60 0001 C CNN +AR Path="/554C1C35/554BDA01" Ref="#PWR0262" Part="1" +F 0 "#PWR0262" H 6660 2350 60 0001 C CNN F 1 "GND" H 6660 2450 60 0000 C CNN F 2 "" H 6660 2600 60 0000 C CNN F 3 "" H 6660 2600 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch b/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch index 76142f3f6..67c70fbd9 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Motortreiber.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -33,10 +34,10 @@ pinMotorRightSense Text GLabel 2410 1435 0 39 Output ~ 0 pinMotorRightFault $Comp -L GND #PWR0119 +L GND #PWR0123 U 1 1 553D988C P 2415 1535 -F 0 "#PWR0119" H 2415 1285 60 0001 C CNN +F 0 "#PWR0123" H 2415 1285 60 0001 C CNN F 1 "GND" V 2415 1310 60 0000 C CNN F 2 "" H 2415 1535 60 0000 C CNN F 3 "" H 2415 1535 60 0000 C CNN @@ -44,10 +45,10 @@ F 3 "" H 2415 1535 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0120 +L +5V #PWR0124 U 1 1 553D98BA P 2415 1635 -F 0 "#PWR0120" H 2415 1485 60 0001 C CNN +F 0 "#PWR0124" H 2415 1485 60 0001 C CNN F 1 "+5V" V 2415 1855 60 0000 C CNN F 2 "" H 2415 1635 60 0000 C CNN F 3 "" H 2415 1635 60 0000 C CNN @@ -67,10 +68,10 @@ pinMotorLeftSense Text GLabel 2410 2335 0 39 Output ~ 0 pinMotorLeftFault $Comp -L GND #PWR0121 +L GND #PWR0125 U 1 1 553DA932 P 2415 2435 -F 0 "#PWR0121" H 2415 2185 60 0001 C CNN +F 0 "#PWR0125" H 2415 2185 60 0001 C CNN F 1 "GND" V 2415 2210 60 0000 C CNN F 2 "" H 2415 2435 60 0000 C CNN F 3 "" H 2415 2435 60 0000 C CNN @@ -78,10 +79,10 @@ F 3 "" H 2415 2435 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0122 +L +5V #PWR0126 U 1 1 553DA938 P 2415 2535 -F 0 "#PWR0122" H 2415 2385 60 0001 C CNN +F 0 "#PWR0126" H 2415 2385 60 0001 C CNN F 1 "+5V" V 2415 2755 60 0000 C CNN F 2 "" H 2415 2535 60 0000 C CNN F 3 "" H 2415 2535 60 0000 C CNN @@ -93,10 +94,10 @@ pinMotorLeftPWM Text GLabel 2410 2735 0 39 Input ~ 0 pinMotorLeftDir $Comp -L +5V #PWR0123 +L +5V #PWR0127 U 1 1 553DB240 P 1680 2835 -F 0 "#PWR0123" H 1680 2685 60 0001 C CNN +F 0 "#PWR0127" H 1680 2685 60 0001 C CNN F 1 "+5V" V 1680 3055 60 0000 C CNN F 2 "" H 1680 2835 60 0000 C CNN F 3 "" H 1680 2835 60 0000 C CNN @@ -104,10 +105,10 @@ F 3 "" H 1680 2835 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L GND #PWR0124 +L GND #PWR0128 U 1 1 553DB249 P 2415 2935 -F 0 "#PWR0124" H 2415 2685 60 0001 C CNN +F 0 "#PWR0128" H 2415 2685 60 0001 C CNN F 1 "GND" V 2415 2710 60 0000 C CNN F 2 "" H 2415 2935 60 0000 C CNN F 3 "" H 2415 2935 60 0000 C CNN @@ -131,10 +132,10 @@ pinMotorMowSense Text GLabel 2395 4685 0 39 Output ~ 0 pinMotorMowFault $Comp -L GND #PWR0125 +L GND #PWR0129 U 1 1 553DEB1E P 2400 4785 -F 0 "#PWR0125" H 2400 4535 60 0001 C CNN +F 0 "#PWR0129" H 2400 4535 60 0001 C CNN F 1 "GND" V 2400 4560 60 0000 C CNN F 2 "" H 2400 4785 60 0000 C CNN F 3 "" H 2400 4785 60 0000 C CNN @@ -142,10 +143,10 @@ F 3 "" H 2400 4785 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0126 +L +5V #PWR0130 U 1 1 553DEB24 P 2400 4885 -F 0 "#PWR0126" H 2400 4735 60 0001 C CNN +F 0 "#PWR0130" H 2400 4735 60 0001 C CNN F 1 "+5V" V 2400 5105 60 0000 C CNN F 2 "" H 2400 4885 60 0000 C CNN F 3 "" H 2400 4885 60 0000 C CNN @@ -161,10 +162,10 @@ NoConn ~ 2740 5285 Text GLabel 2395 5385 0 39 Input ~ 0 pinMotorMowEnable $Comp -L GND #PWR0127 +L GND #PWR0131 U 1 1 553DEB38 P 2400 5685 -F 0 "#PWR0127" H 2400 5435 60 0001 C CNN +F 0 "#PWR0131" H 2400 5435 60 0001 C CNN F 1 "GND" V 2400 5460 60 0000 C CNN F 2 "" H 2400 5685 60 0000 C CNN F 3 "" H 2400 5685 60 0000 C CNN @@ -172,10 +173,10 @@ F 3 "" H 2400 5685 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0128 +L +5V #PWR0132 U 1 1 553DEB3E P 2400 5785 -F 0 "#PWR0128" H 2400 5635 60 0001 C CNN +F 0 "#PWR0132" H 2400 5635 60 0001 C CNN F 1 "+5V" V 2400 6005 60 0000 C CNN F 2 "" H 2400 5785 60 0000 C CNN F 3 "" H 2400 5785 60 0000 C CNN @@ -183,10 +184,10 @@ F 3 "" H 2400 5785 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L +5V #PWR0129 +L +5V #PWR0133 U 1 1 553DEB4A P 1530 6085 -F 0 "#PWR0129" H 1530 5935 60 0001 C CNN +F 0 "#PWR0133" H 1530 5935 60 0001 C CNN F 1 "+5V" V 1530 6305 60 0000 C CNN F 2 "" H 1530 6085 60 0000 C CNN F 3 "" H 1530 6085 60 0000 C CNN @@ -194,10 +195,10 @@ F 3 "" H 1530 6085 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L GND #PWR0130 +L GND #PWR0134 U 1 1 553DEB51 P 2400 6185 -F 0 "#PWR0130" H 2400 5935 60 0001 C CNN +F 0 "#PWR0134" H 2400 5935 60 0001 C CNN F 1 "GND" V 2400 5960 60 0000 C CNN F 2 "" H 2400 6185 60 0000 C CNN F 3 "" H 2400 6185 60 0000 C CNN @@ -232,10 +233,10 @@ F 4 "Value" H 10975 1080 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L +24V #PWR0131 +L +24V #PWR0135 U 1 1 553E3A94 P 10435 910 -F 0 "#PWR0131" H 10435 760 60 0001 C CNN +F 0 "#PWR0135" H 10435 760 60 0001 C CNN F 1 "+24V" H 10435 1050 60 0000 C CNN F 2 "" H 10435 910 60 0000 C CNN F 3 "" H 10435 910 60 0000 C CNN @@ -243,10 +244,10 @@ F 3 "" H 10435 910 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0132 +L GND #PWR0136 U 1 1 553E3A9A P 10435 1260 -F 0 "#PWR0132" H 10435 1010 60 0001 C CNN +F 0 "#PWR0136" H 10435 1010 60 0001 C CNN F 1 "GND" H 10435 1110 60 0000 C CNN F 2 "" H 10435 1260 60 0000 C CNN F 3 "" H 10435 1260 60 0000 C CNN @@ -266,10 +267,10 @@ F 4 "Value" H 10965 2015 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L +24V #PWR0133 +L +24V #PWR0137 U 1 1 553E4041 P 10425 1845 -F 0 "#PWR0133" H 10425 1695 60 0001 C CNN +F 0 "#PWR0137" H 10425 1695 60 0001 C CNN F 1 "+24V" H 10425 1985 60 0000 C CNN F 2 "" H 10425 1845 60 0000 C CNN F 3 "" H 10425 1845 60 0000 C CNN @@ -277,10 +278,10 @@ F 3 "" H 10425 1845 60 0000 C CNN 1 0 0 -1 $EndComp $Comp -L GND #PWR0134 +L GND #PWR0138 U 1 1 553E4047 P 10425 2195 -F 0 "#PWR0134" H 10425 1945 60 0001 C CNN +F 0 "#PWR0138" H 10425 1945 60 0001 C CNN F 1 "GND" H 10425 2045 60 0000 C CNN F 2 "" H 10425 2195 60 0000 C CNN F 3 "" H 10425 2195 60 0000 C CNN @@ -296,7 +297,7 @@ F2 "MotorRechtsA" B L 4530 1485 60 F3 "MotorRechtsB" B L 4530 1385 60 $EndSheet $Bitmap -Pos 9540 5630 +Pos 13325 5585 Scale 2,000000 Data 89 50 4E 47 0D 0A 1A 0A 00 00 00 0D 49 48 44 52 00 00 01 AE 00 00 00 FA 08 02 00 00 00 76 FF 34 @@ -3066,11 +3067,11 @@ AF 93 1E FB 28 94 3D 18 23 65 59 AB BA CE C7 AA 8C CE 39 48 93 A6 A7 AA 0A 25 22 6A 4A 85 53 EC 09 AC B9 EB 8C 98 55 A4 4D 31 42 92 31 35 82 3B 60 DF 27 3D EB E9 37 FC E4 A7 4F F8 F5 C7 F5 0E 3D 04 96 50 D8 96 35 42 9C E9 5A A7 8F FB 27 FF DC 2D EF 81 BD BF 1B 22 9B 87 00 88 23 34 49 C4 FA FE 71 0F 3C 75 DF B2 7F C4 7E 07 9C 74 EA 29 98 AD 40 AA 86 14 64 89 65 C7 75 -85 53 4C B1 97 F1 FF 00 89 51 C8 4B C2 DC 5E A4 00 00 00 00 49 45 4E 44 AE 42 60 82 4F +85 53 4C B1 97 F1 FF 00 89 51 C8 4B C2 DC 5E A4 00 00 00 00 49 45 4E 44 AE 42 60 82 C7 EndData $EndBitmap $Bitmap -Pos 9120 4020 +Pos 13235 3985 Scale 1,000000 Data 89 50 4E 47 0D 0A 1A 0A 00 00 00 0D 49 48 44 52 00 00 02 BC 00 00 01 51 08 03 00 00 00 A1 56 8E @@ -3532,7 +3533,7 @@ D7 62 CA 0A 72 F0 D6 4E DE 76 16 26 57 F8 0F 6C DE FB 25 1F D8 68 1E 01 AA 61 28 E3 08 01 79 BF 07 2F 7E 60 B3 1B 1C BC 5E BA 2F 85 97 94 D6 C2 47 D1 0E EF B9 C0 57 A3 59 D6 CC 94 6B 1D B7 0F 85 FF C6 86 DF 19 D7 CC C0 BB DD 16 35 D3 A5 4D 8D AC 19 82 D7 C8 C8 C8 C8 A8 10 6D 93 08 99 F1 18 8C A6 4D 07 DE E0 44 58 CD 11 23 23 23 23 23 23 23 23 23 23 23 23 23 23 25 FD -7F 58 5B 3B A6 13 40 A6 96 00 00 00 00 49 45 4E 44 AE 42 60 82 19 +7F 58 5B 3B A6 13 40 A6 96 00 00 00 00 49 45 4E 44 AE 42 60 82 A1 EndData $EndBitmap $Sheet @@ -3717,10 +3718,10 @@ Wire Wire Line 1740 2980 1740 2835 Connection ~ 1740 2835 $Comp -L GND #PWR0135 +L GND #PWR0139 U 1 1 5558B071 P 1740 3470 -F 0 "#PWR0135" H 1740 3220 60 0001 C CNN +F 0 "#PWR0139" H 1740 3220 60 0001 C CNN F 1 "GND" V 1740 3245 60 0000 C CNN F 2 "" H 1740 3470 60 0000 C CNN F 3 "" H 1740 3470 60 0000 C CNN @@ -3730,10 +3731,10 @@ $EndComp Wire Wire Line 1740 3470 1740 3380 $Comp -L GND #PWR0136 +L GND #PWR0140 U 1 1 5558B77B P 1570 6795 -F 0 "#PWR0136" H 1570 6545 60 0001 C CNN +F 0 "#PWR0140" H 1570 6545 60 0001 C CNN F 1 "GND" V 1570 6570 60 0000 C CNN F 2 "" H 1570 6795 60 0000 C CNN F 3 "" H 1570 6795 60 0000 C CNN @@ -3756,10 +3757,10 @@ F 5 "Value" H 1980 6505 60 0001 C CNN "Bestelllink" 1 0 0 -1 $EndComp $Comp -L GND #PWR0137 +L GND #PWR0141 U 1 1 5558BA10 P 1980 6795 -F 0 "#PWR0137" H 1980 6545 60 0001 C CNN +F 0 "#PWR0141" H 1980 6545 60 0001 C CNN F 1 "GND" V 1980 6570 60 0000 C CNN F 2 "" H 1980 6795 60 0000 C CNN F 3 "" H 1980 6795 60 0000 C CNN @@ -3785,10 +3786,10 @@ F 5 "Value" H 2195 3255 60 0001 C CNN "Bestelllink" 1 0 0 -1 $EndComp $Comp -L GND #PWR0138 +L GND #PWR0142 U 1 1 5558C056 P 2195 3545 -F 0 "#PWR0138" H 2195 3295 60 0001 C CNN +F 0 "#PWR0142" H 2195 3295 60 0001 C CNN F 1 "GND" V 2195 3320 60 0000 C CNN F 2 "" H 2195 3545 60 0000 C CNN F 3 "" H 2195 3545 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch b/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch index 6bd8a3159..9e062b610 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Odometry.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 diff --git a/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch b/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch index cf725189a..9ccc5bf4e 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Perimeter.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 diff --git a/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch b/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch index 77179905a..8eaab1003 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/RTC Uhr.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -30,10 +31,10 @@ F 4 "Value" H 5395 3070 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L +5V #PWR096 +L +5V #PWR099 U 1 1 5540D156 P 5395 2410 -F 0 "#PWR096" H 5395 2260 60 0001 C CNN +F 0 "#PWR099" H 5395 2260 60 0001 C CNN F 1 "+5V" H 5395 2550 60 0000 C CNN F 2 "" H 5395 2410 60 0000 C CNN F 3 "" H 5395 2410 60 0000 C CNN @@ -43,10 +44,10 @@ $EndComp Wire Wire Line 5395 2470 5395 2410 $Comp -L GND #PWR097 +L GND #PWR0100 U 1 1 5540D459 P 5395 3790 -F 0 "#PWR097" H 5395 3540 60 0001 C CNN +F 0 "#PWR0100" H 5395 3540 60 0001 C CNN F 1 "GND" H 5395 3640 60 0000 C CNN F 2 "" H 5395 3790 60 0000 C CNN F 3 "" H 5395 3790 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch b/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch index 0ac588bb9..c21e19952 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/ReservePins.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 diff --git a/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch b/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch index dc7f2c8d5..37eee8886 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Sonar.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 diff --git a/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch b/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch index ee6a34fdb..68dacff6d 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Sonstiges.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -18,35 +19,6 @@ Comment3 "" Comment4 "" $EndDescr $Comp -L SPEAKER SP1 -U 1 1 55401981 -P 2165 1300 -F 0 "SP1" H 2065 1550 70 0000 C CNN -F 1 "SPEAKER" H 2065 1050 70 0000 C CNN -F 2 "ACS712:Buzzer_12x9.5RM7.6_RM5.0" H 2165 1300 60 0001 C CNN -F 3 "" H 2165 1300 60 0000 C CNN -F 4 "R: SUMMER TDB 05" H 2165 1300 60 0001 C CNN "Bestellnummer" - 1 2165 1300 - 1 0 0 -1 -$EndComp -$Comp -L GND #PWR0155 -U 1 1 55401A25 -P 1615 1200 -F 0 "#PWR0155" H 1615 950 60 0001 C CNN -F 1 "GND" V 1615 985 60 0000 C CNN -F 2 "" H 1615 1200 60 0000 C CNN -F 3 "" H 1615 1200 60 0000 C CNN - 1 1615 1200 - 0 1 -1 0 -$EndComp -Wire Wire Line - 1865 1200 1615 1200 -Text GLabel 1615 1400 0 39 Input ~ 0 -pinBuzzer -Wire Wire Line - 1865 1400 1615 1400 -$Comp L JUMPER JP14 U 1 1 553CA94E P 2410 2650 @@ -82,10 +54,10 @@ F 4 "Value" H 2410 2220 60 0001 C CNN "Bestellnummer" -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0156 +L +3.3V #PWR0159 U 1 1 553CB63B P 2775 2220 -F 0 "#PWR0156" H 2775 2180 30 0001 C CNN +F 0 "#PWR0159" H 2775 2180 30 0001 C CNN F 1 "+3.3V" V 2775 2385 30 0000 C CNN F 2 "" H 2775 2220 60 0000 C CNN F 3 "" H 2775 2220 60 0000 C CNN @@ -93,10 +65,10 @@ F 3 "" H 2775 2220 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L +5V #PWR0157 +L +5V #PWR0160 U 1 1 553CB667 P 2770 2650 -F 0 "#PWR0157" H 2770 2500 60 0001 C CNN +F 0 "#PWR0160" H 2770 2500 60 0001 C CNN F 1 "+5V" V 2770 2860 60 0000 C CNN F 2 "" H 2770 2650 60 0000 C CNN F 3 "" H 2770 2650 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch b/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch index ba38ccaec..84f49006b 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Stepdownwandler.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -30,10 +31,10 @@ F 4 "Value" H 4630 1115 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L GND #PWR0158 +L GND #PWR0161 U 1 1 553E58DC P 5030 965 -F 0 "#PWR0158" H 5030 715 60 0001 C CNN +F 0 "#PWR0161" H 5030 715 60 0001 C CNN F 1 "GND" H 5030 815 60 0000 C CNN F 2 "" H 5030 965 60 0000 C CNN F 3 "" H 5030 965 60 0000 C CNN @@ -41,10 +42,10 @@ F 3 "" H 5030 965 60 0000 C CNN 1 0 0 1 $EndComp $Comp -L GND #PWR0159 +L GND #PWR0162 U 1 1 553E58FB P 4230 965 -F 0 "#PWR0159" H 4230 715 60 0001 C CNN +F 0 "#PWR0162" H 4230 715 60 0001 C CNN F 1 "GND" H 4230 815 60 0000 C CNN F 2 "" H 4230 965 60 0000 C CNN F 3 "" H 4230 965 60 0000 C CNN @@ -77,10 +78,10 @@ Wire Wire Line 6255 1215 6255 1290 Connection ~ 6255 1215 $Comp -L GND #PWR0160 +L GND #PWR0163 U 1 1 553E7071 P 5340 1980 -F 0 "#PWR0160" H 5340 1730 60 0001 C CNN +F 0 "#PWR0163" H 5340 1730 60 0001 C CNN F 1 "GND" H 5340 1830 60 0000 C CNN F 2 "" H 5340 1980 60 0000 C CNN F 3 "" H 5340 1980 60 0000 C CNN @@ -101,10 +102,10 @@ $EndComp Wire Wire Line 5340 1755 5340 1980 $Comp -L GND #PWR0161 +L GND #PWR0164 U 1 1 553E76F0 P 6255 1765 -F 0 "#PWR0161" H 6255 1515 60 0001 C CNN +F 0 "#PWR0164" H 6255 1515 60 0001 C CNN F 1 "GND" H 6255 1615 60 0000 C CNN F 2 "" H 6255 1765 60 0000 C CNN F 3 "" H 6255 1765 60 0000 C CNN @@ -130,10 +131,10 @@ F 4 "Value" H 4640 3445 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L GND #PWR0162 +L GND #PWR0165 U 1 1 553E7CEE P 5040 3295 -F 0 "#PWR0162" H 5040 3045 60 0001 C CNN +F 0 "#PWR0165" H 5040 3045 60 0001 C CNN F 1 "GND" H 5040 3145 60 0000 C CNN F 2 "" H 5040 3295 60 0000 C CNN F 3 "" H 5040 3295 60 0000 C CNN @@ -141,10 +142,10 @@ F 3 "" H 5040 3295 60 0000 C CNN 1 0 0 1 $EndComp $Comp -L GND #PWR0163 +L GND #PWR0166 U 1 1 553E7CF4 P 4240 3295 -F 0 "#PWR0163" H 4240 3045 60 0001 C CNN +F 0 "#PWR0166" H 4240 3045 60 0001 C CNN F 1 "GND" H 4240 3145 60 0000 C CNN F 2 "" H 4240 3295 60 0000 C CNN F 3 "" H 4240 3295 60 0000 C CNN @@ -187,10 +188,10 @@ F 4 "Value" H 6800 3545 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L GND #PWR0164 +L GND #PWR0167 U 1 1 553E7D26 P 6275 4095 -F 0 "#PWR0164" H 6275 3845 60 0001 C CNN +F 0 "#PWR0167" H 6275 3845 60 0001 C CNN F 1 "GND" H 6275 3945 60 0000 C CNN F 2 "" H 6275 4095 60 0000 C CNN F 3 "" H 6275 4095 60 0000 C CNN @@ -202,10 +203,10 @@ Wire Wire Line Wire Wire Line 7100 3545 7280 3545 $Comp -L +3.3V #PWR0165 +L +3.3V #PWR0168 U 1 1 553E8B9E P 7280 3545 -F 0 "#PWR0165" H 7280 3505 30 0001 C CNN +F 0 "#PWR0168" H 7280 3505 30 0001 C CNN F 1 "+3.3V" V 7280 3715 30 0000 C CNN F 2 "" H 7280 3545 60 0000 C CNN F 3 "" H 7280 3545 60 0000 C CNN @@ -225,10 +226,10 @@ F 4 "Value" H 4645 5670 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L GND #PWR0166 +L GND #PWR0169 U 1 1 553E9128 P 5045 5520 -F 0 "#PWR0166" H 5045 5270 60 0001 C CNN +F 0 "#PWR0169" H 5045 5270 60 0001 C CNN F 1 "GND" H 5045 5370 60 0000 C CNN F 2 "" H 5045 5520 60 0000 C CNN F 3 "" H 5045 5520 60 0000 C CNN @@ -236,10 +237,10 @@ F 3 "" H 5045 5520 60 0000 C CNN 1 0 0 1 $EndComp $Comp -L GND #PWR0167 +L GND #PWR0170 U 1 1 553E912E P 4245 5520 -F 0 "#PWR0167" H 4245 5270 60 0001 C CNN +F 0 "#PWR0170" H 4245 5270 60 0001 C CNN F 1 "GND" H 4245 5370 60 0000 C CNN F 2 "" H 4245 5520 60 0000 C CNN F 3 "" H 4245 5520 60 0000 C CNN @@ -282,10 +283,10 @@ F 4 "Value" H 6740 5770 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L GND #PWR0168 +L GND #PWR0171 U 1 1 553E9161 P 6270 6320 -F 0 "#PWR0168" H 6270 6070 60 0001 C CNN +F 0 "#PWR0171" H 6270 6070 60 0001 C CNN F 1 "GND" H 6270 6170 60 0000 C CNN F 2 "" H 6270 6320 60 0000 C CNN F 3 "" H 6270 6320 60 0000 C CNN @@ -401,10 +402,10 @@ F 3 "" H 4140 1700 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L GND #PWR0169 +L GND #PWR0172 U 1 1 55720CD0 P 4140 1980 -F 0 "#PWR0169" H 4140 1730 60 0001 C CNN +F 0 "#PWR0172" H 4140 1730 60 0001 C CNN F 1 "GND" H 4140 1830 60 0000 C CNN F 2 "" H 4140 1980 60 0000 C CNN F 3 "" H 4140 1980 60 0000 C CNN @@ -447,10 +448,10 @@ F 5 "https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=3520 1 0 0 -1 $EndComp $Comp -L GND #PWR0170 +L GND #PWR0173 U 1 1 55760550 P 5365 4300 -F 0 "#PWR0170" H 5365 4050 60 0001 C CNN +F 0 "#PWR0173" H 5365 4050 60 0001 C CNN F 1 "GND" H 5365 4150 60 0000 C CNN F 2 "" H 5365 4300 60 0000 C CNN F 3 "" H 5365 4300 60 0000 C CNN @@ -497,10 +498,10 @@ F 3 "" H 4165 4020 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L GND #PWR0171 +L GND #PWR0174 U 1 1 5576056E P 4165 4300 -F 0 "#PWR0171" H 4165 4050 60 0001 C CNN +F 0 "#PWR0174" H 4165 4050 60 0001 C CNN F 1 "GND" H 4165 4150 60 0000 C CNN F 2 "" H 4165 4300 60 0000 C CNN F 3 "" H 4165 4300 60 0000 C CNN @@ -522,10 +523,10 @@ Wire Wire Line 4165 3545 4165 3920 Connection ~ 4165 3545 $Comp -L GND #PWR0172 +L GND #PWR0175 U 1 1 55761997 P 5340 6525 -F 0 "#PWR0172" H 5340 6275 60 0001 C CNN +F 0 "#PWR0175" H 5340 6275 60 0001 C CNN F 1 "GND" H 5340 6375 60 0000 C CNN F 2 "" H 5340 6525 60 0000 C CNN F 3 "" H 5340 6525 60 0000 C CNN @@ -575,10 +576,10 @@ F 3 "" H 4140 6245 60 0000 C CNN 0 1 1 0 $EndComp $Comp -L GND #PWR0173 +L GND #PWR0176 U 1 1 55761CA4 P 4140 6525 -F 0 "#PWR0173" H 4140 6275 60 0001 C CNN +F 0 "#PWR0176" H 4140 6275 60 0001 C CNN F 1 "GND" H 4140 6375 60 0000 C CNN F 2 "" H 4140 6525 60 0000 C CNN F 3 "" H 4140 6525 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch b/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch index 79fa1f39a..0c0d302c2 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Stiftleisten.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -388,108 +389,96 @@ Abgriff 5V, 3V, GND $Comp L GND #PWR090 U 1 1 55401F1D -P 7385 1680 -F 0 "#PWR090" H 7385 1430 60 0001 C CNN -F 1 "GND" H 7385 1515 60 0000 C CNN -F 2 "" H 7385 1680 60 0000 C CNN -F 3 "" H 7385 1680 60 0000 C CNN - 1 7385 1680 +P 7145 2320 +F 0 "#PWR090" H 7145 2070 60 0001 C CNN +F 1 "GND" H 7145 2155 60 0000 C CNN +F 2 "" H 7145 2320 60 0000 C CNN +F 3 "" H 7145 2320 60 0000 C CNN + 1 7145 2320 -1 0 0 -1 $EndComp $Comp L GND #PWR091 U 1 1 55403610 -P 8425 875 -F 0 "#PWR091" H 8425 625 60 0001 C CNN -F 1 "GND" V 8425 650 60 0000 C CNN -F 2 "" H 8425 875 60 0000 C CNN -F 3 "" H 8425 875 60 0000 C CNN - 1 8425 875 - 0 -1 -1 0 +P 10590 990 +F 0 "#PWR091" H 10590 740 60 0001 C CNN +F 1 "GND" V 10590 765 60 0000 C CNN +F 2 "" H 10590 990 60 0000 C CNN +F 3 "" H 10590 990 60 0000 C CNN + 1 10590 990 + 0 1 -1 0 $EndComp -Text GLabel 8430 975 2 39 Output ~ 0 -LedPin-3V -Text GLabel 8430 1075 2 39 Output ~ 0 -LedPin-24v -Text GLabel 8430 1175 2 39 Output ~ 0 -LedPin-5v -Text GLabel 8430 1275 2 39 Output ~ 0 +Text GLabel 9670 1390 0 39 Input ~ 0 StationLed -Text GLabel 8430 1375 2 39 Output ~ 0 +Text GLabel 8095 1490 0 39 Input ~ 0 DuoLED_Grün -Text GLabel 8430 1475 2 39 Output ~ 0 +Text GLabel 8095 1590 0 39 Input ~ 0 DuoLED-Rot -Text GLabel 8430 1575 2 39 Output ~ 0 +Text GLabel 8090 1690 0 39 Input ~ 0 Led-Status $Comp L R R1 U 1 1 55406FDF -P 8260 2215 -F 0 "R1" V 8340 2215 40 0000 C CNN -F 1 "220" V 8267 2216 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM15mm" V 8190 2215 30 0001 C CNN -F 3 "" H 8260 2215 30 0000 C CNN -F 4 "Value" H 8260 2215 60 0001 C CNN "Bestellnummer" - 1 8260 2215 +P 9980 1290 +F 0 "R1" V 9955 1520 40 0000 C CNN +F 1 "220" V 9987 1291 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM15mm" V 9910 1290 30 0001 C CNN +F 3 "" H 9980 1290 30 0000 C CNN +F 4 "Value" H 9980 1290 60 0001 C CNN "Bestellnummer" + 1 9980 1290 0 -1 1 0 $EndComp -Text GLabel 7840 2215 0 39 Input ~ 0 +Text GLabel 9670 1290 0 39 Input ~ 0 Power5 -Text GLabel 8675 2215 2 39 Output ~ 0 -LedPin-5v $Comp L +24V #PWR092 U 1 1 5540858D -P 7835 2500 -F 0 "#PWR092" H 7835 2350 60 0001 C CNN -F 1 "+24V" V 7835 2750 60 0000 C CNN -F 2 "" H 7835 2500 60 0000 C CNN -F 3 "" H 7835 2500 60 0000 C CNN - 1 7835 2500 +P 9705 1190 +F 0 "#PWR092" H 9705 1040 60 0001 C CNN +F 1 "+24V" V 9705 1440 60 0000 C CNN +F 2 "" H 9705 1190 60 0000 C CNN +F 3 "" H 9705 1190 60 0000 C CNN + 1 9705 1190 0 -1 -1 0 $EndComp $Comp L R R2 U 1 1 55408729 -P 8255 2500 -F 0 "R2" V 8335 2500 40 0000 C CNN -F 1 "1K5" V 8262 2501 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 8185 2500 30 0001 C CNN -F 3 "" H 8255 2500 30 0000 C CNN -F 4 "Value" H 8255 2500 60 0001 C CNN "Bestellnummer" - 1 8255 2500 +P 10400 1190 +F 0 "R2" V 10375 1420 40 0000 C CNN +F 1 "1K5" V 10407 1191 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM10mm" V 10330 1190 30 0001 C CNN +F 3 "" H 10400 1190 30 0000 C CNN +F 4 "Value" H 10400 1190 60 0001 C CNN "Bestellnummer" + 1 10400 1190 0 -1 1 0 $EndComp -Text GLabel 8670 2500 2 39 Output ~ 0 -LedPin-24v $Comp L R R23 U 1 1 55409786 -P 8260 2730 -F 0 "R23" V 8340 2730 40 0000 C CNN -F 1 "100" V 8267 2731 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 8190 2730 30 0001 C CNN -F 3 "" H 8260 2730 30 0000 C CNN -F 4 "Value" H 8260 2730 60 0001 C CNN "Bestellnummer" - 1 8260 2730 +P 9985 1090 +F 0 "R23" V 9955 1300 40 0000 C CNN +F 1 "100" V 9992 1091 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM10mm" V 9915 1090 30 0001 C CNN +F 3 "" H 9985 1090 30 0000 C CNN +F 4 "Value" H 9985 1090 60 0001 C CNN "Bestellnummer" + 1 9985 1090 0 -1 1 0 $EndComp -Text GLabel 8675 2730 2 39 Output ~ 0 -LedPin-3V $Comp L +3.3V #PWR093 U 1 1 55409ED6 -P 7840 2730 -F 0 "#PWR093" H 7840 2690 30 0001 C CNN -F 1 "+3.3V" V 7840 2910 30 0000 C CNN -F 2 "" H 7840 2730 60 0000 C CNN -F 3 "" H 7840 2730 60 0000 C CNN - 1 7840 2730 +P 9655 1090 +F 0 "#PWR093" H 9655 1050 30 0001 C CNN +F 1 "+3.3V" V 9655 1270 30 0000 C CNN +F 2 "" H 9655 1090 60 0000 C CNN +F 3 "" H 9655 1090 60 0000 C CNN + 1 9655 1090 0 -1 -1 0 $EndComp -Text Notes 4135 2530 0 39 ~ 0 +Text Notes 630 6155 0 39 ~ 0 LED Rechner:\nhttp://www.elektronik-kompendium.de/sites/bau/1109111.htm\n\nZ-Dioden Rechner:\nhttp://www.dieelektronikerseite.de/Tools/Zenerdiode.htm -Text Notes 4110 4200 0 39 ~ 0 +Text Notes 625 7720 0 39 ~ 0 LED Anzeigen - Hardware:\n\nLed 3V grün - Betriebsanzeige Versorgungsspannung\nLED 24V grün - Betriebsanzeige Versorgungsspannung R2 für 12 V anpassen\nLED 5V grün - Betriebsanzeige Versorgungsspannung\nLED Station - gelb - Statusanzeige ob Mover in Ladestation\n\n----------------------------------------------------------\n\nLED Anzeigen - Software:\n\nDual LED z.B:\nDual LED grün. Dauerlicht - Mover innerhalb Perimeter\nDual LED grün+rot = Orange - Dauerlicht Mover außerhalb Perimeter\nDual LED grün+rot = Orange - Blinkt Mover findet Perimeter nicht oder sucht danach\nDual LED rot = Blinkt Fehler kurzseitig Überlast Antriebmotor Treibe oder Mähmotor. \nDual LED rot - Dauerlicht - Fehler muß für weiterfahren durch drücken \nvon Button zurückgesetzt werden\n----------------------------------------------------------\n\nLED Status - grün Dauerlicht - warte auf Eingabe\n\nLED Status - grün blinken 1 bis 5 mal hintereinander\nmit länger Pause dazwischen für Anzeige in welchen\nBetriebsmodi sich der Mover befindet $Comp L +5V #PWR094 @@ -527,6 +516,1413 @@ F 4 "Value" H 1010 5120 60 0001 C CNN "Bestellnummer" $EndComp Text GLabel 1490 5220 2 39 Output ~ 0 Reset +$Comp +L R R41 +U 1 1 5566DACB +P 2220 1950 +F 0 "R41" V 2270 2195 40 0000 C CNN +F 1 "4,7K" V 2227 1951 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM10mm" V 2150 1950 30 0001 C CNN +F 3 "" H 2220 1950 30 0000 C CNN + 1 2220 1950 + 0 -1 -1 0 +$EndComp +Text GLabel 8090 1790 0 39 Input ~ 0 +Led-BT +Text GLabel 8090 1890 0 39 Input ~ 0 +Led-Wlan +$Comp +L CONN_01X11 P7 +U 1 1 557F69AD +P 10915 1490 +F 0 "P7" H 10915 2090 50 0000 C CNN +F 1 "Status LEDs" V 11015 1490 50 0000 C CNN +F 2 "" H 10915 1490 60 0000 C CNN +F 3 "" H 10915 1490 60 0000 C CNN + 1 10915 1490 + 1 0 0 -1 +$EndComp +$Comp +L CONN_01X11 P38 +U 1 1 557F6DAC +P 6835 1755 +F 0 "P38" H 6835 2355 50 0000 C CNN +F 1 "Status LEDs GND" V 6935 1755 50 0000 C CNN +F 2 "" H 6835 1755 60 0000 C CNN +F 3 "" H 6835 1755 60 0000 C CNN + 1 6835 1755 + -1 0 0 -1 +$EndComp +Text Notes 7210 685 0 60 ~ 0 +P7 und P38 (evl2) mal so anorden das vom Abstand\nher eine Led Leiste eingelötet werden kann.\n +Text Notes 7305 220 0 60 ~ 0 +bei den LEd müssen noch die Vorwiderstände bzw Transistoren eingebaut werden +Text GLabel 8090 1990 0 39 Input ~ 0 +Led-Laderelais +$Bitmap +Pos 13330 3330 +Scale 2,000000 +Data +89 50 4E 47 0D 0A 1A 0A 00 00 00 0D 49 48 44 52 00 00 01 22 00 00 01 3B 08 02 00 00 00 F6 05 1B +B2 00 00 00 03 73 42 49 54 08 08 08 DB E1 4F E0 00 00 00 09 70 48 59 73 00 00 0E 74 00 00 0E 74 +01 6B 24 B3 D6 00 00 20 00 49 44 41 54 78 9C EC 7D 79 B8 55 55 F9 FF 5A 7B 3C 67 9F E9 DE CB 64 +1A 4E 89 43 8A 86 88 95 99 98 04 88 96 B3 7C CD CC 29 27 AC FC 59 99 5F 23 27 52 01 19 4D 53 9C +00 A5 08 15 87 C2 04 34 95 FC EA 53 E2 50 82 1A 46 60 92 03 22 DC E9 4C 7B DE EB F7 C7 87 F5 B6 +BD DC 7B F0 5E CF 85 7B AE F7 7D 7C 7C 0E E7 EE B3 F7 DA 6B AD 77 BD D3 E7 7D 5F 2E 84 60 7D D4 +47 7D D4 9D A4 EC EC 01 F4 51 1F F5 7E EA 63 B3 3E EA A3 6E A7 3E 36 EB A3 3E EA 76 EA 63 B3 3E +EA A3 6E A7 3E 36 EB A3 3E EA 76 EA 63 B3 3E EA A3 6E A7 3E 36 EB A3 3E EA 76 EA 34 9B F9 BE CF +18 0B C3 10 FF 14 42 B8 AE 1B BF 20 0C 43 8A C5 05 41 10 45 11 3E E0 27 42 08 C7 71 84 24 C6 98 +E3 38 B8 27 BE 67 8C B9 AE EB 79 1E 2E 66 8C E1 0E B8 33 3D AB 5C 2E 6F FD 53 24 A2 20 64 91 60 +82 05 9E 1F 78 3E 13 8C 09 26 C2 28 0A 42 7C 08 FD 80 45 42 84 91 08 23 DC 16 4F EC 68 D8 6D DE +D1 F7 7D FC 09 1F F0 39 FE 7F C7 71 18 63 B6 6D E3 4D F1 5B 7C C0 E0 E9 57 8C 31 BC 1A 5D 19 A7 +28 8A 84 10 F4 DC 28 8A C2 30 A4 D7 17 42 44 51 44 FF A4 2F 83 20 A8 10 FC C4 3D F1 2C FA 80 9F +C4 1F 14 1F 12 1E 14 FF 39 86 4D 03 C6 07 AC 05 CD 73 E8 07 4C B0 72 B1 44 9F B7 2E 8D 60 98 7C +FA CC 22 E1 BB 1E AE F9 EF 97 82 D1 3F 3D C7 6D F3 F3 FF 5E 1C 09 AC 29 16 7A EB 9A CA 0F 51 10 +C6 D7 8B 7D 7C 07 C6 A7 0E 4B 4C EF 4B 2F DB 66 33 57 8B 3A CD 66 8A A2 60 79 B0 03 C2 30 34 4D +13 7F F2 7D 3F 8A 22 55 55 39 E7 78 2B 4D D3 14 45 F1 3C 4F D3 34 5C 23 84 48 24 12 9C 73 C6 18 +E7 BC 5C 2E E3 9F AE EB D2 F7 A6 69 EA BA EE 38 4E 9B 2D A5 AA AA 69 9A 60 54 CB B2 CA E5 B2 A2 +28 AE EB 2A AA CA 38 77 6C 5B D3 34 4D D7 C3 20 08 83 80 2B 0A 63 AC 5C 2A 45 51 A4 6A 1A EE C6 +15 25 0C 43 C7 71 74 5D C7 66 22 AE C0 B0 8B C5 22 63 4C D7 75 BC 88 EB BA 74 22 D8 B6 CD 39 E7 +9C 63 85 88 7F 18 63 89 44 C2 75 DD 64 32 19 86 A1 A6 69 58 2A 4D D3 3C CF A3 E9 C2 83 6C DB 36 +0C 03 73 A5 69 5A 3E 9F 8F 1F 22 8A A2 E0 35 6D DB C6 3F 55 55 55 14 25 CE A5 8A A2 60 1B 61 FE +39 E7 9A A6 B5 99 A8 36 EB C5 39 C7 2A 08 21 B0 10 F4 25 8E 03 70 1D D6 0B F7 E4 9C 83 A5 E9 B3 +61 18 AA AA E2 30 D2 34 CD F7 7D D3 34 31 A5 51 14 31 21 54 4D B3 CB 65 2B 95 72 6C 5B D5 34 26 +04 E3 9C 73 EE D8 36 06 CF 39 C7 97 51 14 E9 86 A1 6A 9A 63 DB 18 64 B9 5C 0E 83 80 31 A6 A8 6A +B9 54 32 4C 53 44 11 E3 5C 51 55 CF 75 19 E7 42 08 DF F3 B0 D0 F8 89 A6 EB 81 EF 73 45 F1 7D DF +73 5D 8C 5F 51 55 3C 08 3B CA 71 1C 4D D3 68 CC 58 3B 9C 86 8A A2 94 CB 65 CC 06 D6 2B 8A 22 45 +51 B0 04 55 67 36 DE 05 14 88 EF FB BA AE E3 33 06 E7 BA 2E 31 1B 76 00 5E C0 F7 7D BC 4F 26 93 +C1 51 8A 7D E3 79 1E 76 1B F6 07 DE 8D F6 B1 AA AA F4 F3 20 08 92 C9 24 E4 4F 14 45 A6 69 62 D5 +C3 30 C4 18 A2 20 C4 DA 58 A9 54 E0 FB BE EF 1B 86 A1 6A 5A A9 58 4C A5 D3 8C 31 21 CF E3 20 08 +0C D3 0C A3 50 55 D5 52 A9 64 18 06 9E 82 25 D1 75 1D F7 84 B4 31 0C 23 08 02 3A 1D F0 CA 38 DA +B1 47 31 78 70 23 DD 04 3B 4F 51 14 6C 50 3C 94 E6 0A 6F 8D 97 02 67 26 12 09 21 04 FD D6 F3 3C +55 55 71 C3 20 08 C0 60 B8 21 BE C4 1C 82 B5 70 01 8D 19 F3 B9 2D 61 CC F8 39 5E C4 F7 7D CB B2 +70 37 2E 77 6D 9B 65 A5 3F D1 07 DF F7 55 55 2D 97 CB E9 74 DA B6 6D 4D D3 74 5D 77 5D D7 34 CC +30 08 54 4D F3 5C D7 30 4D CF 75 15 45 C1 59 63 26 12 8C 31 DF F3 F4 F8 D8 84 80 D0 E0 9C 27 92 +49 FC 2A 0A 43 BC AC EF FB 86 69 82 F5 E9 B0 C3 26 51 35 CD F7 3C 1C 04 AA A6 61 65 71 4B 1C A9 +B8 B3 A2 A9 8E E3 24 12 09 CC 49 B9 5C 4E 26 93 F1 05 A2 97 8A AF 2F ED 64 9C BC 1D 4D 66 97 A9 +D3 6C 86 1D 89 49 C1 5C D0 4A D0 8A E2 9B F8 CB 80 31 C0 63 8C 31 7C 89 8D A2 28 0A 4E 7A 3A 4B +98 14 2F 8C B1 52 A9 94 4A A5 68 07 60 06 6D DB C6 DC 31 C6 98 60 BE E7 29 8A 82 65 D0 75 1D 92 +2D 91 4C DA E5 B2 69 9A 98 3B 9C 73 BE E7 E9 A6 51 28 14 32 99 0C 93 5B 07 A7 38 93 6C 80 B1 41 +98 60 EA F1 22 8E E3 24 93 49 48 21 08 34 2C 06 86 14 86 21 E4 03 AD 16 A6 A2 CD D2 E2 FF 74 36 +61 26 31 1E FC 09 E2 45 D3 34 62 0C 22 52 A1 89 0F 35 4D A3 55 A8 B0 64 D8 A6 38 C2 DA 4C 2F 63 +2C 9F CF A7 52 29 8C 99 BE 24 5D 11 2F 15 FF 09 BD 5A 3E 9F CF 66 B3 BE EB E9 86 01 6E 61 52 A4 +14 0B 85 74 26 43 EB E2 B9 2E 8E 0F 21 04 57 14 B0 25 34 E9 AD 43 E2 9C 7E CB 84 70 5D D7 30 0C +BA 32 0A 43 7C 0F 01 AE 1B 86 EB 38 9C 73 C3 34 ED 72 39 69 59 AE E3 98 89 84 88 22 AE 28 B6 63 +27 93 C9 72 B9 8C A3 84 E6 0D 47 3F CE 7D DF F7 13 89 04 D6 4E D3 34 6C 45 9C 7A 8C B1 F8 AA 55 +8B BA 22 CD 98 DC 34 F7 DD 77 DF FD F7 DF 9F 48 24 6E BC F1 C6 A1 43 87 E2 18 F3 3C 6F C1 82 05 +0B 17 2E 4C 26 93 27 9F 7C F2 F7 BF FF FD 20 08 16 2C 58 F0 87 3F FC C1 F7 7D D7 75 71 10 32 C6 +D2 E9 F4 B1 C7 1E 7B FE F9 E7 FB BE 8F 13 DA B6 ED EB AF BF 7E F5 EA D5 9C F3 3B EE B8 E3 73 9F +FB 9C 69 9A 78 E7 3B EF BC F3 A1 87 1E E2 9C 4F 9B 36 6D F8 F0 E1 98 AF 3F FF F9 CF 8F 2C 7E 78 +FD FA F5 9B 36 6D 1A 3A 74 E8 91 47 1E 79 F1 25 97 84 41 00 D6 D5 0D 63 DE DC B9 0F 3E F8 60 4B +4B 4B BF 7E FD 4E 3E F9 E4 0B 2F BA 88 C9 E3 BB 5C 2E 47 51 F4 EB 5F FF 7A C5 8A 15 1F 7D F4 D1 +A0 41 83 46 8F 1E 7D E9 A5 97 62 7E 89 E1 21 81 8F 3B EE B8 15 2B 56 DC 78 E3 8D 57 5C 71 05 93 +07 BF E7 79 51 14 25 12 89 CD 9B 37 9F 7F FE F9 8C 31 CF F3 6E B9 E5 96 DD 76 DB 2D 9D 4E 13 CB +41 FE 10 6D 3D B3 0D 63 F5 EA D5 75 75 75 FD FB F7 37 4D 53 55 D5 63 8E 39 46 D7 F5 D3 4E 3B ED +C2 0B 2F C4 73 21 D8 69 18 F4 CF 28 8A 3C CF 03 8B 12 D3 76 B4 52 6D 14 0D C6 98 6D DB 0B 16 2C +F8 FD EF 7F 1F 04 C1 F4 E9 D3 87 0D 1B 46 C7 DC DC B9 73 1F 79 E4 91 28 8A C6 8F 1F 7F C1 05 17 +30 C6 EE BD F7 DE 87 1E 7A 08 27 20 A4 90 AE EB FD FA F5 3B FA E8 A3 2F BC F0 42 45 51 70 CC D1 +54 7B 9E 77 C1 05 17 7C F7 AC B3 44 14 61 6C AF BF FE FA 75 D7 5D E7 79 DE 77 BE F3 9D EF 7C E7 +3B 61 18 9A 89 C4 93 CB 97 3F F6 D8 63 EF BE FB EE A6 4D 9B 86 0C 19 72 CC 31 C7 E0 AD C1 6F 42 +88 BB EE BA EB B7 BF FD AD EB BA BB EC B2 CB F1 C7 1F 7F C9 84 09 24 15 8B 85 02 E7 7C EE DC B9 +4B 97 2E DD B8 71 E3 E0 C1 83 8F 3A EA A8 F3 CF 3F BF FF 80 01 E5 52 C9 4A A7 70 F0 41 6E 07 41 +30 74 E8 D0 4D 9B 36 4D 9D 3A 75 C2 84 09 34 15 98 C0 A6 A6 A6 EF 7D EF 7B B6 6D 67 B3 D9 9B 6E +BA 69 FF FD F7 87 C6 4E 2C 5A 35 12 9D 24 18 06 9E E7 79 9E 77 C3 0D 37 24 93 49 CB B2 9E 7A EA +29 7C 09 25 67 FA F4 E9 A6 69 A6 D3 E9 C9 93 27 E3 57 93 27 4F C6 B1 91 48 24 B2 D9 2C 14 FD 5C +2E C7 39 3F F4 D0 43 37 6D DA 44 A6 FC 37 BE F1 8D BA BA 3A CB B2 46 8D 1A 05 AD 1A 66 D5 F4 E9 +D3 13 89 44 22 91 78 F2 C9 27 F1 94 DB 6F BF DD 34 4D 4D 51 13 86 99 49 A5 0D 4D 4F 18 E6 0F 2F +FD 81 EF 7A 22 12 51 10 5E 72 D1 C5 F8 52 57 B5 BA 6C 8E 33 F6 83 09 97 C2 94 77 1C C7 B6 ED 11 +23 46 A4 52 29 CB B2 30 FB D9 6C F6 A0 83 0E DA B4 69 13 0E EC 62 B1 88 01 DC 75 D7 5D BA AE 5B +96 35 69 D2 24 E8 AE 64 1A 41 C7 C0 05 C9 64 52 D3 B4 8B 2E BA 88 E6 0A 13 42 17 BB AE 0B 63 AF +B1 B1 F1 8A 2B AE 88 CF 1B 34 D5 5C 2E 87 19 A3 47 60 B4 91 24 FC A9 5C 2E D3 FD F1 08 7A D0 B6 +84 5F F9 BE 8F BB E1 CB 19 33 66 28 8A 62 59 D6 B2 65 CB 5C 69 D8 44 51 84 EF D3 E9 F4 94 29 53 +60 B3 4D 99 32 05 47 86 61 18 98 04 D3 34 61 3C 1F 7A E8 A1 4D 4D 4D AE ED 88 48 F8 AE 77 E3 2F +6F A8 CB E6 52 49 6B 97 81 83 9A 1B 9B 44 24 B0 0A 2B 9E 79 D6 4A 24 4D DD B8 E9 86 1B 45 24 44 +18 CD BB 77 AE A9 1B 09 63 EB DA 99 BA 91 4A 5A 17 5D 70 A1 88 84 E7 B8 A1 1F 5C 7A C9 84 A4 99 +48 5B A9 B4 95 32 75 C3 D4 8D EF 9F 77 7E 14 84 78 56 6B 73 CB A1 5F 1A 66 EA 86 AE 6A 99 54 5A +61 DC 4A 24 87 0F 3B 74 E3 FB 1F 88 48 90 77 07 6F 7A D5 55 57 99 A6 69 59 D6 94 29 53 B0 97 60 +F7 C2 27 77 FF FD F7 EB BA 6E 9A A6 61 18 13 26 4C C0 54 54 98 CC 2E 53 A7 5D 20 38 50 55 55 C5 +C6 F2 3C CF B6 6D A8 D1 50 BD 84 94 D1 38 30 84 74 12 08 21 4C D3 3C FB EC B3 AF BB EE BA 49 93 +26 5D 74 D1 45 D9 6C 36 99 4C BE F9 E6 9B 27 9D 74 92 90 FA 83 A6 69 C5 62 31 08 82 17 5E 78 E1 +D1 47 1F 15 42 18 86 01 E3 15 A2 00 93 55 2A 95 AE BD F6 DA 28 8A 1A 1A 1A 6E BC F1 C6 5B 6E B9 +65 D7 5D 77 15 42 CC 9B 37 EF 1F FF F8 07 63 6C EE DC B9 BF F9 CD 6F A2 28 3A F5 D4 53 17 2D 5A +34 7C F8 F0 74 2A 3D 6F DE BC 3B EF BC 13 FA CF AC 59 B3 FE F6 B7 BF B9 AE 7B CE 39 E7 3C FA E8 +A3 57 5F 7D 75 3E 9F DF B0 61 C3 82 05 0B 84 10 B6 6D A7 52 29 C6 D8 B4 69 D3 26 4C 98 00 4D A3 +A1 A1 41 55 55 F8 15 21 40 30 E6 DF FF FE F7 50 3E 0D C3 58 B4 68 51 73 73 B3 10 82 14 63 26 5D +0E 50 32 C3 30 5C B0 60 C1 9C 39 73 20 A0 A2 28 D2 75 5D 55 55 18 12 90 F3 F8 B9 A2 28 24 B2 C8 +FB C2 39 C7 A1 50 2A 95 74 5D C7 00 B6 D5 30 E3 44 C6 3D 74 0D 1C 5B B8 09 CC 60 21 F5 43 21 04 +8C 46 35 46 D0 A6 CE 3D F7 DC 9B 6E BA E9 C6 1B 6F 3C FB EC B3 77 D9 65 17 55 55 DF 7A EB AD 51 +A3 46 E9 BA EE 3A 8E A6 EB 50 D5 5C D7 6D 6A 6A 9A 36 6D 1A 93 2A 6E B9 5C 86 EA A1 EB BA 88 A2 +72 B9 FC 83 1F FC C0 30 8C 44 22 31 7D FA F4 39 73 E6 EC B5 D7 5E 8E E3 DC 7B EF BD AB 57 AD D2 +34 6D DE BC 79 58 B8 B1 63 C7 2E 58 B0 60 D4 A8 51 96 65 3D F0 C0 03 D3 A6 4D 33 4C B3 90 CF DF +7B EF BD 6F BD F5 96 10 E2 92 4B 2E F9 DD EF 7E F7 BF FF FB BF 42 88 D5 AB 57 DF 7F FF FD 4C 08 +55 55 C9 AC 7D F2 C9 27 67 CE 9C 49 9E D8 20 08 4C D3 C4 56 54 55 D5 F3 BC 45 8B 16 61 02 75 5D +FF DD EF 7E E7 38 4E B1 58 AC AC 81 77 91 BA C6 9D 38 9B A7 4E 9D 6A 9A 66 32 99 5C BE 7C 39 4E +4D EC 8F 59 B3 66 E1 C0 9B 31 63 06 BE 81 2C D2 75 FD A9 A7 9E C2 6B 0B 21 36 6F DE 7C F8 E1 87 +43 65 9A 3B 77 2E 6E 7B FC F1 C7 E3 CA 64 32 39 78 F0 60 12 29 D3 A7 4F D7 75 3D 91 48 3C F3 CC +33 61 18 2E 5A B4 28 95 4A 69 9A 76 CF 5D 77 07 9E 2F 22 F1 D0 03 0F E2 8C 9C 7C E3 4D 22 8C C6 +8E 1E A3 AB DA 3E 7B 7F 01 67 6A D3 96 C6 01 FD FA 9B BA 01 6E 14 42 DC 70 C3 0D 0D 0D 0D BA AE +93 9F 6D BF FD F6 53 14 E5 D8 63 8F C5 05 4B 97 2E 1D 3E 7C 78 22 91 48 A5 52 78 F4 94 29 53 10 +75 20 31 52 2E 97 DF 79 E7 9D 4C 26 A3 69 DA 3E FB EC 63 18 86 69 9A 73 E7 CE 75 5D 97 0E 54 7C +06 09 21 C2 30 BC F1 C6 1B 2D CB D2 75 7D D9 B2 65 F4 74 D3 34 33 99 CC D4 A9 53 A3 28 6A 69 69 +79 F2 C9 27 D7 AF 5F 8F BF 42 16 D1 E4 87 61 B8 61 C3 86 A7 9F 7E 1A 47 32 CD 7C 05 42 2C 84 C6 +33 7B F6 6C C3 30 0C C3 58 B6 6C 99 90 12 4F 84 D1 F4 E9 D3 93 C9 24 E7 7C C6 8C 19 24 DF 38 E7 +C9 64 12 4A 04 74 99 96 96 96 61 C3 86 25 93 49 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Line 1345 4740 1800 4740 -$Comp -L R R41 -U 1 1 5566DACB -P 2220 1950 -F 0 "R41" V 2270 2195 40 0000 C CNN -F 1 "4,7K" V 2227 1951 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 2150 1950 30 0001 C CNN -F 3 "" H 2220 1950 30 0000 C CNN - 1 2220 1950 - 0 -1 -1 0 -$EndComp Wire Wire Line 1970 1950 1970 2055 Connection ~ 1970 2055 Wire Wire Line 2470 1950 2470 1855 Connection ~ 2470 1855 +Wire Wire Line + 7035 2055 7145 2055 +Connection ~ 7145 2055 +Wire Wire Line + 9760 1790 10715 1790 +Wire Wire Line + 7035 2155 7145 2155 +Connection ~ 7145 2155 +Wire Wire Line + 7035 2255 7145 2255 +Connection ~ 7145 2255 +Wire Wire Line + 10230 1890 10715 1890 +Wire Wire Line + 9760 1990 10715 1990 +Wire Wire Line + 9820 2650 9685 2650 +Wire Wire Line + 9820 2450 9685 2450 +Wire Wire Line + 8095 1490 8205 1490 +Wire Wire Line + 8095 1590 8205 1590 +Wire Wire Line + 8090 1690 8205 1690 +Wire Wire Line + 9205 1490 9730 1490 +Wire Wire Line + 9205 1590 9260 1590 +Wire Wire Line + 9205 1690 9730 1690 +Wire Wire Line + 9205 1790 9260 1790 +Wire Wire Line + 8090 1790 8205 1790 +Wire Wire Line + 8090 1890 8205 1890 +Wire Wire Line + 9205 1890 9730 1890 +Wire Wire Line + 8205 1990 8090 1990 +Wire Wire Line + 9205 1990 9260 1990 +Wire Wire Line + 9205 2290 9260 2290 +Wire Wire Line + 8205 2290 8075 2290 +NoConn ~ 8205 2090 +NoConn ~ 9205 2090 +Wire Wire Line + 8090 2190 8205 2190 +Wire Wire Line + 9685 2450 9685 2190 +Wire Wire Line + 9685 2190 9205 2190 $Comp -L CONN_01X09 P7 -U 1 1 556A48CF -P 8100 1275 -F 0 "P7" H 8100 1775 50 0000 C CNN -F 1 "Status LEDs" V 8200 1275 50 0000 C CNN -F 2 "ACS712:Pin_Header_Straight_1x09" H 8100 1275 60 0001 C CNN -F 3 "" H 8100 1275 60 0000 C CNN - 1 8100 1275 - -1 0 0 -1 -$EndComp -$Comp -L CONN_01X09 P38 -U 1 1 556A5011 -P 7075 1245 -F 0 "P38" H 7075 1745 50 0000 C CNN -F 1 "Status LEDs GND" V 7175 1245 50 0000 C CNN -F 2 "ACS712:Pin_Header_Straight_1x09" H 7075 1245 60 0001 C CNN -F 3 "" H 7075 1245 60 0000 C CNN - 1 7075 1245 - -1 0 0 -1 +L R R11 +U 1 1 5595BAAF +P 10400 1390 +F 0 "R11" V 10370 1605 40 0000 C CNN +F 1 "1K5" V 10407 1391 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM10mm" V 10330 1390 30 0001 C CNN +F 3 "" H 10400 1390 30 0000 C CNN +F 4 "220" H 10400 1390 60 0001 C CNN "Bestellnummer" + 1 10400 1390 + 0 -1 1 0 $EndComp Wire Wire Line - 7275 1645 7385 1645 -Connection ~ 7385 1645 -Text GLabel 8430 1675 2 39 Output ~ 0 -Led-BT + 10150 1390 9670 1390 +Wire Wire Line + 10230 1290 10715 1290 +Wire Wire Line + 10650 1190 10715 1190 Wire Wire Line - 8300 1675 8430 1675 + 10235 1090 10715 1090 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch b/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch index 70cc498c3..529dada8a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/UnterSpannungsSchutz.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -169,10 +170,10 @@ F 4 "Value" H 6745 5010 60 0001 C CNN "Bestellnummer" 1 0 0 1 $EndComp $Comp -L GND #PWR0174 +L GND #PWR0177 U 1 1 553A83F5 P 7520 5580 -F 0 "#PWR0174" H 7520 5330 60 0001 C CNN +F 0 "#PWR0177" H 7520 5330 60 0001 C CNN F 1 "GND" H 7520 5430 60 0000 C CNN F 2 "" H 7520 5580 60 0000 C CNN F 3 "" H 7520 5580 60 0000 C CNN @@ -271,10 +272,10 @@ F 4 "Value" H 7990 2000 60 0001 C CNN "Bestellnummer" 0 -1 -1 0 $EndComp $Comp -L GND #PWR0175 +L GND #PWR0178 U 1 1 553E5900 P 8090 2595 -F 0 "#PWR0175" H 8090 2345 60 0001 C CNN +F 0 "#PWR0178" H 8090 2345 60 0001 C CNN F 1 "GND" V 8090 2380 60 0000 C CNN F 2 "" H 8090 2595 60 0000 C CNN F 3 "" H 8090 2595 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch b/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch index 7217fabd9..9983e8ee7 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Verpols.B.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -51,10 +52,10 @@ Verpols.B.aus Text HLabel 4385 1835 0 60 Input ~ 0 Verpol.s.B.in $Comp -L GND #PWR0176 +L GND #PWR0179 U 1 1 553AAF15 P 5095 3155 -F 0 "#PWR0176" H 5095 2905 60 0001 C CNN +F 0 "#PWR0179" H 5095 2905 60 0001 C CNN F 1 "GND" H 5095 3005 60 0000 C CNN F 2 "" H 5095 3155 60 0000 C CNN F 3 "" H 5095 3155 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch b/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch index 1f10298f5..226b13dae 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/Verpols.L.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -50,10 +51,10 @@ Verpols.L.aus Text HLabel 4385 1835 0 60 Input ~ 0 Verpol.s.L.in $Comp -L GND #PWR0181 +L GND #PWR0182 U 1 1 553AC2ED P 5095 3155 -F 0 "#PWR0181" H 5095 2905 60 0001 C CNN +F 0 "#PWR0182" H 5095 2905 60 0001 C CNN F 1 "GND" H 5095 3005 60 0000 C CNN F 2 "" H 5095 3155 60 0000 C CNN F 3 "" H 5095 3155 60 0000 C CNN diff --git a/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/ARDUINO_MEGA_SHIELD_DUO_3D.kicad_mod b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/ARDUINO_MEGA_SHIELD_DUO_3D.kicad_mod index 60fe71c07..b2165f480 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/ARDUINO_MEGA_SHIELD_DUO_3D.kicad_mod +++ b/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty/ARDUINO_MEGA_SHIELD_DUO_3D.kicad_mod @@ -1,8 +1,8 @@ -(module ARDUINO_MEGA_SHIELD_DUO_3D (layer F.Cu) (tedit 54CA83C9) +(module ARDUINO_MEGA_SHIELD_DUO_3D locked (layer F.Cu) (tedit 54CA83C9) (fp_text reference SHIELD1 (at 70.612 -24.892) (layer F.SilkS) (effects (font (thickness 0.3048))) ) - (fp_text value ARDUINO_MEGA_SHIELD_DUO (at 69.596 -21.082) (layer F.SilkS) hide + (fp_text value ARDUINO_MEGA_SHIELD (at 69.596 -21.082) (layer F.SilkS) hide (effects (font (thickness 0.3048))) ) (fp_line (start 99.06 0) (end 0 0) (layer F.SilkS) (width 0.381)) @@ -109,4 +109,9 @@ (scale (xyz 1 1 1)) (rotate (xyz 0 0 0)) ) + (model Arduino_Shield_Modules_for_KiCad_V3/ArduinoMegaShield.wrl + (at (xyz 0 0 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) ) diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib index 7db07c042..736243ae0 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn-cache.lib @@ -279,20 +279,21 @@ X P8 8 -200 -350 150 R 50 50 1 1 P ENDDRAW ENDDEF # -# CONN_01X09 +# CONN_01X11 # -DEF CONN_01X09 P 0 40 Y N 1 F N -F0 "P" 0 500 50 H V C CNN -F1 "CONN_01X09" 100 0 50 V V C CNN +DEF CONN_01X11 P 0 40 Y N 1 F N +F0 "P" 0 600 50 H V C CNN +F1 "CONN_01X11" 100 0 50 V V C CNN F2 "" 0 0 60 H V C CNN F3 "" 0 0 60 H V C CNN $FPLIST - Pin_Header_Straight_1X09 - Pin_Header_Angled_1X09 - Socket_Strip_Straight_1X09 - Socket_Strip_Angled_1X09 + Pin_Header_Straight_1X11 + Pin_Header_Angled_1X11 + Socket_Strip_Straight_1X11 + Socket_Strip_Angled_1X11 $ENDFPLIST DRAW +S -50 -495 10 -505 0 1 0 N S -50 -395 10 -405 0 1 0 N S -50 -295 10 -305 0 1 0 N S -50 -195 10 -205 0 1 0 N @@ -302,16 +303,19 @@ S -50 105 10 95 0 1 0 N S -50 205 10 195 0 1 0 N S -50 305 10 295 0 1 0 N S -50 405 10 395 0 1 0 N -S -50 450 50 -450 0 1 0 N -X P1 1 -200 400 150 R 50 50 1 1 P -X P2 2 -200 300 150 R 50 50 1 1 P -X P3 3 -200 200 150 R 50 50 1 1 P -X P4 4 -200 100 150 R 50 50 1 1 P -X P5 5 -200 0 150 R 50 50 1 1 P -X P6 6 -200 -100 150 R 50 50 1 1 P -X P7 7 -200 -200 150 R 50 50 1 1 P -X P8 8 -200 -300 150 R 50 50 1 1 P -X P9 9 -200 -400 150 R 50 50 1 1 P +S -50 505 10 495 0 1 0 N +S -50 550 50 -550 0 1 0 N +X P1 1 -200 500 150 R 50 50 1 1 P +X P2 2 -200 400 150 R 50 50 1 1 P +X P3 3 -200 300 150 R 50 50 1 1 P +X P4 4 -200 200 150 R 50 50 1 1 P +X P5 5 -200 100 150 R 50 50 1 1 P +X P6 6 -200 0 150 R 50 50 1 1 P +X P7 7 -200 -100 150 R 50 50 1 1 P +X P8 8 -200 -200 150 R 50 50 1 1 P +X P9 9 -200 -300 150 R 50 50 1 1 P +X P10 10 -200 -400 150 R 50 50 1 1 P +X P11 11 -200 -500 150 R 50 50 1 1 P ENDDRAW ENDDEF # @@ -801,6 +805,39 @@ X 2 2 -300 -100 200 R 40 40 1 1 I ENDDRAW ENDDEF # +# UDN2981A +# +DEF UDN2981A IC 0 40 Y Y 1 L N +F0 "IC" -300 530 50 H V L BNN +F1 "UDN2981A" -300 -600 50 H V L BNN +F2 "uln-udn-DIL18" 0 150 50 H I C CNN +F3 "" 0 0 60 H V C CNN +DRAW +P 2 1 0 0 -300 500 -300 -500 N +P 2 1 0 0 -300 500 300 500 N +P 2 1 0 0 300 -500 -300 -500 N +P 2 1 0 0 300 -500 300 500 N +X I1 1 -500 400 200 R 40 40 1 1 I +X I2 2 -500 300 200 R 40 40 1 1 I +X I3 3 -500 200 200 R 40 40 1 1 I +X I4 4 -500 100 200 R 40 40 1 1 I +X I5 5 -500 0 200 R 40 40 1 1 I +X I6 6 -500 -100 200 R 40 40 1 1 I +X I7 7 -500 -200 200 R 40 40 1 1 I +X I8 8 -500 -300 200 R 40 40 1 1 I +X VS 9 -500 -400 200 R 40 40 1 1 P +X GND 10 500 -400 200 L 40 40 1 1 W +X O8 11 500 -300 200 L 40 40 1 1 C +X O7 12 500 -200 200 L 40 40 1 1 C +X O6 13 500 -100 200 L 40 40 1 1 C +X O5 14 500 0 200 L 40 40 1 1 C +X O4 15 500 100 200 L 40 40 1 1 C +X O3 16 500 200 200 L 40 40 1 1 C +X O2 17 500 300 200 L 40 40 1 1 C +X O1 18 500 400 200 L 40 40 1 1 C +ENDDRAW +ENDDEF +# # Wlan_ESP8266 # DEF Wlan_ESP8266 U 0 40 Y Y 1 F N diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb index b9cb14b5b..46cefec1f 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb @@ -6,7 +6,7 @@ (area 12.624999 30.404999 284.555001 144.855001) (thickness 1.6) (drawings 204) - (tracks 2837) + (tracks 2840) (zones 0) (modules 240) (nets 191) @@ -2222,6 +2222,11 @@ (scale (xyz 1 1 1)) (rotate (xyz 0 0 0)) ) + (model Arduino_Shield_Modules_for_KiCad_V3/ArduinoMegaShield.wrl + (at (xyz 0 0 0)) + (scale (xyz 1 1 1)) + (rotate (xyz 0 0 0)) + ) ) (module ACS712:Buzzer_12x9.5RM7.6_RM5.0 (layer F.Cu) (tedit 555BB995) (tstamp 5551459A) @@ -9188,2079 +9193,2084 @@ (effects (font (size 1 1) (thickness 0.25)) (justify left mirror)) ) - (segment (start 93.853 123.698) (end 92.964 122.809) (width 0.508) (layer F.Cu) (net 1)) - (segment (start 98.044 115.062) (end 92.964 115.062) (width 0.508) (layer B.Cu) (net 1)) - (segment (start 98.044 115.062) (end 103.124 115.062) (width 0.508) (layer B.Cu) (net 1) (tstamp 555452A8)) - (segment (start 103.124 115.062) (end 103.124 110.109) (width 0.508) (layer B.Cu) (net 1) (tstamp 555452A9)) - (segment (start 103.124 110.109) (end 108.839 104.394) (width 0.508) (layer B.Cu) (net 1) (tstamp 555452B0)) - (segment (start 108.839 104.394) (end 117.475 104.394) (width 0.508) (layer B.Cu) (net 1) (tstamp 555452B4)) - (segment (start 117.475 104.394) (end 118.1735 103.6955) (width 0.508) (layer B.Cu) (net 1) (tstamp 555452B9)) - (via (at 92.964 115.062) (size 0.889) (layers F.Cu B.Cu) (net 1)) - (segment (start 92.964 115.062) (end 92.964 122.936) (width 0.508) (layer F.Cu) (net 1) (tstamp 556A2D60)) - (segment (start 93.98 123.825) (end 93.98 127) (width 0.508) (layer B.Cu) (net 1) (tstamp 556A2D65)) - (segment (start 93.853 123.698) (end 93.98 123.825) (width 0.508) (layer B.Cu) (net 1) (tstamp 556A2D64)) - (via (at 93.853 123.698) (size 0.889) (layers F.Cu B.Cu) (net 1)) - (segment (start 114.3 129.54) (end 111.76 129.54) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 111.76 129.54) (end 109.22 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D45)) - (segment (start 109.22 129.54) (end 106.68 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D46)) - (segment (start 106.68 129.54) (end 104.14 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D47)) - (segment (start 104.14 129.54) (end 101.6 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D48)) - (segment (start 101.6 129.54) (end 99.06 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D49)) - (segment (start 99.06 129.54) (end 96.52 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D4A)) - (segment (start 96.52 129.54) (end 93.98 129.54) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D4B)) - (segment (start 93.98 129.54) (end 93.98 127) (width 1.27) (layer B.Cu) (net 1) (tstamp 556A2D4C)) - (segment (start 190.9445 49.0855) (end 191.77 48.26) (width 0.508) (layer B.Cu) (net 1)) - (segment (start 190.119 50.673) (end 190.119 49.911) (width 0.508) (layer B.Cu) (net 1)) - (segment (start 190.119 49.911) (end 190.9445 49.0855) (width 0.508) (layer B.Cu) (net 1) (tstamp 5566D7C5)) - (segment (start 214.035 111.379) (end 214.035 114.26) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 214.035 114.26) (end 213.995 114.3) (width 1.27) (layer B.Cu) (net 1) (tstamp 55605445)) - (segment (start 214.035 105.664) (end 214.035 108.545) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 214.035 108.545) (end 213.995 108.585) (width 1.27) (layer B.Cu) (net 1) (tstamp 55605306)) - (segment (start 214.035 108.545) (end 213.995 108.585) (width 1.27) (layer F.Cu) (net 1) (tstamp 55605223)) - (segment (start 213.995 102.87) (end 213.995 100.116) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 213.995 100.116) (end 214.035 100.076) (width 1.27) (layer B.Cu) (net 1) (tstamp 556050F8)) - (segment (start 214.035 83.439) (end 214.035 80.685) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 214.035 80.685) (end 213.995 80.645) (width 1.27) (layer B.Cu) (net 1) (tstamp 556050B4)) - (segment (start 214.035 78.105) (end 214.035 74.97) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 214.035 74.97) (end 213.995 74.93) (width 1.27) (layer B.Cu) (net 1) (tstamp 55604FB4)) - (segment (start 213.995 74.93) (end 213.995 74.422) (width 0.508) (layer F.Cu) (net 1)) - (segment (start 213.995 74.422) (end 215.138 73.279) (width 0.508) (layer F.Cu) (net 1) (tstamp 55604E98)) - (via (at 224.79 73.279) (size 0.889) (layers F.Cu B.Cu) (net 1)) - (segment (start 215.138 73.279) (end 224.79 73.279) (width 0.508) (layer F.Cu) (net 1) (tstamp 55604E99)) - (via (at 213.995 74.93) (size 0.889) (layers F.Cu B.Cu) (net 1)) - (segment (start 213.995 63.5) (end 213.995 66.127) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 213.995 66.127) (end 214.162 66.294) (width 1.27) (layer B.Cu) (net 1) (tstamp 55604DED)) - (segment (start 219.075 87.63) (end 214.122 87.63) (width 0.508) (layer F.Cu) (net 1)) - (via (at 214.122 87.63) (size 0.889) (layers F.Cu B.Cu) (net 1)) - (segment (start 214.122 97.028) (end 214.122 87.63) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 214.122 87.63) (end 214.122 80.772) (width 1.27) (layer B.Cu) (net 1) (tstamp 55604BEA)) - (segment (start 214.122 80.772) (end 213.995 80.645) (width 1.27) (layer B.Cu) (net 1) (tstamp 55604BC4)) - (segment (start 213.995 102.87) (end 213.995 97.155) (width 1.27) (layer B.Cu) (net 1)) - (segment (start 213.995 97.155) (end 214.122 97.028) (width 1.27) (layer B.Cu) (net 1) (tstamp 55604BB3)) - (segment (start 276.606 119.761) (end 279.2095 119.761) (width 2.358) (layer F.Cu) (net 1)) - (segment (start 279.2095 119.761) (end 279.908 120.4595) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8258)) - (segment (start 279.908 120.4595) (end 282.1305 120.4595) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8259)) - (segment (start 282.1305 120.4595) (end 282.448 120.777) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F825A)) - (segment (start 276.606 119.761) (end 276.606 119.8245) (width 2.358) (layer F.Cu) (net 1)) - (segment (start 279.9715 129.3495) (end 280.797 128.524) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8253)) - (segment (start 276.4155 129.3495) (end 279.9715 129.3495) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8252)) - (segment (start 273.8755 126.8095) (end 276.4155 129.3495) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8251)) - (segment (start 273.8755 122.555) (end 273.8755 126.8095) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8250)) - (segment (start 276.606 119.8245) (end 273.8755 122.555) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F824F)) - (segment (start 280.797 128.524) (end 281.813 128.524) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8254)) - (segment (start 281.813 128.524) (end 282.5115 127.8255) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F8255)) - (segment (start 278.5745 92.7735) (end 280.8605 92.7735) (width 2.358) (layer F.Cu) (net 1)) - (segment (start 280.8605 92.7735) (end 282.829 90.805) (width 2.358) (layer F.Cu) (net 1) (tstamp 555F824A)) - (segment (start 278.765 92.7735) (end 278.5745 92.7735) (width 2.358) (layer F.Cu) (net 1)) - (segment (start 278.5745 92.7735) (end 276.6695 92.7735) (width 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(via (at 167.386 98.425) (size 0.889) (layers F.Cu B.Cu) (net 190)) - (segment (start 170.434 100.584) (end 179.324 100.584) (width 0.508) (layer B.Cu) (net 190)) - (via (at 181.61 127) (size 0.889) (layers F.Cu B.Cu) (net 190)) - (segment (start 180.34 116.84) (end 180.34 117.983) (width 0.254) (layer F.Cu) (net 190)) - (segment (start 183.134 120.269) (end 183.134 125.476) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095AC)) - (segment (start 183.134 125.476) (end 181.61 127) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095B0)) - (segment (start 180.34 117.475) (end 183.134 120.269) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095A9)) + (segment (start 114.3 123.19) (end 114.3 127) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A3648)) + (via (at 114.3 123.19) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 110.49 119.38) (end 114.3 123.19) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A3634)) + (segment (start 100.965 119.38) (end 110.49 119.38) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A361D)) + (segment (start 100.965 112.395) (end 100.965 119.38) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A361C)) + (via (at 100.965 112.395) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 100.965 109.22) (end 100.965 112.395) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A3605)) + (segment (start 107.95 102.235) (end 100.965 109.22) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A3600)) + (segment (start 108.585 102.235) (end 107.95 102.235) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35FD)) + (segment (start 116.205 102.235) (end 108.585 102.235) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35FB)) + (segment (start 116.205 97.155) (end 116.205 102.235) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35F7)) + (segment (start 113.03 93.98) (end 116.205 97.155) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35F0)) + (segment (start 113.03 88.265) (end 113.03 93.98) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35EA)) + (segment (start 102.235 88.265) (end 113.03 88.265) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35E9)) + (via (at 102.235 88.265) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 102.235 76.835) (end 102.235 88.265) (width 0.508) (layer F.Cu) (net 189) (tstamp 556A35C9)) + (via (at 102.235 76.835) (size 0.889) (layers F.Cu B.Cu) (net 189)) + (segment (start 102.235 66.04) (end 102.235 76.835) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35BD)) + (segment (start 102.115 65.92) (end 102.235 66.04) (width 0.508) (layer B.Cu) (net 189) (tstamp 556A35BA)) (segment (start 180.34 116.84) (end 180.34 117.475) (width 0.254) (layer F.Cu) (net 190)) + (segment (start 180.34 117.475) (end 183.134 120.269) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095A9)) + (segment (start 183.134 125.476) (end 181.61 127) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095B0)) + (segment (start 183.134 120.269) (end 183.134 125.476) (width 0.254) (layer F.Cu) (net 190) (tstamp 556095AC)) + (segment (start 180.34 116.84) (end 180.34 117.983) (width 0.254) (layer F.Cu) (net 190)) + (via (at 181.61 127) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 170.434 100.584) (end 179.324 100.584) (width 0.508) (layer B.Cu) (net 190)) + (via (at 167.386 98.425) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 167.386 98.425) (end 163.068 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C7D)) + (segment (start 163.068 98.425) (end 161.417 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C7E)) + (segment (start 160.274 99.568) (end 161.417 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C7F)) + (via (at 170.434 98.425) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 170.434 100.584) (end 170.434 98.425) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C64)) + (via (at 170.434 100.584) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 170.434 98.425) (end 167.386 98.425) (width 0.508) (layer B.Cu) (net 190)) + (segment (start 179.324 100.584) (end 179.832 101.092) (width 0.508) (layer B.Cu) (net 190) (tstamp 555E4C94)) + (segment (start 160.274 99.568) (end 160.147 99.568) (width 0.508) (layer F.Cu) (net 190) (tstamp 555E4C80)) + (via (at 160.147 99.568) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 160.147 99.568) (end 158.877 99.568) (width 0.508) (layer B.Cu) (net 190) (tstamp 555E4C83)) + (via (at 158.877 99.568) (size 0.889) (layers F.Cu B.Cu) (net 190)) + (segment (start 180.34 117.221) (end 180.34 116.84) (width 0.254) (layer B.Cu) (net 190) (tstamp 54BEB628) (status 30)) + (segment (start 182.372 127) (end 186.69 127) (width 0.762) (layer B.Cu) (net 190) (tstamp 54CF50A0) (status 20)) + (segment (start 186.69 127) (end 191.77 127) (width 0.762) (layer B.Cu) (net 190) (tstamp 54BEB5CB) (status 20)) + (segment (start 180.34 114.554) (end 179.832 114.046) (width 0.508) (layer B.Cu) (net 190) (tstamp 54BFBC42)) + (segment (start 180.34 116.84) (end 180.34 114.554) (width 0.508) (layer B.Cu) (net 190) (status 10)) + (segment (start 179.832 114.046) (end 179.832 109.093) (width 0.508) (layer B.Cu) (net 190) (tstamp 54BFBC43)) + (segment (start 179.832 102.108) (end 179.832 101.854) (width 0.508) (layer B.Cu) (net 190) (tstamp 55187C6E)) + (segment (start 179.832 109.093) (end 179.832 102.108) (width 0.508) (layer B.Cu) (net 190) (tstamp 54C117FA)) + (via (at 180.34 116.84) (size 0.889) (layers F.Cu B.Cu) (net 190) (status 30)) + (segment (start 182.372 127) (end 181.61 127) (width 0.508) (layer B.Cu) (net 190) (status 30)) + (segment (start 191.77 127) (end 196.85 127) (width 0.762) (layer B.Cu) (net 190)) + (segment (start 179.832 101.092) (end 180.086 100.838) (width 0.508) (layer B.Cu) (net 190) (tstamp 55187C70)) + (segment (start 180.086 100.838) (end 183.007 100.838) (width 0.508) (layer B.Cu) (net 190) (tstamp 55187C71)) + (segment (start 179.832 102.108) (end 179.832 101.092) (width 0.508) (layer B.Cu) (net 190)) + (segment (start 181.507 100.838) (end 183.007 100.838) (width 0.508) (layer B.Cu) (net 190)) (zone (net 1) (net_name GND) (layer F.Cu) (tstamp 551BEE97) (hatch edge 0.508) (connect_pads (clearance 0.508)) diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak index ebd3c9b25..afbeecc29 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.kicad_pcb-bak @@ -1,14 +1,14 @@ (kicad_pcb (version 4) (host pcbnew "(2015-05-08 BZR 5647)-product") (general - (links 667) + (links 663) (no_connects 0) - (area 12.624999 30.404999 284.555001 144.855001) + (area 8.764572 19.515 305.939 177.895) (thickness 1.6) (drawings 204) - (tracks 2847) + (tracks 2840) (zones 0) - (modules 242) + (modules 240) (nets 191) ) @@ -299,8 +299,8 @@ (net 186 "Net-(U8-PadBat)") (net 187 SCL2) (net 188 "Net-(CC45-Pad1)") - (net 189 SDA2) - (net 190 Led-BT) + (net 189 Led-BT) + (net 190 SDA1) (net_class Default "Dies ist die voreingestellte Netzklasse." (clearance 0.254) @@ -443,7 +443,7 @@ (add_net ReservePin9) (add_net Reset) (add_net SCL2) - (add_net SDA2) + (add_net SDA1) (add_net StationLed) (add_net TX1) (add_net TX2) @@ -533,7 +533,7 @@ (fp_line (start 7.62 5.08) (end -7.62 5.08) (layer F.SilkS) (width 0.15)) (fp_line (start -7.62 5.08) (end -7.62 -5.08) (layer F.SilkS) (width 0.15)) (pad 3 thru_hole circle (at -6.35 1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad 2 thru_hole circle (at -6.35 -1.27) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad 1 thru_hole circle (at -6.35 -3.81) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask F.SilkS) @@ -1479,7 +1479,7 @@ (pad 1 thru_hole circle (at -7.5 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) (net 147 "Net-(R22-Pad1)")) (pad 2 thru_hole circle (at 7.5 0 270) (size 1.99898 1.99898) (drill 1.00076) (layers *.Cu *.SilkS *.Mask) - (net 190 Led-BT)) + (net 189 Led-BT)) (model Resistors_ThroughHole/Resistor_Horizontal_RM15mm.wrl (at (xyz 0 0 0)) (scale (xyz 0.4 0.4 0.4)) @@ -2054,7 +2054,7 @@ (pad 19 thru_hole oval (at 81.28 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 60 RX1)) (pad 20 thru_hole oval (at 83.82 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad 21 thru_hole oval (at 86.36 50.8 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) (net 187 SCL2)) (pad AD15 thru_hole oval (at 91.44 2.54 270) (size 2.54 1.524) (drill 0.8128) (layers *.Cu *.Mask B.SilkS) @@ -2337,7 +2337,7 @@ (fp_text reference RR1 (at -6.858 -2.54) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "(0,01uF) 100nF" (at -1.016 -2.54) (layer F.SilkS) hide + (fp_text value "(0,01uF) 10nF" (at -1.016 -2.54) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -8.89 -1.27) (end 11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -2380,7 +2380,7 @@ (fp_text reference RR2 (at 9.906 2.54 180) (layer F.SilkS) (effects (font (size 1 1) (thickness 0.15))) ) - (fp_text value "(0,01uF) 100nF" (at -1.016 -2.54 180) (layer F.SilkS) hide + (fp_text value "(0,01uF) 10nF" (at -1.016 -2.54 180) (layer F.SilkS) hide (effects (font (size 1 1) (thickness 0.15))) ) (fp_line (start -8.89 -1.27) (end 11.43 -1.27) (layer F.SilkS) (width 0.15)) @@ -3264,7 +3264,7 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -3686,7 +3686,7 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -3721,7 +3721,7 @@ (pad 2 thru_hole oval (at -2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad 3 thru_hole oval (at 0 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad 4 thru_hole oval (at 2.54 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad 5 thru_hole oval (at 5.08 0 90) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) @@ -6603,34 +6603,6 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560CFC1) (tstamp 5558B79A) - (at 142.1765 58.1025 180) - (descr "Capacitor 3mm Disc, Pitch 2.5mm") - (tags Capacitor) - (path /554BCB67/5558A3B2) - (fp_text reference CC5 (at 1.2065 -2.0955 180) (layer F.SilkS) - (effects (font (size 0.5 0.5) (thickness 0.125))) - ) - (fp_text value 100nF (at 1.25 2.5 180) (layer F.Fab) hide - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 180) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 53 pinBatteryVoltage)) - (pad 2 thru_hole circle (at 2.5 0 180) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl - (at (xyz 0.0492126 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D939) (tstamp 5558B7A6) (at 133.35 132.08 90) (descr "Capacitor 3mm Disc, Pitch 2.5mm") @@ -7131,34 +7103,6 @@ ) ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer F.Cu) (tedit 5560CFA0) (tstamp 555BB40B) - (at 166.497 50.419 90) - (descr "Capacitor 3mm Disc, Pitch 2.5mm") - (tags Capacitor) - (path /554C1C35/5558A184) - (fp_text reference CC20 (at 1.25 -2.5 180) (layer F.SilkS) - (effects (font (size 0.5 0.5) (thickness 0.125))) - ) - (fp_text value 100nF (at 1.25 2.5 90) (layer F.Fab) hide - (effects (font (size 1 1) (thickness 0.15))) - ) - (fp_line (start -0.9 -1.5) (end 3.4 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 -1.5) (end 3.4 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start 3.4 1.5) (end -0.9 1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.9 1.5) (end -0.9 -1.5) (layer F.CrtYd) (width 0.05)) - (fp_line (start -0.25 -1.25) (end 2.75 -1.25) (layer F.SilkS) (width 0.15)) - (fp_line (start 2.75 1.25) (end -0.25 1.25) (layer F.SilkS) (width 0.15)) - (pad 1 thru_hole rect (at 0 0 90) (size 1.3 1.3) (drill 0.8) (layers *.Cu *.Mask F.SilkS) - (net 51 pinChargeVoltage)) - (pad 2 thru_hole circle (at 2.5 0 90) (size 1.3 1.3) (drill 0.8001) (layers *.Cu *.Mask F.SilkS) - (net 1 GND)) - (model Capacitors_ThroughHole.3dshapes/C_Disc_D3_P2.5.wrl - (at (xyz 0.0492126 0 0)) - (scale (xyz 1 1 1)) - (rotate (xyz 0 0 0)) - ) - ) - (module Capacitors_ThroughHole:C_Disc_D3_P2.5 (layer B.Cu) (tedit 5560D360) (tstamp 555CEAB9) (at 186.69 40.005 270) (descr "Capacitor 3mm Disc, Pitch 2.5mm") @@ -7635,7 +7579,7 @@ (pad VCC thru_hole rect (at -11.2 -1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad SDA thru_hole rect (at -11.2 -3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad GND thru_hole rect (at -11.2 1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 1 GND)) (pad Bat thru_hole rect (at -11.2 3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) @@ -7643,7 +7587,7 @@ (pad DS thru_hole rect (at 10.16 -7.62 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 184 "Net-(U8-PadDS)")) (pad SDA thru_hole rect (at 10.16 -2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad SCL thru_hole rect (at 10.16 -5.08 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad VCC thru_hole rect (at 10.16 0 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) @@ -7659,7 +7603,7 @@ (pad SCL thru_hole rect (at -12.7 -6.35 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad SDA thru_hole rect (at -12.7 -3.81 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad VCC thru_hole rect (at -12.7 -1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad GND thru_hole rect (at -12.7 1.27 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) @@ -7671,7 +7615,7 @@ (pad VCC thru_hole rect (at 11.43 0 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 71 Power5)) (pad SDA thru_hole rect (at 11.43 -2.54 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) - (net 189 SDA2)) + (net 190 SDA1)) (pad SCL thru_hole rect (at 11.43 -5.08 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) (net 187 SCL2)) (pad DS thru_hole rect (at 11.43 -7.62 180) (size 1.524 1.524) (drill 1) (layers *.Cu *.Mask F.SilkS) @@ -8633,7 +8577,7 @@ (pad 8 thru_hole oval (at 7.62 0) (size 1.7272 2.032) (drill 1.016) (layers *.Cu *.Mask F.SilkS) (net 29 Led-Status)) (pad 9 thru_hole oval (at 10.16 0) (size 1.7272 2.032) 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edge 0.508) (connect_pads (clearance 0.508)) diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net index cebf08962..a28b7d163 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.net @@ -1,7 +1,7 @@ (export (version D) (design (source "C:\\Users\\Uwe\\Downloads\\ardumower\\pcb\\megashield_svn_1.3_geoeffnet\\ardumower mega shield svn.sch") - (date "08.06.2015 21:54:47") + (date "02.07.2015 20:31:50") (tool "Eeschema (2015-05-08 BZR 5647)-product") (sheet (number 1) (name /) (tstamps /) (title_block @@ -245,18 +245,7 @@ (comment (number 2) (value "")) (comment (number 3) (value "")) (comment (number 4) (value "")))) - (sheet (number 23) (name /Ladespannung/) (tstamps /554C1C35/) - (title_block - (title "Ardumower Shield - Ladespannungsmessung") - (company "Layout & Plan von UweZ") - (rev V1.3) - (date) - (source Ladespannung.sch) - (comment (number 1) (value "")) - (comment (number 2) (value "")) - (comment (number 3) (value "")) - (comment (number 4) (value "")))) - (sheet (number 24) (name /Verpols.L/) (tstamps /553A1252/) + (sheet (number 23) (name /Verpols.L/) (tstamps /553A1252/) (title_block (title "Ardumower Shield - Verpolungsschutz Ladespannung") (company "Layout & Plan von UweZ") @@ -267,7 +256,7 @@ (comment (number 2) (value "")) (comment (number 3) (value "")) (comment (number 4) (value "")))) - (sheet (number 25) (name /Blockkondensatoren/) (tstamps /5558DDF4/) + (sheet (number 24) (name /Blockkondensatoren/) (tstamps /5558DDF4/) (title_block (title) (company) @@ -277,6 +266,17 @@ (comment (number 1) (value "")) (comment (number 2) (value "")) (comment (number 3) (value "")) + (comment (number 4) (value "")))) + (sheet (number 25) (name /Ladespannung/) (tstamps /554C1C35/) + (title_block + (title "Ardumower Shield - Ladespannungsmessung") + (company "Layout & Plan von UweZ") + (rev V1.3) + (date) + (source Ladespannung.sch) + (comment (number 1) (value "")) + (comment (number 2) (value "")) + (comment (number 3) (value "")) (comment (number 4) (value ""))))) (components (comp (ref SHIELD1) @@ -288,12 +288,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part ARDUINO_MEGA_SHIELD)) (sheetpath (names /) (tstamps /)) (tstamp 5375252C)) - (comp (ref R5) - (value 220R) - (footprint ACS712:Resistor_Horizontal_RM10mm) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /) (tstamps /)) - (tstamp 5384EC7E)) (comp (ref P43) (value Battery) (footprint ACS712:Anschlussklemme_RM5,08-RM7,62) @@ -386,24 +380,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part CP1)) (sheetpath (names /) (tstamps /)) (tstamp 54B51225)) - (comp (ref R21) - (value 220R) - (footprint ACS712:Resistor_Horizontal_RM10mm) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /) (tstamps /)) - (tstamp 54B5FC72)) - (comp (ref R20) - (value 220R) - (footprint ACS712:Resistor_Horizontal_RM10mm) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /) (tstamps /)) - (tstamp 54B5FD13)) - (comp (ref R11) - (value 1K5) - (footprint ACS712:Resistor_Horizontal_RM10mm) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /) (tstamps /)) - (tstamp 54B48CE0)) (comp (ref RP2) (value 220R) (footprint ACS712:DIP-16__300) @@ -525,6 +501,7 @@ (tstamp 55722368)) (comp (ref D1) (value "MBR 1045") + (footprint ACS712:MBR1045) (fields (field (name Bestellnummer) "R: MBR 1045") (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) @@ -533,6 +510,7 @@ (tstamp 557628C2)) (comp (ref D2) (value "MBR 1045") + (footprint ACS712:MBR1045) (fields (field (name Bestellnummer) "R: MBR 1045") (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) @@ -541,6 +519,7 @@ (tstamp 55764E0D)) (comp (ref D3) (value "MBR 1045") + (footprint ACS712:MBR1045) (fields (field (name Bestellnummer) "R: MBR 1045") (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) @@ -556,6 +535,42 @@ (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) (sheetpath (names /) (tstamps /)) (tstamp 5576E06B)) + (comp (ref D8) + (value 1N4148) + (footprint ACS712:Diode_ligend_RM10) + (datasheet "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A") + (fields + (field (name Bestellnummer) 1N4148)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 557FA386)) + (comp (ref D7) + (value 1N4148) + (footprint ACS712:Diode_ligend_RM10) + (datasheet "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A") + (fields + (field (name Bestellnummer) 1N4148)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 557FABFB)) + (comp (ref D9) + (value 1N4148) + (footprint ACS712:Diode_ligend_RM10) + (datasheet "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A") + (fields + (field (name Bestellnummer) 1N4148)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 557FB482)) + (comp (ref D12) + (value "MBR 1045") + (footprint ACS712:MBR1045) + (fields + (field (name Bestellnummer) "R: MBR 1045") + (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045)) + (libsource (lib "ardumower mega shield svn-cache") (part DIODE)) + (sheetpath (names /) (tstamps /)) + (tstamp 557FC8FC)) (comp (ref P1) (value "Sonar C.") (footprint ACS712:Pin_Header_Straight_1x04) @@ -931,16 +946,84 @@ (tstamp 5566DACB)) (comp (ref P7) (value "Status LEDs") - (footprint ACS712:Pin_Header_Straight_1x09) - (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X09)) + (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X11)) (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) - (tstamp 556A48CF)) + (tstamp 557F69AD)) (comp (ref P38) (value "Status LEDs GND") - (footprint ACS712:Pin_Header_Straight_1x09) - (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X09)) + (libsource (lib "ardumower mega shield svn-cache") (part CONN_01X11)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 557F6DAC)) + (comp (ref SP1) + (value SPEAKER) + (footprint ACS712:Buzzer_12x9.5RM7.6_RM5.0) + (fields + (field (name Bestellnummer) "R: SUMMER TDB 05")) + (libsource (lib "ardumower mega shield svn-cache") (part SPEAKER)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 55943BD2)) + (comp (ref R5) + (value 220) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 559448E5)) + (comp (ref R20) + (value 220) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 55945979)) + (comp (ref R21) + (value 220) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 55945A72)) + (comp (ref IC1) + (value UDN2981A) + (footprint uln-udn-DIL18) + (libsource (lib "ardumower mega shield svn-cache") (part UDN2981A)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 559492C1)) + (comp (ref R24) + (value 220) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 55959613)) + (comp (ref R26) + (value 220) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 55959DB6)) + (comp (ref R25) + (value 220) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) + (tstamp 5595A3D9)) + (comp (ref R11) + (value 1K5) + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) 220)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) (sheetpath (names /Stiftleisten/) (tstamps /553DFC0F/)) - (tstamp 556A5011)) + (tstamp 5595BAAF)) (comp (ref U8) (value DS1307+) (footprint ACS712:Tiny_RTC_DS1307_geändert_mit_Bohrloch_4Lochreihen) @@ -1022,7 +1105,7 @@ (datasheet DOCUMENTATION) (fields (field (name Bestellnummer) Value)) - (libsource (lib Wlan_ESP8266) (part Wlan_ESP8266)) + (libsource (lib "ardumower mega shield svn-cache") (part Wlan_ESP8266)) (sheetpath (names "/serielle Schnittstelle/") (tstamps /553BDA33/)) (tstamp 553C9758)) (comp (ref R14) @@ -1066,6 +1149,14 @@ (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) (sheetpath (names "/serielle Schnittstelle/") (tstamps /553BDA33/)) (tstamp 5560BCE1)) + (comp (ref JP4) + (value Wlan) + (footprint ACS712:Pin_Header_Straight_1x02) + (fields + (field (name Bestellnummer) Value)) + (libsource (lib "ardumower mega shield svn-cache") (part JUMPER)) + (sheetpath (names "/serielle Schnittstelle/") (tstamps /553BDA33/)) + (tstamp 557F5616)) (comp (ref B1) (value Bohrloch_3,2mm) (footprint ACS712:Bohrloch_3,2mm) @@ -1507,14 +1598,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part CP1)) (sheetpath (names /Motortreiber/Dual2_Vin/) (tstamps /553D8AD9/554D9DA2/)) (tstamp 55723BFA)) - (comp (ref SP1) - (value SPEAKER) - (footprint ACS712:Buzzer_12x9.5RM7.6_RM5.0) - (fields - (field (name Bestellnummer) "R: SUMMER TDB 05")) - (libsource (lib "ardumower mega shield svn-cache") (part SPEAKER)) - (sheetpath (names /Sonstiges/) (tstamps /554017E4/)) - (tstamp 55401981)) (comp (ref JP14) (value Meas5.0V) (footprint ACS712:Pin_Header_Straight_1x02) @@ -1609,6 +1692,7 @@ (tstamp 553E9158)) (comp (ref PRFA3) (value "PFRA 040") + (footprint ACS712:PRFA_500_stehend) (fields (field (name Bestellnummer) "R: PFRA 040") (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) @@ -1638,6 +1722,7 @@ (tstamp 557200E3)) (comp (ref PRFA6) (value "PFRA 040") + (footprint ACS712:PRFA_500_stehend) (fields (field (name Bestellnummer) "R: PFRA 040") (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) @@ -1652,6 +1737,7 @@ (tstamp 5572085B)) (comp (ref PRFA5) (value "PFRA 040") + (footprint ACS712:PRFA_500_stehend) (fields (field (name Bestellnummer) "R: PFRA 040") (field (name Bestelllink) https://www.reichelt.de/PFRA-040/3/index.html?&ACTION=3&LA=446&ARTICLE=35206&artnr=PFRA+040&SEARCH=pfra+040)) @@ -1868,33 +1954,6 @@ (libsource (lib "ardumower mega shield svn-cache") (part Z-DIODE)) (sheetpath (names /Batteriespannung/) (tstamps /554BCB67/)) (tstamp 554BCD9F)) - (comp (ref R9) - (value "47K 0,1%") - (footprint ACS712:Resistor_Horizontal_RM10mm) - (fields - (field (name Bestellnummer) "R: MPR 47,0K") - (field (name "Technische Daten") Value)) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) - (tstamp 554BCCCE)) - (comp (ref R10) - (value "5,10K 0,1%") - (footprint ACS712:Resistor_Horizontal_RM10mm) - (fields - (field (name Bestellnummer) Value) - (field (name "Technische Daten") Value)) - (libsource (lib "ardumower mega shield svn-cache") (part R)) - (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) - (tstamp 554C8CE6)) - (comp (ref ZD8) - (value "ZD-5W 5,1") - (footprint ACS712:Diode_ligend_RM10) - (fields - (field (name Bestellnummer) "R: ZD-5W 5,1") - (field (name "Technische Daten") Value)) - (libsource (lib "ardumower mega shield svn-cache") (part Z-DIODE)) - (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) - (tstamp 554C8CE7)) (comp (ref Q2) (value IRF9530N) (footprint Transistors_TO-220:TO-220_FET-GDS_Vertical) @@ -2263,23 +2322,35 @@ (field (name Bestelllink) http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTICLE=9265&GROUPID=3169&artnr=KERKO+100N)) (libsource (lib "ardumower mega shield svn-cache") (part Kondensator)) (sheetpath (names /Blockkondensatoren/) (tstamps /5558DDF4/)) - (tstamp 5560A639))) - (libparts - (libpart (lib Wlan_ESP8266) (part Wlan_ESP8266) + (tstamp 5560A639)) + (comp (ref R9) + (value "47K 0,1%") + (footprint ACS712:Resistor_Horizontal_RM10mm) (fields - (field (name Reference) U) - (field (name Value) Wlan_ESP8266) - (field (name Footprint) MODULE) - (field (name Datasheet) DOCUMENTATION)) - (pins - (pin (num CH_P) (name CH_PD) (type input)) - (pin (num GND) (name GND) (type input)) - (pin (num GP_0) (name GP_IO0) (type input)) - (pin (num GP_2) (name GP_IO2) (type input)) - (pin (num Rese) (name Reset) (type input)) - (pin (num RX) (name RX) (type input)) - (pin (num TX) (name TX) (type input)) - (pin (num VCC) (name VCC) (type input)))) + (field (name Bestellnummer) "R: MPR 47,0K") + (field (name "Technische Daten") Value)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) + (tstamp 554BCCCE)) + (comp (ref R10) + (value "5,10K 0,1%") + (footprint ACS712:Resistor_Horizontal_RM10mm) + (fields + (field (name Bestellnummer) Value) + (field (name "Technische Daten") Value)) + (libsource (lib "ardumower mega shield svn-cache") (part R)) + (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) + (tstamp 554C8CE6)) + (comp (ref ZD8) + (value "ZD-5W 5,1") + (footprint ACS712:Diode_ligend_RM10) + (fields + (field (name Bestellnummer) "R: ZD-5W 5,1") + (field (name "Technische Daten") Value)) + (libsource (lib "ardumower mega shield svn-cache") (part Z-DIODE)) + (sheetpath (names /Ladespannung/) (tstamps /554C1C35/)) + (tstamp 554C8CE7))) + (libparts (libpart (lib "ardumower mega shield svn-cache") (part 15KEXXC) (fields (field (name Reference) D) @@ -2437,15 +2508,15 @@ (pin (num 6) (name P6) (type passive)) (pin (num 7) (name P7) (type passive)) (pin (num 8) (name P8) (type passive)))) - (libpart (lib "ardumower mega shield svn-cache") (part CONN_01X09) + (libpart (lib "ardumower mega shield svn-cache") (part CONN_01X11) (footprints - (fp Pin_Header_Straight_1X09) - (fp Pin_Header_Angled_1X09) - (fp Socket_Strip_Straight_1X09) - (fp Socket_Strip_Angled_1X09)) + (fp Pin_Header_Straight_1X11) + (fp Pin_Header_Angled_1X11) + (fp Socket_Strip_Straight_1X11) + (fp Socket_Strip_Angled_1X11)) (fields (field (name Reference) P) - (field (name Value) CONN_01X09)) + (field (name Value) CONN_01X11)) (pins (pin (num 1) (name P1) (type passive)) (pin (num 2) (name P2) (type passive)) @@ -2455,7 +2526,9 @@ (pin (num 6) (name P6) (type passive)) (pin (num 7) (name P7) (type passive)) (pin (num 8) (name P8) (type passive)) - (pin (num 9) (name P9) (type passive)))) + (pin (num 9) (name P9) (type passive)) + (pin (num 10) (name P10) (type passive)) + (pin (num 11) (name P11) (type passive)))) (libpart (lib "ardumower mega shield svn-cache") (part CONN_2) (fields (field (name Reference) P) @@ -2699,6 +2772,45 @@ (pins (pin (num 1) (name 1) (type input)) (pin (num 2) (name 2) (type input)))) + (libpart (lib "ardumower mega shield svn-cache") (part UDN2981A) + (fields + (field (name Reference) IC) + (field (name Value) UDN2981A) + (field (name Footprint) uln-udn-DIL18)) + (pins + (pin (num 1) (name I1) (type input)) + (pin (num 2) (name I2) (type input)) + (pin (num 3) (name I3) (type input)) + (pin (num 4) (name I4) (type input)) + (pin (num 5) (name I5) (type input)) + (pin (num 6) (name I6) (type input)) + (pin (num 7) (name I7) (type input)) + (pin (num 8) (name I8) (type input)) + (pin (num 9) (name VS) (type passive)) + (pin (num 10) (name GND) (type power_in)) + (pin (num 11) (name O8) (type openCol)) + (pin (num 12) (name O7) (type openCol)) + (pin (num 13) (name O6) (type openCol)) + (pin (num 14) (name O5) (type openCol)) + (pin (num 15) (name O4) (type openCol)) + (pin (num 16) (name O3) (type openCol)) + (pin (num 17) (name O2) (type openCol)) + (pin (num 18) (name O1) (type openCol)))) + (libpart (lib "ardumower mega shield svn-cache") (part Wlan_ESP8266) + (fields + (field (name Reference) U) + (field (name Value) Wlan_ESP8266) + (field (name Footprint) MODULE) + (field (name Datasheet) DOCUMENTATION)) + (pins + (pin (num CH_P) (name CH_PD) (type input)) + (pin (num GND) (name GND) (type input)) + (pin (num GP_0) (name GP_IO0) (type input)) + (pin (num GP_2) (name GP_IO2) (type input)) + (pin (num Rese) (name Reset) (type input)) + (pin (num RX) (name RX) (type input)) + (pin (num TX) (name TX) (type input)) + (pin (num VCC) (name VCC) (type input)))) (libpart (lib "ardumower mega shield svn-cache") (part Z-DIODE) (footprints (fp D?) @@ -2710,992 +2822,1044 @@ (pin (num 1) (name A) (type passive)) (pin (num 2) (name K) (type passive))))) (libraries - (library (logical Wlan_ESP8266) - (uri C:\Users\Uwe\Downloads\ardumower\pcb\megashield_svn_1.3_geoeffnet\acs712.pretty\Wlan_ESP8266.lib)) (library (logical "ardumower mega shield svn-cache") (uri 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(ref DBY8) (pin 2)) (node (ref R33) (pin 2)) + (node (ref DBY8) (pin 2)) + (node (ref DBY7) (pin 1)) (node (ref P15) (pin 2)) (node (ref Dual1) (pin 20))) - (net (code 167) (name "Net-(Dual1-Pad1)") - (node (ref Dual1) (pin 1))) - (net (code 168) (name /Motortreiber/Dual2_Ms_Mower/MotorMowerA) - (node (ref Dual2) (pin 23)) - (node (ref DBY10) (pin 2)) - (node (ref DBY9) (pin 1)) - (node (ref C6) (pin 1)) - (node (ref P37) (pin 1)) - (node (ref Dual2) (pin 19))) - (net (code 169) (name "Net-(Dual2-Pad9)") - (node (ref JP16) (pin 2)) - (node (ref Dual2) (pin 9))) - (net (code 170) (name /Motortreiber/Dual2_Vin/Dual2_Vin) + (net (code 167) (name /Motortreiber/Dual2_Vin/Dual2_Vin) (node (ref P17) (pin 2)) - (node (ref Dual2) (pin 22)) - (node (ref DKE4) (pin 1)) + (node (ref C13) (pin 1)) (node (ref PRFA2) (pin 2)) - (node (ref C13) (pin 1))) - (net (code 171) (name /Motortreiber/Dual2_Ms_Mower/MotorMowerB) + (node (ref DKE4) (pin 1)) + (node (ref Dual2) (pin 22))) + (net (code 168) (name /Motortreiber/Dual2_Ms_Mower/MotorMowerB) (node (ref Dual2) (pin 20)) - (node (ref DBY11) (pin 1)) + (node (ref Dual2) (pin 24)) (node (ref DBY12) (pin 2)) + (node (ref P37) (pin 2)) (node (ref R36) (pin 2)) - (node (ref Dual2) (pin 24)) - (node (ref P37) (pin 2))) - (net (code 172) (name "Net-(Dual2-Pad11)") - (node (ref Dual2) (pin 11))) - (net (code 173) (name "Net-(Dual2-Pad1)") + (node (ref DBY11) (pin 1))) + (net (code 169) (name "Net-(Dual1-Pad12)") + (node (ref Dual1) (pin 12))) + (net (code 170) (name "Net-(Dual1-Pad11)") + (node (ref Dual1) (pin 11))) + (net (code 171) (name "Net-(Dual1-Pad1)") + (node (ref Dual1) (pin 1))) + (net (code 172) (name "Net-(Dual2-Pad1)") (node (ref Dual2) (pin 1))) - (net (code 174) (name "Net-(Dual2-Pad12)") + (net (code 173) (name "Net-(Dual2-Pad12)") (node (ref Dual2) (pin 12))) - (net (code 175) (name LedPin-24v) - (node (ref P7) (pin 3)) - (node (ref R2) (pin 2))) - (net (code 176) (name LedPin-3V) - (node (ref P7) (pin 2)) - (node (ref R23) (pin 2))) - (net (code 177) (name "Net-(P6-Pad1)") - (node (ref P6) (pin 1)) - (node (ref R4) (pin 1))) - (net (code 178) (name LedPin-5v) - (node (ref P7) (pin 4)) - (node (ref R1) (pin 2))) - (net (code 179) (name "Net-(P6-Pad3)") + (net (code 174) (name "Net-(Dual2-Pad11)") + (node (ref Dual2) (pin 11))) + (net (code 175) (name "Net-(P7-Pad10)") + (node (ref R26) (pin 2)) + (node (ref P7) (pin 10))) + (net (code 176) (name "Net-(P7-Pad5)") + (node (ref P7) (pin 5)) + (node (ref R11) (pin 2))) + (net (code 177) (name "Net-(P7-Pad9)") + (node (ref P7) (pin 9)) + (node (ref R24) (pin 2))) + (net (code 178) (name "Net-(P7-Pad11)") + (node (ref P7) (pin 11)) + (node (ref R25) (pin 2))) + (net (code 179) (name "Net-(P7-Pad3)") + (node (ref R2) (pin 2)) + (node (ref P7) (pin 3))) + (net (code 180) (name "Net-(P7-Pad2)") + (node (ref R23) (pin 2)) + (node (ref P7) (pin 2))) + (net (code 181) (name "Net-(IC1-Pad7)") + (node (ref IC1) (pin 7))) + (net (code 182) (name "Net-(P7-Pad6)") + (node (ref P7) (pin 6)) + (node (ref R21) (pin 2))) + (net (code 183) (name "Net-(IC1-Pad12)") + (node (ref IC1) (pin 12))) + (net (code 184) (name "Net-(IC1-Pad13)") + (node (ref R25) (pin 1)) + (node (ref IC1) (pin 13))) + (net (code 185) (name "Net-(IC1-Pad14)") + (node (ref IC1) (pin 14)) + (node (ref R26) (pin 1))) + (net (code 186) (name "Net-(IC1-Pad15)") + (node (ref R24) (pin 1)) + (node (ref IC1) (pin 15))) + (net (code 187) (name "Net-(IC1-Pad11)") + (node (ref SP1) (pin 2)) + (node (ref IC1) (pin 11))) + (net (code 188) (name "Net-(IC1-Pad16)") + (node (ref R5) (pin 1)) + (node (ref IC1) (pin 16))) + (net (code 189) (name "Net-(P7-Pad8)") + (node (ref P7) (pin 8)) + (node (ref R5) (pin 2))) + (net (code 190) (name "Net-(IC1-Pad17)") + (node (ref R20) (pin 1)) + (node (ref IC1) (pin 17))) + (net (code 191) (name "Net-(P7-Pad7)") + (node (ref P7) (pin 7)) + (node (ref R20) (pin 2))) + (net (code 192) (name "Net-(IC1-Pad18)") + (node (ref IC1) (pin 18)) + (node (ref R21) (pin 1))) + (net (code 193) (name "Net-(P7-Pad4)") + (node (ref R1) (pin 2)) + (node (ref P7) (pin 4))) + (net (code 194) (name "Net-(P6-Pad1)") + (node (ref R4) (pin 1)) + (node (ref P6) (pin 1))) + (net (code 195) (name "Net-(P6-Pad3)") (node (ref R3) (pin 1)) (node (ref P6) (pin 3))) - (net (code 180) (name "Net-(C8-Pad1)") - (node (ref PRFA3) (pin 1)) + (net (code 196) (name "Net-(C8-Pad1)") + (node (ref C8) (pin 1)) (node (ref JP11) (pin 1)) - (node (ref C8) (pin 1))) - (net (code 181) (name "Net-(C2-Pad1)") - (node (ref C2) (pin 1)) + (node (ref PRFA3) (pin 1))) + (net (code 197) (name "Net-(C2-Pad1)") + (node (ref PRFA4) (pin 1)) (node (ref JP1) (pin 1)) - (node (ref PRFA4) (pin 1))) - (net (code 182) (name "Net-(C7-Pad1)") + (node (ref C2) (pin 1))) + (net (code 198) (name "Net-(C7-Pad1)") (node (ref PRFA5) (pin 1)) - (node (ref C7) (pin 1)) - (node (ref JP10) (pin 1))) - (net (code 183) (name "Net-(DBY16-Pad2)") - (node (ref U6) (pin 3)) + (node (ref JP10) (pin 1)) + (node (ref C7) (pin 1))) + (net (code 199) (name "Net-(DBY16-Pad1)") + (node (ref DBY16) (pin 1)) + (node (ref U6) (pin 2)) + (node (ref PRFA5) (pin 2)) + (node (ref DBY18) (pin 2))) + (net (code 200) (name "Net-(DBY16-Pad2)") (node (ref PRFA8) (pin 1)) (node (ref DBY16) (pin 2)) - (node (ref DKE7) (pin 1))) - (net (code 184) (name "Net-(DBY16-Pad1)") - (node (ref PRFA5) (pin 2)) - (node (ref U6) (pin 2)) - (node (ref DBY18) (pin 2)) - (node (ref DBY16) (pin 1))) - (net (code 185) (name "Net-(DBY15-Pad2)") - (node (ref DKE6) (pin 1)) + (node (ref DKE7) (pin 1)) + (node (ref U6) (pin 3))) + (net (code 201) (name "Net-(DBY15-Pad2)") + (node (ref U1) (pin 3)) (node (ref DBY15) (pin 2)) - (node (ref PRFA7) (pin 1)) - (node (ref U1) (pin 3))) - (net (code 186) (name "Net-(DBY15-Pad1)") + (node (ref DKE6) (pin 1)) + (node (ref PRFA7) (pin 1))) + (net (code 202) (name "Net-(DBY15-Pad1)") (node (ref DBY17) (pin 2)) - (node (ref DBY15) (pin 1)) + (node (ref U1) (pin 2)) (node (ref PRFA4) (pin 2)) - (node (ref U1) (pin 2))) - (net (code 187) (name "Net-(DBY13-Pad2)") - (node (ref PRFA6) (pin 1)) - (node (ref DBY13) (pin 2)) - (node (ref DKE5) (pin 1)) - (node (ref U7) (pin 3))) - (net (code 188) (name "Net-(DBY13-Pad1)") + (node (ref DBY15) (pin 1))) + (net (code 203) (name "Net-(DBY13-Pad1)") (node (ref U7) (pin 2)) - (node (ref DBY14) (pin 2)) (node (ref PRFA3) (pin 2)) + (node (ref DBY14) (pin 2)) (node (ref DBY13) (pin 1))) - (net (code 189) (name "Net-(U8-PadSQ)") + (net (code 204) (name "Net-(DBY13-Pad2)") + (node (ref U7) (pin 3)) + (node (ref PRFA6) (pin 1)) + (node (ref DKE5) (pin 1)) + (node (ref DBY13) (pin 2))) + (net (code 205) (name "Net-(U8-PadSQ)") (node (ref U8) (pin SQ))) - (net (code 190) (name "Net-(U8-PadDS)") + (net (code 206) (name "Net-(U8-PadDS)") (node (ref U8) (pin DS))) - (net (code 191) (name "Net-(U8-PadBat)") + (net (code 207) (name "Net-(U8-PadBat)") (node (ref U8) (pin Bat))) - (net (code 192) (name "Net-(C1-Pad2)") + (net (code 208) (name "Net-(C1-Pad2)") (node (ref R17) (pin 1)) (node (ref C1) (pin 2))) - (net (code 193) (name "Net-(C4-Pad2)") + (net (code 209) (name "Net-(C4-Pad2)") (node (ref C4) (pin 2)) (node (ref R33) (pin 1))) - (net (code 194) (name "Net-(C6-Pad2)") + (net (code 210) (name "Net-(C6-Pad2)") (node (ref C6) (pin 2)) (node (ref R36) (pin 1))))) \ No newline at end of file diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro index 697e2ebbc..81584346a 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.pro @@ -1,4 +1,4 @@ -update=30.05.2015 22:55:03 +update=06.07.2015 20:06:50 last_client=kicad [general] version=1 @@ -36,7 +36,9 @@ LabSize=60 version=1 LibDir=acs712.pretty;C:/Users/Uwe/Downloads/ardumower/pcb/megashield_svn_1.3_geoeffnet/acs712.pretty;../../../../../../KiCad/share/modules [eeschema/libraries] -LibName1=acs712.pretty/Wlan_ESP8266 -LibName2=C:/Users/Uwe/Documents/KICAD/BibliothekenUwe.pretty/power -LibName3=ardumower mega shield svn-cache +LibName1=ardumower mega shield svn-cache +LibName2=acs712.pretty/Wlan_ESP8266 +LibName3=power LibName4=conn +LibName5=uln-udn +LibName6=C:/Users/Uwe/Documents/KICAD/BibliothekenUwe.pretty/power diff --git a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch index 77965c50f..bbb94cb97 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/ardumower mega shield svn.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A3 16535 11693 @@ -46,17 +47,6 @@ Text GLabel 5725 8480 2 39 Output ~ 0 SCL2 Text GLabel 5720 8380 2 39 BiDi ~ 0 SDA2 -$Comp -L R R5 -U 1 1 5384EC7E -P 5880 6180 -F 0 "R5" V 5950 6180 40 0000 C CNN -F 1 "220R" V 5887 6181 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 5810 6180 30 0001 C CNN -F 3 "~" H 5880 6180 30 0000 C CNN - 1 5880 6180 - 0 -1 -1 0 -$EndComp Text GLabel 1545 7580 0 39 Input ~ 0 pinPerimeterLeft $Comp @@ -439,52 +429,19 @@ F 3 "" H 11635 1565 60 0000 C CNN 1 11635 1565 1 0 0 -1 $EndComp -Text GLabel 3450 4340 0 60 Output ~ 0 +Text GLabel 3450 4340 0 60 Input ~ 0 pinChargingEnable -Text Notes 3105 3495 0 39 ~ 0 +Text Notes 10710 14280 0 39 ~ 0 Laderelais Spulenspannung 5V\noder Variabel\nEingang Spulenspannung\nkann über Vorwiderspannung\nangepasst werden\ndurch Ladespannung -$Comp -L R R21 -U 1 1 54B5FC72 -P 5875 6980 -F 0 "R21" V 5955 6980 40 0000 C CNN -F 1 "220R" V 5882 6981 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 5805 6980 30 0001 C CNN -F 3 "~" H 5875 6980 30 0000 C CNN - 1 5875 6980 - 0 -1 -1 0 -$EndComp -$Comp -L R R20 -U 1 1 54B5FD13 -P 5875 6780 -F 0 "R20" V 5945 6780 40 0000 C CNN -F 1 "220R" V 5882 6781 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 5805 6780 30 0001 C CNN -F 3 "~" H 5875 6780 30 0000 C CNN - 1 5875 6780 - 0 -1 -1 0 -$EndComp Text GLabel 6180 6780 2 39 Output ~ 0 DuoLED-Rot Text GLabel 6180 6980 2 39 Output ~ 0 DuoLED_Grün Text Notes 6030 6915 0 60 ~ 0 Duo LED hinzugefügt -$Comp -L R R11 -U 1 1 54B48CE0 -P 2910 2640 -F 0 "R11" V 2990 2640 40 0000 C CNN -F 1 "1K5" V 2917 2641 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 2840 2640 30 0001 C CNN -F 3 "~" H 2910 2640 30 0000 C CNN - 1 2910 2640 - 1 0 0 -1 -$EndComp -Text GLabel 2910 3040 3 60 Output ~ 0 +Text GLabel 2910 3510 3 60 Output ~ 0 StationLed -Text Notes 3285 3814 2 39 ~ 0 +Text Notes 3290 4204 2 39 ~ 0 Station LED\nbzw:\nGrundlast\nPerimetersender Text GLabel 1545 7480 0 39 Input ~ 0 pinPerimeterRight @@ -635,13 +592,13 @@ Charg_Pin $Comp L R R19 U 1 1 552CF3A3 -P 3430 2990 -F 0 "R19" V 3510 2990 40 0000 C CNN -F 1 "0" V 3437 2991 40 0000 C CNN -F 2 "ACS712:Resistor_Horizontal_RM10mm" V 3360 2990 30 0001 C CNN -F 3 "~" H 3430 2990 30 0000 C CNN - 1 3430 2990 - 0 -1 -1 0 +P 10670 13090 +F 0 "R19" V 10750 13090 40 0000 C CNN +F 1 "0" V 10677 13091 40 0000 C CNN +F 2 "ACS712:Resistor_Horizontal_RM10mm" V 10600 13090 30 0001 C CNN +F 3 "~" H 10670 13090 30 0000 C CNN + 1 10670 13090 + 1 0 0 -1 $EndComp $Comp L R_PACK8 RP1 @@ -760,14 +717,14 @@ $EndComp $Comp L DIODE D11 U 1 1 553DC320 -P 4000 2990 -F 0 "D11" H 4000 3090 40 0000 C CNN -F 1 "1N4148" H 4000 2890 40 0000 C CNN -F 2 "ACS712:Diode_ligend_RM10" H 4000 2990 60 0001 C CNN -F 3 "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A" H 4000 2990 60 0001 C CNN -F 4 "1N4148" H 4000 2990 60 0001 C CNN "Bestellnummer" - 1 4000 2990 - 1 0 0 1 +P 3180 2395 +F 0 "D11" H 3180 2495 40 0000 C CNN +F 1 "1N4148" H 3180 2295 40 0000 C CNN +F 2 "ACS712:Diode_ligend_RM10" H 3180 2395 60 0001 C CNN +F 3 "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A" H 3180 2395 60 0001 C CNN +F 4 "1N4148" H 3180 2395 60 0001 C CNN "Bestellnummer" + 1 3180 2395 + 0 -1 1 0 $EndComp $Sheet S 9980 2420 880 1220 @@ -818,40 +775,33 @@ Text Notes 12675 2070 3 60 ~ 0 $Comp L 15KEXXC DKE1 U 1 1 5541A8DB -P 7395 1555 -F 0 "DKE1" H 7345 1630 50 0000 L BNN -F 1 "15KE33CA" H 7345 1420 50 0000 L BNN -F 2 "ACS712:Diode_15KE33CA" H 7395 1705 50 0001 C CNN -F 3 "" H 7395 1555 60 0000 C CNN - 1 7395 1555 +P 7235 1555 +F 0 "DKE1" H 7185 1630 50 0000 L BNN +F 1 "15KE33CA" H 7185 1420 50 0000 L BNN +F 2 "ACS712:Diode_15KE33CA" H 7235 1705 50 0001 C CNN +F 3 "" H 7235 1555 60 0000 C CNN + 1 7235 1555 0 -1 -1 0 $EndComp $Comp L GND #PWR016 U 1 1 5541A8E1 -P 7395 1705 -F 0 "#PWR016" H 7395 1705 30 0001 C CNN -F 1 "GND" H 7395 1635 30 0001 C CNN -F 2 "" H 7395 1705 60 0000 C CNN -F 3 "" H 7395 1705 60 0000 C CNN - 1 7395 1705 +P 7235 1705 +F 0 "#PWR016" H 7235 1705 30 0001 C CNN +F 1 "GND" H 7235 1635 30 0001 C CNN +F 2 "" H 7235 1705 60 0000 C CNN +F 3 "" H 7235 1705 60 0000 C CNN + 1 7235 1705 1 0 0 -1 $EndComp NoConn ~ 3770 6160 NoConn ~ 3770 6250 $Sheet -S 9240 2420 245 1150 +S 8385 2420 245 1150 U 554BCB67 F0 "Batteriespannung" 60 F1 "Batteriespannung.sch" 60 -F2 "Batteriespannung" I T 9350 2420 60 -$EndSheet -$Sheet -S 2285 2235 245 1150 -U 554C1C35 -F0 "Ladespannung" 60 -F1 "Ladespannung.sch" 60 -F2 "Ladespannung" I T 2410 2235 60 +F2 "Batteriespannung" I T 8495 2420 60 $EndSheet $Sheet S 2905 13440 315 870 @@ -3127,13 +3077,10 @@ Wire Wire Line 4805 1270 4805 1105 Wire Wire Line 4805 1720 4805 1670 -Connection ~ 7790 1060 -Wire Wire Line - 7790 1060 7790 2890 Wire Wire Line 3620 5005 3290 5005 Wire Wire Line - 7395 1655 7395 1705 + 7235 1655 7235 1705 Wire Wire Line 12620 1645 12620 1695 Wire Wire Line @@ -3145,9 +3092,7 @@ Wire Wire Line Wire Wire Line 10410 2420 10410 1570 Wire Wire Line - 7790 2890 5250 2890 -Wire Wire Line - 1365 2090 5415 2090 + 1365 2090 9170 2090 Wire Wire Line 5415 2590 5250 2590 Wire Wire Line @@ -3164,11 +3109,7 @@ Wire Wire Line 5130 1105 5130 755 Connection ~ 3180 2090 Wire Wire Line - 3180 2090 3180 2990 -Wire Wire Line - 3680 2990 3800 2990 -Wire Wire Line - 4200 2990 4450 2990 + 3180 2990 4450 2990 Wire Wire Line 4200 3090 4200 2990 Wire Wire Line @@ -3313,8 +3254,6 @@ Wire Wire Line 4200 3615 4450 3615 Wire Wire Line 4200 3490 4200 3615 -Wire Wire Line - 2910 2090 2910 2390 Wire Wire Line 3370 8830 3470 8830 Wire Wire Line @@ -3361,11 +3300,11 @@ Wire Wire Line Wire Wire Line 5570 6380 6180 6380 Wire Wire Line - 5630 6180 5570 6180 + 5570 6180 6180 6180 Wire Wire Line 5570 6680 6180 6680 Wire Wire Line - 5620 6780 5625 6780 + 5620 6780 6180 6780 Wire Wire Line 5620 6880 5620 6780 Wire Wire Line @@ -3423,13 +3362,9 @@ Wire Wire Line Wire Wire Line 2090 8680 3670 8680 Wire Wire Line - 2910 2890 2910 3040 -Wire Wire Line - 6125 6980 6180 6980 -Wire Wire Line - 6125 6780 6180 6780 + 2910 2600 2910 3510 Wire Wire Line - 5625 6980 5570 6980 + 5570 6980 6180 6980 Wire Wire Line 3550 4340 3450 4340 Wire Wire Line @@ -3463,8 +3398,6 @@ Wire Wire Line 5570 8480 5725 8480 Wire Wire Line 5570 8380 5720 8380 -Wire Wire Line - 6130 6180 6180 6180 Wire Wire Line 4030 755 4030 705 Wire Wire Line @@ -3599,8 +3532,6 @@ F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH 1 1665 2605 0 1 -1 0 $EndComp -Wire Wire Line - 2410 2235 2410 2090 Connection ~ 2410 2090 $Comp L GND #PWR019 @@ -3623,48 +3554,45 @@ Verpolschutz\nAlternativ $Comp L DIODE D2 U 1 1 55764E0D -P 6725 1570 -F 0 "D2" H 6725 1670 40 0000 C CNN -F 1 "MBR 1045" H 6725 1470 40 0000 C CNN -F 2 "ACS712:MBR1045" H 6725 1570 60 0001 C CNN -F 3 "" H 6725 1570 60 0000 C CNN -F 4 "R: MBR 1045" H 6725 1570 60 0001 C CNN "Bestellnummer" -F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 6725 1570 60 0001 C CNN "Bestelllink" - 1 6725 1570 +P 6725 1320 +F 0 "D2" H 6725 1420 40 0000 C CNN +F 1 "MBR 1045" H 6725 1220 40 0000 C CNN +F 2 "ACS712:MBR1045" H 6725 1320 60 0001 C CNN +F 3 "" H 6725 1320 60 0000 C CNN +F 4 "R: MBR 1045" H 6725 1320 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 6725 1320 60 0001 C CNN "Bestelllink" + 1 6725 1320 0 1 -1 0 $EndComp $Comp L GND #PWR020 U 1 1 55764E13 -P 6725 1855 -F 0 "#PWR020" H 6725 1855 30 0001 C CNN -F 1 "GND" H 6725 1785 30 0001 C CNN -F 2 "" H 6725 1855 60 0000 C CNN -F 3 "" H 6725 1855 60 0000 C CNN - 1 6725 1855 +P 6725 1605 +F 0 "#PWR020" H 6725 1605 30 0001 C CNN +F 1 "GND" H 6725 1535 30 0001 C CNN +F 2 "" H 6725 1605 60 0000 C CNN +F 3 "" H 6725 1605 60 0000 C CNN + 1 6725 1605 1 0 0 -1 $EndComp Wire Wire Line - 6725 1770 6725 1855 -Text Notes 6470 2170 0 60 ~ 0 + 6725 1520 6725 1605 +Text Notes 6470 1920 0 60 ~ 0 Verpolschutz\nAlternativ Wire Wire Line 10110 1060 10110 2420 -Wire Wire Line - 9350 1060 9350 2420 -Connection ~ 9350 1060 $Comp L DIODE D3 U 1 1 557673DD -P 13155 1545 -F 0 "D3" H 13155 1645 40 0000 C CNN -F 1 "MBR 1045" H 13155 1445 40 0000 C CNN -F 2 "ACS712:MBR1045" H 13155 1545 60 0001 C CNN -F 3 "" H 13155 1545 60 0000 C CNN -F 4 "R: MBR 1045" H 13155 1545 60 0001 C CNN "Bestellnummer" -F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 13155 1545 60 0001 C CNN "Bestelllink" - 1 13155 1545 - 0 1 1 0 +P 8820 1060 +F 0 "D3" H 8820 1160 40 0000 C CNN +F 1 "MBR 1045" H 8820 960 40 0000 C CNN +F 2 "ACS712:MBR1045" H 8820 1060 60 0001 C CNN +F 3 "" H 8820 1060 60 0000 C CNN +F 4 "R: MBR 1045" H 8820 1060 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 8820 1060 60 0001 C CNN "Bestelllink" + 1 8820 1060 + 1 0 0 -1 $EndComp Wire Wire Line 10255 2420 10255 1060 @@ -3676,17 +3604,13 @@ Wire Wire Line 12620 1060 12620 1345 Connection ~ 11635 1060 Wire Wire Line - 13155 1060 13155 1345 + 13155 1060 13155 2370 Connection ~ 12620 1060 Wire Wire Line 13675 1060 13675 1270 Connection ~ 13155 1060 -Wire Wire Line - 13155 1745 13155 2370 Text Notes 13630 1585 0 60 ~ 0 zu den Motortreibern -Wire Wire Line - 6545 1060 10110 1060 $Comp L DIODE D4 U 1 1 5576E06B @@ -3706,9 +3630,103 @@ Wire Wire Line Text Notes 4640 4955 0 60 ~ 0 Schutzdiode (Angstdiode)Transistor\nfür den Fall das die Ladespannung verpolt ist Wire Wire Line - 7395 1355 7395 1060 -Connection ~ 7395 1060 -Wire Wire Line - 6725 1370 6725 1060 + 6725 1120 6725 1060 Connection ~ 6725 1060 +Text GLabel 2800 9690 0 39 Output ~ 0 +Led-Laderelais +Wire Wire Line + 3180 2195 3180 2090 +Connection ~ 4200 2990 +$Sheet +S 2285 2705 245 1150 +U 554C1C35 +F0 "Ladespannung" 60 +F1 "Ladespannung.sch" 60 +F2 "Ladespannung" I T 2410 2705 60 +$EndSheet +Wire Wire Line + 3180 2595 3180 2990 +$Comp +L DIODE D8 +U 1 1 557FA386 +P 2910 2400 +F 0 "D8" H 2910 2500 40 0000 C CNN +F 1 "1N4148" H 2910 2300 40 0000 C CNN +F 2 "ACS712:Diode_ligend_RM10" H 2910 2400 60 0001 C CNN +F 3 "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A" H 2910 2400 60 0001 C CNN +F 4 "1N4148" H 2910 2400 60 0001 C CNN "Bestellnummer" + 1 2910 2400 + 0 -1 1 0 +$EndComp +Wire Wire Line + 2910 2200 2910 2090 +$Comp +L DIODE D7 +U 1 1 557FABFB +P 2410 2400 +F 0 "D7" H 2410 2500 40 0000 C CNN +F 1 "1N4148" H 2410 2300 40 0000 C CNN +F 2 "ACS712:Diode_ligend_RM10" H 2410 2400 60 0001 C CNN +F 3 "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A" H 2410 2400 60 0001 C CNN +F 4 "1N4148" H 2410 2400 60 0001 C CNN "Bestellnummer" + 1 2410 2400 + 0 -1 1 0 +$EndComp +Wire Wire Line + 2410 2200 2410 2090 +Wire Wire Line + 2410 2600 2410 2705 +$Comp +L DIODE D9 +U 1 1 557FB482 +P 8495 1510 +F 0 "D9" H 8495 1610 40 0000 C CNN +F 1 "1N4148" H 8495 1410 40 0000 C CNN +F 2 "ACS712:Diode_ligend_RM10" H 8495 1510 60 0001 C CNN +F 3 "Planar Epitaxial Schaltdiode, DO35, 100V, 0,15A" H 8495 1510 60 0001 C CNN +F 4 "1N4148" H 8495 1510 60 0001 C CNN "Bestellnummer" + 1 8495 1510 + 0 -1 1 0 +$EndComp +Wire Wire Line + 8495 2420 8495 1710 +$Comp +L DIODE D12 +U 1 1 557FC8FC +P 9170 1490 +F 0 "D12" H 9170 1590 40 0000 C CNN +F 1 "MBR 1045" H 9170 1390 40 0000 C CNN +F 2 "ACS712:MBR1045" H 9170 1490 60 0001 C CNN +F 3 "" H 9170 1490 60 0000 C CNN +F 4 "R: MBR 1045" H 9170 1490 60 0001 C CNN "Bestellnummer" +F 5 "https://www.reichelt.de/PFRA-040/3/index.html?ACTION=3;ARTICLE=41944;SEARCH=MBR%201045" H 9170 1490 60 0001 C CNN "Bestelllink" + 1 9170 1490 + 0 1 -1 0 +$EndComp +Connection ~ 5415 2090 +Wire Wire Line + 5250 2890 7610 2890 +Wire Wire Line + 7610 2890 7610 1060 +Connection ~ 7610 1060 +Wire Wire Line + 7235 1060 7235 1355 +Connection ~ 7235 1060 +Wire Wire Line + 8495 1060 8495 1310 +Connection ~ 8495 1060 +Wire Wire Line + 6545 1060 8620 1060 +Wire Wire Line + 9020 1060 10110 1060 +Wire Wire Line + 9170 2090 9170 1690 +Wire Wire Line + 9170 1290 9170 1060 +Connection ~ 9170 1060 +Wire Wire Line + 2800 9690 2875 9690 +Wire Wire Line + 2875 9690 2875 9580 +Connection ~ 2875 9580 $EndSCHEMATC diff --git a/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch b/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch index 464947315..84580abb0 100644 --- a/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch +++ b/pcb/megashield_svn_1.3_geoeffnet/serielle Schnittstelle.sch @@ -1,8 +1,9 @@ EESchema Schematic File Version 2 +LIBS:ardumower mega shield svn-cache LIBS:Wlan_ESP8266 LIBS:power -LIBS:ardumower mega shield svn-cache LIBS:conn +LIBS:uln-udn EELAYER 25 0 EELAYER END $Descr A4 11693 8268 @@ -20,61 +21,61 @@ $EndDescr $Comp L CONN_5 P10 U 1 1 553C0979 -P 1355 5495 -F 0 "P10" V 1305 5495 50 0000 C CNN -F 1 "GPS" V 1405 5495 50 0000 C CNN -F 2 "ACS712:Pin_Header_Straight_1x05" H 1355 5495 60 0001 C CNN -F 3 "" H 1355 5495 60 0000 C CNN - 1 1355 5495 +P 1210 6935 +F 0 "P10" V 1160 6935 50 0000 C CNN +F 1 "GPS" V 1260 6935 50 0000 C CNN +F 2 "ACS712:Pin_Header_Straight_1x05" H 1210 6935 60 0001 C CNN +F 3 "" H 1210 6935 60 0000 C CNN + 1 1210 6935 -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR098 +L +3.3V #PWR0101 U 1 1 553C09C7 -P 2150 5695 -F 0 "#PWR098" H 2150 5655 30 0001 C CNN -F 1 "+3.3V" V 2150 5895 30 0000 C CNN -F 2 "" H 2150 5695 60 0000 C CNN -F 3 "" H 2150 5695 60 0000 C CNN - 1 2150 5695 +P 2005 7135 +F 0 "#PWR0101" H 2005 7095 30 0001 C CNN +F 1 "+3.3V" V 2005 7335 30 0000 C CNN +F 2 "" H 2005 7135 60 0000 C CNN +F 3 "" H 2005 7135 60 0000 C CNN + 1 2005 7135 0 1 -1 0 $EndComp $Comp -L +5V #PWR099 +L +5V #PWR0102 U 1 1 553C09DC -P 2150 5295 -F 0 "#PWR099" H 2150 5145 60 0001 C CNN -F 1 "+5V" V 2150 5505 60 0000 C CNN -F 2 "" H 2150 5295 60 0000 C CNN -F 3 "" H 2150 5295 60 0000 C CNN - 1 2150 5295 +P 2005 6735 +F 0 "#PWR0102" H 2005 6585 60 0001 C CNN +F 1 "+5V" V 2005 6945 60 0000 C CNN +F 2 "" H 2005 6735 60 0000 C CNN +F 3 "" H 2005 6735 60 0000 C CNN + 1 2005 6735 0 1 -1 0 $EndComp $Comp -L GND #PWR0100 +L GND #PWR0103 U 1 1 553C09F1 -P 2150 5395 -F 0 "#PWR0100" H 2150 5145 60 0001 C CNN -F 1 "GND" V 2150 5170 60 0000 C CNN -F 2 "" H 2150 5395 60 0000 C CNN -F 3 "" H 2150 5395 60 0000 C CNN - 1 2150 5395 +P 2005 6835 +F 0 "#PWR0103" H 2005 6585 60 0001 C CNN +F 1 "GND" V 2005 6610 60 0000 C CNN +F 2 "" H 2005 6835 60 0000 C CNN +F 3 "" H 2005 6835 60 0000 C CNN + 1 2005 6835 0 -1 -1 0 $EndComp Wire Wire Line - 1755 5295 2150 5295 + 1610 6735 2005 6735 Wire Wire Line - 1755 5395 2150 5395 + 1610 6835 2005 6835 Wire Wire Line - 1755 5695 2150 5695 -Text GLabel 2150 5495 2 39 Input ~ 0 + 1610 7135 2005 7135 +Text GLabel 2005 6935 2 39 Input ~ 0 GPS_RX -Text GLabel 2150 5595 2 39 Output ~ 0 +Text GLabel 2005 7035 2 39 Output ~ 0 GPS_TX Wire Wire Line - 1755 5495 2150 5495 + 1610 6935 2005 6935 Wire Wire Line - 1755 5595 2150 5595 + 1610 7035 2005 7035 $Comp L Bluetooth_CZ_HC_05 U2 U 1 1 553C3493 @@ -122,10 +123,10 @@ Wire Wire Line Wire Wire Line 2335 1145 2605 1145 $Comp -L GND #PWR0101 +L GND #PWR0104 U 1 1 553C4C18 P 1775 1730 -F 0 "#PWR0101" H 1775 1480 60 0001 C CNN +F 0 "#PWR0104" H 1775 1480 60 0001 C CNN F 1 "GND" V 1775 1510 60 0000 C CNN F 2 "" H 1775 1730 60 0000 C CNN F 3 "" H 1775 1730 60 0000 C CNN @@ -147,10 +148,10 @@ F 4 "Value" H 1850 2285 60 0001 C CNN "Bestellnummer" 0 -1 -1 0 $EndComp $Comp -L +5V #PWR0102 +L +5V #PWR0105 U 1 1 553C4FF6 P 1850 2690 -F 0 "#PWR0102" H 1850 2540 60 0001 C CNN +F 0 "#PWR0105" H 1850 2540 60 0001 C CNN F 1 "+5V" H 1850 2830 60 0000 C CNN F 2 "" H 1850 2690 60 0000 C CNN F 3 "" H 1850 2690 60 0000 C CNN @@ -172,10 +173,10 @@ F 4 "Value" H 2290 2285 60 0001 C CNN "Bestellnummer" 0 -1 -1 0 $EndComp $Comp -L +3.3V #PWR0103 +L +3.3V #PWR0106 U 1 1 553C50BF P 2290 2695 -F 0 "#PWR0103" H 2290 2655 30 0001 C CNN +F 0 "#PWR0106" H 2290 2655 30 0001 C CNN F 1 "+3.3V" H 2290 2805 30 0000 C CNN F 2 "" H 2290 2695 60 0000 C CNN F 3 "" H 2290 2695 60 0000 C CNN @@ -203,10 +204,10 @@ F 3 "" H 2665 2235 30 0000 C CNN 1 0 0 -1 $EndComp $Comp -L +5V #PWR0104 +L +5V #PWR0107 U 1 1 553C5B2C P 2665 2700 -F 0 "#PWR0104" H 2665 2550 60 0001 C CNN +F 0 "#PWR0107" H 2665 2550 60 0001 C CNN F 1 "+5V" H 2665 2840 60 0000 C CNN F 2 "" H 2665 2700 60 0000 C CNN F 3 "" H 2665 2700 60 0000 C CNN @@ -253,10 +254,10 @@ Wire Wire Line 3660 1530 3660 1990 Connection ~ 3235 1530 $Comp -L GND #PWR0105 +L GND #PWR0108 U 1 1 553C6D29 P 3235 2700 -F 0 "#PWR0105" H 3235 2450 60 0001 C CNN +F 0 "#PWR0108" H 3235 2450 60 0001 C CNN F 1 "GND" H 3235 2535 60 0000 C CNN F 2 "" H 3235 2700 60 0000 C CNN F 3 "" H 3235 2700 60 0000 C CNN @@ -270,10 +271,10 @@ TX2 Wire Wire Line 3660 2490 3660 2705 $Comp -L +3.3V #PWR0106 +L +3.3V #PWR0109 U 1 1 553C7E45 P 2505 1430 -F 0 "#PWR0106" H 2505 1390 30 0001 C CNN +F 0 "#PWR0109" H 2505 1390 30 0001 C CNN F 1 "+3.3V" V 2505 1600 30 0000 C CNN F 2 "" H 2505 1430 60 0000 C CNN F 3 "" H 2505 1430 60 0000 C CNN @@ -285,20 +286,20 @@ Wire Wire Line $Comp L Wlan_ESP8266 U11 U 1 1 553C9758 -P 1460 4185 -F 0 "U11" H 1460 3755 50 0000 C CNN -F 1 "Wlan_ESP8266" V 1622 4219 50 0000 C CNN -F 2 "ACS712:Wlan_ESP8266_3D" H 1460 4185 50 0001 C CNN -F 3 "DOCUMENTATION" H 1460 4185 50 0001 C CNN -F 4 "Value" H 1460 4185 60 0001 C CNN "Bestellnummer" - 1 1460 4185 +P 1070 4185 +F 0 "U11" H 1070 3755 50 0000 C CNN +F 1 "Wlan_ESP8266" V 1232 4219 50 0000 C CNN +F 2 "ACS712:Wlan_ESP8266_3D" H 1070 4185 50 0001 C CNN +F 3 "DOCUMENTATION" H 1070 4185 50 0001 C CNN +F 4 "Value" H 1070 4185 60 0001 C CNN "Bestellnummer" + 1 1070 4185 -1 0 0 -1 $EndComp $Comp -L +3.3V #PWR0107 +L +3.3V #PWR0110 U 1 1 553C9AF2 P 2105 3935 -F 0 "#PWR0107" H 2105 3895 30 0001 C CNN +F 0 "#PWR0110" H 2105 3895 30 0001 C CNN F 1 "+3.3V" V 2105 4110 30 0000 C CNN F 2 "" H 2105 3935 60 0000 C CNN F 3 "" H 2105 3935 60 0000 C CNN @@ -306,21 +307,21 @@ F 3 "" H 2105 3935 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L GND #PWR0108 +L GND #PWR0111 U 1 1 553C9B11 -P 2105 4235 -F 0 "#PWR0108" H 2105 3985 60 0001 C CNN -F 1 "GND" V 2105 4010 60 0000 C CNN -F 2 "" H 2105 4235 60 0000 C CNN -F 3 "" H 2105 4235 60 0000 C CNN - 1 2105 4235 +P 1495 4235 +F 0 "#PWR0111" H 1495 3985 60 0001 C CNN +F 1 "GND" V 1495 4010 60 0000 C CNN +F 2 "" H 1495 4235 60 0000 C CNN +F 3 "" H 1495 4235 60 0000 C CNN + 1 1495 4235 0 -1 -1 0 $EndComp $Comp -L +3.3V #PWR0109 +L +3.3V #PWR0112 U 1 1 553C9F70 P 2105 4135 -F 0 "#PWR0109" H 2105 4095 30 0001 C CNN +F 0 "#PWR0112" H 2105 4095 30 0001 C CNN F 1 "+3.3V" V 2105 4310 30 0000 C CNN F 2 "" H 2105 4135 60 0000 C CNN F 3 "" H 2105 4135 60 0000 C CNN @@ -328,20 +329,11 @@ F 3 "" H 2105 4135 60 0000 C CNN 0 1 -1 0 $EndComp Wire Wire Line - 1860 4035 2000 4035 -NoConn ~ 2000 4035 -Wire Wire Line - 1860 4335 2000 4335 + 1470 3935 2105 3935 Wire Wire Line - 1860 4435 2000 4435 -NoConn ~ 2000 4335 -NoConn ~ 2000 4435 + 1470 4135 2105 4135 Wire Wire Line - 1860 3935 2105 3935 -Wire Wire Line - 1860 4135 2105 4135 -Wire Wire Line - 1860 4235 2105 4235 + 1470 4235 1495 4235 $Comp L R R14 U 1 1 553CAC27 @@ -379,10 +371,10 @@ F 4 "Value" H 3115 4795 60 0001 C CNN "Bestellnummer" 0 1 -1 0 $EndComp $Comp -L +5V #PWR0110 +L +5V #PWR0113 U 1 1 553CBE47 P 3630 3835 -F 0 "#PWR0110" H 3630 3685 60 0001 C CNN +F 0 "#PWR0113" H 3630 3685 60 0001 C CNN F 1 "+5V" V 3630 4055 60 0000 C CNN F 2 "" H 3630 3835 60 0000 C CNN F 3 "" H 3630 3835 60 0000 C CNN @@ -399,10 +391,10 @@ Connection ~ 2720 3835 Text GLabel 3670 4795 2 39 Input ~ 0 TX1 $Comp -L GND #PWR0111 +L GND #PWR0114 U 1 1 553CDA6C P 3670 4535 -F 0 "#PWR0111" H 3670 4285 60 0001 C CNN +F 0 "#PWR0114" H 3670 4285 60 0001 C CNN F 1 "GND" V 3670 4310 60 0000 C CNN F 2 "" H 3670 4535 60 0000 C CNN F 3 "" H 3670 4535 60 0000 C CNN @@ -414,7 +406,7 @@ Wire Wire Line Wire Wire Line 3365 4795 3670 4795 Wire Wire Line - 2000 4795 2865 4795 + 1510 4795 2865 4795 Wire Wire Line 2720 4285 2720 4795 Connection ~ 2720 4535 @@ -431,10 +423,10 @@ F 4 "Value" H 4970 4185 60 0001 C CNN "Bestellnummer" 1 0 0 -1 $EndComp $Comp -L +5V #PWR0112 +L +5V #PWR0115 U 1 1 553CEBB1 P 4440 3985 -F 0 "#PWR0112" H 4440 3835 60 0001 C CNN +F 0 "#PWR0115" H 4440 3835 60 0001 C CNN F 1 "+5V" V 4440 4205 60 0000 C CNN F 2 "" H 4440 3985 60 0000 C CNN F 3 "" H 4440 3985 60 0000 C CNN @@ -442,10 +434,10 @@ F 3 "" H 4440 3985 60 0000 C CNN 0 -1 -1 0 $EndComp $Comp -L GND #PWR0113 +L GND #PWR0116 U 1 1 553CEBD7 P 4440 4085 -F 0 "#PWR0113" H 4440 3835 60 0001 C CNN +F 0 "#PWR0116" H 4440 3835 60 0001 C CNN F 1 "GND" V 4440 3860 60 0000 C CNN F 2 "" H 4440 4085 60 0000 C CNN F 3 "" H 4440 4085 60 0000 C CNN @@ -453,10 +445,10 @@ F 3 "" H 4440 4085 60 0000 C CNN 0 1 -1 0 $EndComp $Comp -L +3.3V #PWR0114 +L +3.3V #PWR0117 U 1 1 553CEF31 P 4440 4385 -F 0 "#PWR0114" H 4440 4345 30 0001 C CNN +F 0 "#PWR0117" H 4440 4345 30 0001 C CNN F 1 "+3.3V" V 4440 4560 30 0000 C CNN F 2 "" H 4440 4385 60 0000 C CNN F 3 "" H 4440 4385 60 0000 C CNN @@ -473,13 +465,9 @@ Wire Wire Line 2720 4185 4570 4185 Wire Wire Line 4570 4285 2720 4285 -Wire Wire Line - 1860 4535 2000 4535 -Wire Wire Line - 2000 4535 2000 4795 Connection ~ 2720 4795 Wire Wire Line - 1860 3835 2000 3835 + 1470 3835 2000 3835 Wire Wire Line 2000 3835 2000 3600 Wire Wire Line @@ -503,10 +491,10 @@ F 5 "http://www.reichelt.de/Scheiben/KERKO-100N/3/index.html?&ACTION=3&LA=2&ARTI 1 0 0 -1 $EndComp $Comp -L GND #PWR0115 +L GND #PWR0118 U 1 1 5560C24F P 1425 2690 -F 0 "#PWR0115" H 1425 2440 60 0001 C CNN +F 0 "#PWR0118" H 1425 2440 60 0001 C CNN F 1 "GND" V 1425 2470 60 0000 C CNN F 2 "" H 1425 2690 60 0000 C CNN F 3 "" H 1425 2690 60 0000 C CNN @@ -520,4 +508,2814 @@ Wire Wire Line Connection ~ 1425 1830 Text GLabel 2605 1145 2 60 Output ~ 0 Led-BT +$Bitmap +Pos 6745 4185 +Scale 1,000000 +Data +89 50 4E 47 0D 0A 1A 0A 00 00 00 0D 49 48 44 52 00 00 02 3D 00 00 01 45 08 02 00 00 00 88 6A CB +67 00 00 00 03 73 42 49 54 08 08 08 DB E1 4F E0 00 00 00 09 70 48 59 73 00 00 0E 74 00 00 0E 74 +01 6B 24 B3 D6 00 00 20 00 49 44 41 54 78 9C EC BD 79 90 5C 57 7D F7 FD FD 9D 73 EE D6 EB 6C 1A +8D F6 D5 B6 6C 4B DE 64 4B 76 F0 82 71 E0 49 28 03 0E 26 54 05 2A 8F E3 24 95 04 0A 93 D8 29 C8 +5B 45 48 F1 26 55 29 A8 BC A1 C8 F2 90 4A 08 26 21 04 87 AD 42 01 C6 98 C7 B1 0D C8 60 6B F1 A2 +DD B2 16 4B D6 66 69 A4 59 7A BA FB 6E E7 9C F7 8F 5F F7 D5 48 26 8E 84 C7 1E 8D 75 3E A5 9A 9A +E9 E9 B9 7D FB F6 D5 F9 9E DF 4E D6 5A 38 1C 0E 87 C3 31 43 10 D3 7D 02 0E 87 C3 E1 70 9C 03 4E +B7 1C 0E 87 C3 31 93 70 BA E5 70 38 1C 8E 99 84 D3 2D 87 C3 E1 70 CC 24 9C 6E 39 1C 0E 87 63 26 +E1 74 CB E1 70 38 1C 33 09 A7 5B 0E 87 C3 E1 98 49 38 DD 72 38 1C 0E C7 4C C2 E9 96 C3 E1 70 38 +66 12 4E B7 1C 0E 87 C3 31 93 70 BA E5 70 38 1C 8E 99 84 D3 2D 87 C3 E1 70 CC 24 9C 6E 39 1C 0E +87 63 26 E1 74 CB E1 70 38 1C 33 09 A7 5B 0E 87 C3 E1 98 49 38 DD 72 38 1C 0E C7 4C C2 E9 96 C3 +E1 70 38 66 12 4E B7 1C 0E 87 C3 31 93 70 BA E5 70 38 1C 8E 99 84 D3 2D 87 C3 E1 70 CC 24 9C 6E +39 1C 0E 87 63 26 E1 74 CB E1 70 38 1C 33 09 A7 5B 0E 87 C3 E1 98 49 38 DD 72 38 1C 0E C7 4C C2 +E9 96 C3 E1 70 38 66 12 4E B7 1C 0E 87 C3 31 93 70 BA E5 70 38 1C 8E 99 84 D3 2D 87 C3 E1 70 CC +24 9C 6E 39 1C 0E 87 63 26 E1 74 CB E1 70 38 1C 33 09 A7 5B 0E 87 C3 E1 98 49 38 DD 72 38 1C 0E +C7 4C C2 E9 96 C3 E1 70 38 66 12 4E B7 1C 0E 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61 48 44 4E B4 A6 8A +19 AF 5B EC 24 64 33 BC DD 6E 1B 63 FA FA FA 96 2E 5D 7A F9 E5 97 FB BE CF BF 2D 7C 89 C5 37 0E +87 C3 F1 FA 51 AF D7 77 EC D8 A1 B5 56 4A 15 5B 6A 63 8C DB 37 4F 09 6F 06 DD D2 5A C7 71 5C 2E +97 A3 28 B2 D6 1E 3C 78 70 EF DE BD 59 96 49 29 D9 CB AC B5 26 22 22 72 BA E5 70 38 DE 00 86 86 +86 EA F5 3A 47 B3 B2 2C 4B 92 24 08 82 42 C0 1C AF 91 19 AF 5B 1C BE 8A A2 88 F3 2F 84 10 41 10 +5C 74 D1 45 42 08 DE DA 10 11 07 BA A6 F9 44 1D 0E C7 05 C3 F8 F8 F8 C8 C8 C8 E1 C3 87 E7 CE 9D +EB 79 1E 2B 56 1C C7 61 18 4E F7 A9 BD 19 98 F1 BA 25 84 60 4D 4A D3 94 F3 32 DA ED F6 F8 F8 78 +9E E7 45 34 8B 25 8D ED 2D 67 A7 3B 1C 8E D7 1B 6B ED BC 79 F3 66 CF 9E 0D A0 D5 6A 85 61 28 84 +70 A2 35 55 CC 78 DD 62 D1 32 C6 B0 68 59 6B 79 6B 33 D9 C6 22 22 27 57 E7 39 59 96 79 9E 97 E7 +B9 52 0A 80 31 26 CF 73 DF F7 A7 2A DF B5 B8 19 B2 2C 13 42 48 29 8D 31 EC 3D 9E 92 E3 FF C2 E4 +79 DE 6E B7 AB D5 2A 26 15 1D BE 76 88 28 CB 32 22 E2 EB C9 19 D8 EC AD 9A AA 97 70 BC 0A 44 34 +3A 3A CA 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DF 85 35 49 6D 42 E4 7D 03 58 A6 09 8A 03 68 F5 B3 27 00 2C 9D CC C8 DD 38 +7F C3 04 88 76 3C D8 D2 AA 56 13 12 73 F5 0F E1 F2 EE 2D 0B AE 47 11 BF 56 7D FF 37 9F FB 0B D6 +E5 A9 F2 25 96 04 25 C5 9E B8 EB 91 C3 67 8F ED 1F A9 20 8A 73 AC 78 FB 8A 8D B7 A7 9D 12 F2 F2 +C5 AE AC A5 01 1A E0 97 05 CB 02 68 27 0C B3 78 EB 66 25 CB 13 66 64 CC 14 B6 DD 50 8A 7C 2B 64 +A4 C9 42 08 AA 41 7D 80 8B 7F F8 E2 B7 3E 4A AB 49 D2 28 BA 41 D0 50 BF B0 FD 67 16 A3 2F 00 25 +46 0B DF 05 01 20 EE 48 E6 70 03 CB C1 38 2C AC 85 36 97 FB 50 25 40 72 C3 4D CD 06 C6 40 5B 18 +03 63 61 0D 59 43 68 1D ED E5 2E 7B 39 61 48 88 80 11 A8 D7 E3 93 FF E3 3B 4F 7D D8 1C 93 92 CF +CA 75 0E 8E 25 FF E5 CE C7 7F AE 78 D7 EA 09 AF BF C6 82 D4 33 B1 D5 90 81 EC AF DB C9 A6 C8 93 +5C F6 DD 30 AD 81 26 37 7A 67 DC D4 DC 38 9F D5 32 32 6E 42 E2 44 BB 0E E7 82 1A 36 21 4E 13 48 +8F 62 E8 BB 47 F6 EE 1B 39 51 E6 D6 F7 72 72 2C F9 4F 4F FE EC 7D F9 B5 1C A9 86 AC 33 AA 43 49 +9E 38 46 75 E5 03 00 CD A4 29 1D 0F E0 ED 09 9B 1B B8 BA 0A 8C 02 68 FB AB B3 56 B4 A1 C1 18 40 +97 CD 8E 68 B2 0A D1 B4 6F FE 63 98 1A 1E B5 2E 64 5A 57 66 97 BB 50 B6 BF 69 27 6F 58 BA F2 3F +69 6A 01 C5 D5 29 4D 0D 54 61 BE F1 DD 67 C7 9A D5 FE BE DE CA C8 78 51 F1 7F F9 C8 F6 1F 58 B4 +45 80 E9 F3 65 2F 21 96 CB 45 13 E9 68 7D DC E4 01 A2 CB 85 1E 53 1F DD 27 ED D2 CA 3E 95 DF AC +64 BA 95 91 31 53 90 45 C0 B9 B1 A8 52 FA C2 99 37 FE E0 7B 4F C5 BD A2 34 AF 7F EF FB EF A9 62 +CE 86 E8 33 85 C7 D6 6C D9 DE B5 B5 04 52 70 2F 20 FC AD B7 FE F8 E8 47 C7 BC 31 FD 5F BF FA 6F +37 CB 85 81 F1 A1 5D 01 C7 00 61 A8 02 47 40 A6 47 31 FA BF 76 3E F5 F2 F1 B7 57 CD 5B F2 6B 0F +FF C7 D9 C8 E5 C0 C8 DA 94 04 03 73 22 DD DE DD C4 90 08 70 40 A8 49 F3 78 A3 C1 3E A1 94 63 DA +39 BE E5 F8 67 61 23 CD 3D 0E 32 51 AD E6 79 79 00 89 24 0B 52 89 71 25 AB 36 1A 85 7C 8E C3 20 +8E E0 78 D3 97 38 4E 6B B9 44 18 C7 78 DC 08 BD BA 0E 9C 34 AF FC 27 EE 78 E0 D1 25 DB 04 4C 0C +8D 5C 51 D7 47 9A 49 E2 4B 3F EF 78 AC BD 35 19 9C B5 B2 AF E0 53 96 D3 3E 66 76 35 75 CF 40 C6 +CD 48 F6 89 24 23 63 26 B1 28 47 D1 10 6A 4F BD BD E3 B8 A8 1E E7 95 5D C3 47 26 0A 68 98 C4 D7 +B4 AE 67 DE 57 37 3C 58 82 70 C1 6B 68 1E 8E 4F BD 3E F2 EE 9E DA B1 33 C1 C4 5F BE F9 42 08 0B +06 57 38 ED 78 82 31 70 54 90 FE DD 07 BB DE 2C 1F 3B 1F 4C EC 1F FF E0 D9 77 9F 8F 60 34 8C B5 +C6 C2 2A AB 4C A2 DB C9 38 42 0A A4 98 12 95 48 D6 9E EC AF 3D 68 FA 23 25 A8 B6 31 85 51 B0 6E +C1 03 53 61 65 94 C3 C0 28 97 33 58 E4 F3 39 D5 B2 74 77 25 5A BD C1 AE 29 F3 9B 16 0E 1A 44 FF +86 05 6B 6E D1 B9 85 B6 F3 AB 9B 1E 7E 72 F5 3D 79 88 14 21 07 E7 24 04 09 0F 3C 20 1E 58 72 61 +18 14 70 E5 B2 D7 7D 3F 19 37 1B 59 BC 95 91 31 93 58 CB 7D F9 C2 F9 FD AF 8D 1E A3 A2 D5 DA 34 +6A 65 B7 BB 5F 95 A3 8D 73 6F FD E9 B5 0F 2E 45 77 82 34 01 37 B0 AF BC FA BD 8B E3 A3 06 BA E6 +E2 B5 F7 DF 39 71 C7 C5 BC 3B 5F 70 21 5B 66 10 AE 48 98 BA 88 FA 4B EF EE 3B 13 8E A3 E0 8F 8E +35 BE F7 D6 DE 27 D7 3C 5A 44 5E 32 70 70 4E 60 42 83 03 16 0D 8B 06 2C 07 49 06 C1 11 31 28 90 +07 F0 EB 76 9B 55 84 08 20 20 E7 92 65 BA 82 26 83 2D 72 EE 77 05 64 95 68 A4 20 0F D0 26 2F 27 +74 BD 93 CB 34 8A 3D AF 38 4D 51 E1 27 C0 41 45 F0 7F 73 E7 8F FD D0 D6 27 18 73 BB 51 74 61 73 +30 1D E8 A8 40 39 89 71 12 65 04 0B C8 E4 8D 09 90 3A A9 E6 32 B3 6E CA C8 DE 01 19 19 33 86 25 +D3 B0 8D 1A 92 3F DD FD 1D 3B B7 33 CA C9 08 80 9F 47 4A 4B FB E6 3F 78 EB C6 AD 9D CB 0A D0 06 +3A 86 BE 64 27 DE FA E0 5D E3 0A EA EB AA 72 5D F1 CD 4B 87 F6 D4 61 53 A4 64 DA 89 BE 06 EC 81 +4B A7 4E D4 87 43 9F 5B DF 61 1D B9 A1 A4 F1 C6 47 47 9B 20 05 6A E7 CD 04 87 01 24 84 80 0F F2 +01 31 99 37 6B E5 D9 34 5D EF 61 80 18 69 6A 63 C6 4C 02 75 70 E2 D4 B3 67 76 ED 8E CE 0C 73 5B +A7 24 F1 35 3C 8B 3C 3B 87 DA F1 74 E4 AC 1D 37 BE A3 C9 7E 52 E8 76 ED 21 C0 65 4C 3D 28 2C 60 +03 FD 28 76 42 E4 C1 4D 18 49 90 85 55 26 4D 54 AC 4D 4C 3A E5 48 1D 28 27 0B AC 32 00 64 F1 56 +46 C6 CC 91 C2 24 0E BD 19 1E 3E 34 72 CA 5D 3D 10 4D 58 28 0B 27 4F 35 BD 71 FD AD 9B 7B 56 FB +D0 2E 98 0F AA 21 FC FE E1 BD 55 A9 53 B2 D6 98 94 D9 46 D1 79 F1 E8 BE 47 36 DC BB 92 F5 99 28 +62 9C A7 0C 55 A8 17 8E EC BD E4 AA 28 E0 68 4C E4 DC CE 89 92 FB CC DB AF 3E 38 67 A3 0B 04 98 +2C 8D 57 16 86 1C 06 09 30 65 10 5B 58 ED BA C4 05 14 AC 6A ED 9D 9A 52 AD 0E 18 22 7E D5 99 D6 +58 04 E7 04 20 3E 32 FC C1 1F BC F1 CC CE 53 07 BA BA 7A D6 2E 5C F6 2F EE DA BE 44 F4 07 48 46 +11 FE E2 37 7F E7 D8 B9 D3 0B F3 1D 3F B2 E9 C1 1F BB ED B1 9C B6 D7 5E E7 13 46 F8 6E D0 EA 49 +E6 6A 2E 09 9C 18 82 5C 1D 49 0C 8A 3D 1E 79 88 99 CE EB 44 91 32 48 21 64 E6 83 91 81 EC 1D 90 +91 31 73 A4 B0 65 A4 DF DE FD 5D 7F B0 14 D5 CB 20 02 09 58 2E C9 4F 6B CD 6E 94 74 12 C3 9A 04 +51 1D D1 EE D3 87 CA 2C D6 51 82 7A 04 C9 6B 26 3E 93 94 77 9D 3A 18 23 65 1E 41 22 86 3A 6C CF +EE 1D 3A 1A 07 02 CC 22 52 49 9C 4E B8 66 DF F9 E3 C7 EC 85 18 56 21 D5 69 03 C2 C0 B7 29 D7 9A +0C 23 05 32 E0 16 02 90 D6 B0 96 E1 52 CB B6 E3 63 A3 85 B5 C0 B5 E3 58 78 A9 89 46 CD D6 DF 38 +73 E8 ED F2 C9 4A 2F 9D 2A 86 3B 6B 27 7F FC F7 BF FE EB 07 FF EC EF C2 83 E7 80 F1 79 7E 65 7E +F0 76 7C 7E E7 99 77 22 58 CB 61 F9 75 8D 9A DB BA 4D AB 56 59 40 72 8A 53 13 69 9D 00 35 24 21 +4C 1C 30 1D 38 D6 65 9A 19 63 D4 C7 CD 37 32 3E D7 64 F1 56 46 C6 4C 91 C0 1C C2 C9 37 CF 1F E1 +83 79 34 9A 30 1C 96 7B 22 80 D5 87 DF 3F 3E BE AE BE C8 29 02 A6 81 E4 AD E1 C3 A7 E2 B1 31 8A +72 56 CA 5C D7 A8 B4 60 CD 9A 6F 5F 3B 71 E0 89 85 5B 7C 48 80 EA B0 3B DE 7B 73 D8 86 8A 03 E0 +B3 4A B3 C3 5A B3 C6 E3 B4 40 CF 1D 78 65 C9 BA 2F BB E0 CC 33 11 D2 1A 62 05 23 21 0A E0 BE 30 +2D 1B DA 2A 90 00 68 B7 EC BA 3A FA 99 DC 18 F5 B1 F3 16 46 04 F9 3A B4 21 31 9A D7 8D 1E 07 A5 +12 92 66 B9 7E 11 3D CE 5F 9F DE F7 D2 FB 6F F5 CC 1B DC 7F EA 00 3A 7C CC 76 3E 74 EB 65 34 DD +B6 77 FD A7 C7 5B 0A 48 C9 51 A0 26 26 1C 4B 39 57 BA 10 29 D2 26 D8 08 1A 65 44 B1 30 CC 72 22 +B2 DA 5C 69 5C 92 65 0B 3F F7 64 BA 95 91 31 53 28 98 E7 F7 BD 32 C1 E3 DA A5 BA DB DB 27 87 6A +2E 49 74 B9 E3 CD F1 0B DA EE F8 E0 8D 5B 97 3D 98 22 56 90 CF EC DE 31 A4 AA 6E 29 E8 6E B2 85 +3D F3 76 8F 9E 0D 1D B7 16 C6 47 47 3E 7C A7 7A 2C 57 5A 66 A0 AB 60 DF 3F BA 3F 72 19 92 D8 17 +72 4D EF 9C 23 63 27 6B 22 96 DD 1D 2F BD FD FD 1F 5E 77 97 87 12 03 2A 68 7C D0 FC E8 62 75 D4 +13 B2 8B DC 1C 09 66 D1 60 A6 1A 90 E2 54 FE F0 BC 30 80 65 20 33 75 34 1A 57 9D 81 65 9A 99 18 +88 6D E4 F9 7C CF A5 13 A3 71 19 31 41 1B 14 7C 34 F9 58 58 AD C7 B6 51 26 14 24 02 09 91 9C 68 +8C 3C F3 D1 2B 3D 8D EB D6 2D 66 46 D3 28 28 16 F2 DC EB 72 F3 7D B9 CE A8 D9 A8 C4 0D D3 E3 4C +08 39 A4 26 AA 94 BA 4C 24 9C 29 C6 D3 D6 5E B5 8C 8C 4C B7 32 32 3E 2B 8C 31 C6 18 CE 39 11 01 +50 4A 35 44 F8 EA BE DD CE DC 00 5A C5 1F 8D DF 96 74 6F BB 77 DB FF DC F5 9C 28 E4 43 E2 4F EF +79 F9 5F 2F BB 5F A3 F9 0E CA 87 6A E7 1B 05 C8 94 79 63 D1 2F 6D FA 57 BF BA FF 4F BE 77 60 8F +2C 95 62 C6 FF F8 F9 6F 2F FB CA D7 09 F6 D9 D3 3B CA 88 99 C3 51 8E E7 F7 F7 FD 87 2D 5F FB EF +E7 7F AF C2 AB B5 FA 98 0A 82 17 8E EC FC CA CA 47 63 24 BF FB EA 9F ED 3D FD 7E CD A6 81 EF 37 +CF 8F BB 4C F8 9D C5 51 13 8D 79 56 13 3A 52 E6 EA 69 74 8B C0 AF D5 2D C3 90 32 4A 92 B8 A7 E8 +8F 44 E3 D4 E9 D8 46 3D 90 85 E6 A5 6A 77 57 7F BD 19 15 B4 23 1A A9 57 2A 46 61 0D 56 8D 32 FD +3B BB 9E F1 52 76 9D BA A5 99 0A 29 65 30 9E 92 5E 2A 72 8A 91 85 16 68 38 AA DE ED 94 D3 09 04 +42 F8 A5 B1 4A 35 74 64 0D 92 03 FE 27 6E 40 CB F8 1C 91 E9 56 46 C6 67 03 63 1F 8B 06 8C 31 06 +C6 18 08 C5 31 5A 5E 92 BB E5 E7 EE 7C 62 E9 C2 E5 7F B3 7F DF E1 A4 9C B2 78 CC 75 5F 2B 1F 5A +DF B9 EC BB 87 5E AD 50 AC A4 6F 2B CD FB 57 6D EE 01 FB CA BA 87 DE 7D EF 88 72 DC E1 CA 78 BF +8B 53 18 E9 42 D7 FE 73 1F 8C 34 2B 96 9C 20 15 8F AE BE 63 01 BA 1E 5C B5 F1 C0 C1 EF 84 88 6B +D6 BE 3B 7C E2 BE 95 F5 51 4C BC DB 18 3A 69 C7 B5 27 F2 0E 15 07 02 72 FC F3 3A 19 4B 23 F4 16 +01 3B 56 4F A5 02 DA 7D 51 AE 8C 4A 45 D7 3E 23 4B 4C BA 81 49 25 A4 AE 37 63 18 8F 48 EA 8B 65 +FB CE E1 D1 D3 3B 8A DB 9F 9C D5 DD 73 7E 74 24 1A 1B C7 DC 59 B0 1A 9E 18 D7 11 E4 A4 F5 ED A7 +8E 4C 51 41 32 63 D3 C4 A6 91 4A 63 46 CA A4 64 43 AE EB D5 2A 72 0E 52 D3 A8 4F 78 B5 58 27 A4 +A5 B4 60 59 37 C8 0C 64 BA 95 91 31 43 30 C6 04 64 4F D0 15 95 2B 73 92 E2 43 2B D6 3E B2 F8 8B +0C F2 BE 35 1B 4E BF BD A3 EE D3 A5 34 FC D6 A1 9D 7D 77 CF DD 75 68 5F 9A A6 AE DB C5 6D FC E8 +ED F7 76 81 6F C6 E2 DB FB 16 ED 19 3B A5 AD 3A DB 18 7D E1 DC 1B AB 07 57 EF 3F FB 7E 62 D3 5C +2A E7 BB 5D 5F BA 65 4B 37 E4 43 CB EF F8 C6 91 9D 8D 38 54 C2 1E 3A 77 E2 B5 E8 60 39 6A 1C AB +9C 4F 3C 08 87 A5 49 1C 57 53 12 69 04 05 97 A0 18 AA 15 08 C7 4C 67 E0 E7 BA D3 B4 4E 26 CB 4C +AC 6C AA 35 31 92 9E C3 5D 4F B8 5E 4E 0E F7 F4 62 C1 62 0A BC 0B 63 97 48 8A 79 CB 6E 1D 8E 26 +A2 E1 4B E8 EE 25 D7 25 CB AE B3 9A D0 10 37 13 63 1A 36 52 8E 50 8E 31 52 10 77 38 27 26 BC 7C +1E 8E 98 98 A8 7B 21 5B D1 B7 68 59 6E AE 03 61 DA 8B 73 19 9F 77 32 DD CA C8 F8 0C D0 5A 5B 6B +01 30 C6 5A 79 42 21 44 0E FE 2F FE F4 CF EF 39 71 68 4E A1 FF AE 81 75 45 B8 4D 98 7B 57 6E 78 +E6 8D 97 AC 17 34 D4 A5 D7 2F BC EF 9F FC DB A6 8E 85 81 AB D8 A2 81 05 6B BA 96 75 03 00 3D BC +6A F3 DE BF 3D DC 39 A7 73 EC C2 C5 57 8F 1E 38 5D 1F 1D 69 56 0B 9D A5 A0 C9 36 CF 5D 31 0F 5D +A4 C2 01 D1 B9 7E EE B2 E1 E3 15 E6 CA 8B F5 D1 1D 07 F7 D4 93 A8 9E 34 8B B3 7A C3 E1 CA DA 85 +2B 67 97 04 4B 6D 5A 0C 12 CF 6D 3A 7C DC 29 47 E3 E3 D3 E6 D9 92 46 32 DD 69 62 E4 A4 36 E5 A0 +2A C3 70 79 3C D6 29 73 0B 7D 2B 57 47 52 08 26 A5 2F 86 87 87 E3 CE 5C 14 57 91 EB 14 09 F5 26 +D2 4B AF 77 56 B1 8C 33 AF 4F C0 E6 44 90 83 9B 27 DF 65 0E 97 42 0B 56 6D D6 24 73 62 59 EA ED +E9 D8 3A 67 F5 72 74 97 00 DF F0 6C 85 2B 03 99 6E 65 64 7C 56 B4 E4 8A A6 D8 BE 7A E0 EB D8 92 +79 4B 7B 07 D0 ED 41 58 50 4D 4D AC 10 83 9B 06 16 ED 2C BF D7 0C F8 45 5B 7F E6 AD 97 E7 E5 3A +BB AB 34 31 5C BD 67 DB C3 2E 1C 0F 2C 8F E8 EE 5B BE B0 A0 A3 7F 38 6D F2 9C 7B A6 72 F1 74 E5 +A2 28 05 8E A1 5C C2 1E 58 B5 B1 04 52 31 93 82 DF B3 72 E3 9E 63 EF 8C C5 A9 F1 DC A3 1F 9D 4D +D2 94 31 19 44 6C 6E 30 EB EB 5F FC DA 5A F4 0B A8 04 7E 13 14 22 75 20 3D 18 3E 9D 89 3C 9F CE +E4 42 83 A5 A0 18 76 04 63 CF 5F 78 F3 1B 07 5E 1C AE 8F 54 85 15 64 93 F2 38 94 E8 73 3A 96 2C +5E 71 6C 6C 08 79 C7 CF 05 73 4D EE CF 1F FF 95 EE EB 9E 55 2C 4C 82 98 40 12 5C 42 4A 30 02 69 +58 0D 63 61 00 08 30 07 F0 8D F0 B5 C0 68 13 79 1F DE F5 DB 71 64 DC B4 64 BA 95 91 F1 19 C0 F9 +95 D9 B4 15 78 59 6B 1D 06 A7 19 2E F1 BB 35 6C D2 6C B8 7E 47 49 14 43 A4 8F 6E D8 BA F3 E9 37 +0B 9D C5 2A A3 E6 44 23 A2 42 8E 3B 42 F1 2F CE 5E 07 00 96 8A E4 CC 46 F1 8B AB D7 FD DF 5D CF +CA 81 52 25 6D 40 A9 DE 8E DE 74 A4 3E 98 9F B3 A1 77 65 00 81 5C 21 84 59 17 2C 5D DE 35 E7 E5 +A1 C3 B2 AB D0 50 0A 42 10 28 AE 34 D7 2C 58 B9 08 7D B3 20 59 C3 9A 9C 9B 80 03 9E 00 E7 D0 6C +3A DD B2 D3 6D 8D D2 40 CD C4 C4 84 8F A0 B3 AC 55 39 A4 5C 4E 08 A1 6B F1 40 71 F6 80 D7 B1 38 +DF 7F DF 5D DB 7E E9 9B BF 1B 13 A2 A1 72 7F 77 77 3F 64 3F E4 F5 AC 6D 11 A0 61 14 B8 05 71 30 +D2 8C 2C 33 B0 9A 19 43 10 C4 15 92 00 44 10 30 12 0A 60 1C 2C 2B 82 CF 00 32 DD CA C8 98 09 5A +D2 25 35 0D B0 4E 28 4A 84 48 38 31 C0 01 6B 22 59 D9 BB 60 D1 AC 81 B3 49 85 60 29 E7 D7 9A 4D +69 FD 07 D7 6C 5D 8C 5E 06 61 2C 31 58 87 EC DD B7 6E FA D6 BE 17 43 00 DC 72 CF 6B C6 71 9E F8 +9D B7 6D C8 43 3A 60 29 24 90 74 C3 7F E0 B6 AD 6F 9C 3B D9 24 A9 19 71 47 DA 30 76 1D EF 2B 77 +6F CF C3 67 89 66 89 64 92 33 2E 98 05 0C 2C 67 76 BA 0E 55 57 15 95 B4 4F C2 94 40 00 04 F8 7C +AF B3 0B C1 58 6D 9C 48 DD 22 0A F7 F6 AD F8 D1 CD DB 56 89 05 21 B0 50 E5 46 A2 BA 87 E2 CA E2 +60 0E 1E B3 12 16 44 F8 D4 51 10 84 9E BC 33 02 18 F4 64 CF 13 8B D4 5A 95 00 DC 18 21 00 81 90 +84 10 90 2C 53 AE 8C 4C B7 32 32 3E 0B AC B5 53 33 84 44 44 44 D0 80 26 C4 09 2B 8A A2 E3 DB 54 +31 A6 4B DC 1B 40 C7 1D 4B D6 0E ED DF E1 05 C2 32 E2 10 3A D4 5F DA 74 77 1E 56 82 5B AB 11 AB +C0 67 CB 30 67 DD DC 15 7B AB 27 5D 11 08 21 D3 B1 EA A0 3B FB 81 65 1B F3 60 A4 0C 04 38 98 03 +71 C7 C0 FA D9 C1 F3 E7 E2 A6 52 10 E0 B9 D4 59 D4 33 67 0E FA AC 6D 32 5B 84 2B 61 99 0D 15 3C +01 03 92 20 62 D7 C6 3E D6 4C 13 13 11 18 37 1C 64 0B E4 DF B7 70 EB C1 EA C5 77 46 CF 0E F6 0F +7C 69 CD 3D 6B 30 E8 A2 D9 01 53 84 FC E5 C7 7F F6 E9 97 9F EB 2D 16 7F FC 9E 27 1C B0 CB 9D 2D +3F 7D BC F2 F2 B5 BF 32 0B 4D AD 6F 32 6B B8 E0 2E E3 08 D3 94 49 66 5D D6 6A 11 99 A5 09 33 32 +DD CA C8 F8 0C B8 4A B4 DA FF 62 80 C3 E0 7A ED 56 21 BC 15 D3 68 05 F9 23 B7 3E F6 FC 2B AF 83 +B8 F1 B8 9F DA 55 83 B7 2C C5 80 8F 44 42 C4 71 12 48 C7 41 DA 0D B1 7D E3 B6 03 7F F5 7F 0A DD +01 33 8C 69 FD C8 8A 2D 4B D1 EB 81 60 99 04 1A 48 0C 8C 84 78 72 F3 FD FF FB AF FF B2 A7 B3 E4 +29 2F AD 35 B6 6F BB B7 0B 7C 16 15 41 ED DA 3D 1E 08 CB A1 E5 64 3F FB 29 9D 1D DB DD AA D8 D5 +67 26 47 01 32 00 75 40 FE E7 B5 3F 11 03 04 08 C0 07 49 78 1C D0 C0 7D 85 D5 77 3D B9 9A 60 1D +90 03 FE FF 53 A9 4E 80 9C EC 8F E9 F2 A0 75 C6 97 12 93 5D 8E B3 B2 8C 0C 64 6F 83 8C 8C 19 A4 +35 C7 F3 96 FB B9 99 EC 2A CF 3C 88 41 F4 FD E8 5D 8F 3B 15 6B 2F 46 B2 62 1E D9 7C 4F 11 2C 07 +4E 40 10 04 20 44 E5 5A 1E 7C 75 69 C1 F2 8E 5B 6A C7 2F 94 8F 9E BB 45 74 DC D6 B3 B0 04 81 94 +A0 14 A1 15 6F F1 02 BC 4D F3 57 AE ED 5B 5C 3F 71 41 0D 55 36 CD 59 71 EF AC 8D 05 30 17 93 0D +16 61 00 93 02 0A D3 2D 6D 7D EA 53 00 03 84 0B D1 05 39 00 D9 0F D9 03 99 83 70 20 38 84 03 51 +84 E8 82 E8 84 CC 41 70 5C AF 19 FC 27 1D 74 A5 23 18 23 B4 1C 15 A7 9E CC C8 C8 E2 AD 8C 8C 19 +C5 B6 BB 06 B7 A3 1C 02 40 1C 2C D6 E3 5B 96 AE 79 EB BD 43 F5 24 5C D2 37 B8 B1 7F 79 B3 59 2E +88 22 49 5F 5B C3 89 59 30 01 36 80 8E 27 D7 DF ED 1A 8A A2 E4 BE 5B 37 DC 3E 67 95 68 7D D6 24 +66 DB 17 4F B5 AA 2F 10 7D F7 AF BA BD 36 32 5E 28 94 D6 CE 59 9C 03 89 CB A2 C5 18 58 B6 28 94 +71 53 41 AD 05 E4 8C 8C 8C 19 C1 02 80 25 98 76 C3 46 03 0B CB 4C 0D B6 06 73 0A A3 E3 F5 F1 D5 +F9 C5 05 98 2E 58 01 A9 21 1B 61 5C F4 7C 90 52 A4 42 D8 8B 08 87 D2 D1 30 0C 97 94 E6 0C 20 97 +03 E3 0A 60 AE 66 48 A1 24 74 8C 38 02 6F 82 9D 88 86 02 AF D0 89 42 11 4E 1E 14 80 41 03 86 B5 +A2 15 45 AD B6 5C 99 84 65 FC B3 27 D3 AD 8C 8C 19 C3 B6 75 4B 4F 56 42 70 00 D6 80 8C 02 EA 50 +29 F8 04 AA 5D 28 24 8D F1 59 22 07 EE 43 C8 6A 23 2C 05 01 60 1A 8D 2A 7C 4E 5C 2A 18 00 1C 8C +1B AD C3 34 17 14 41 5C 13 18 40 36 55 49 23 66 36 62 24 B8 6F C0 08 96 81 3C 90 04 23 CB DA 25 +0F D4 D6 CE AC 92 3C E3 26 E0 1F 00 19 86 D0 65 A1 44 8A 88 00 00 00 00 49 45 4E 44 AE 42 60 82 +1C +EndData +$EndBitmap +Text Notes 5545 5355 0 60 ~ 0 +https://github.com/FredericG-BE/ardumower/wiki/Using-ESP8266-WIFI-module-on-Ardumower\nBy adding a LED, it is easy to see the state of the ESP8266 firmware: \nconnecting to the WIFI Access Point, Connected, PFOD connected,\n ... Also here, perhaps a LED and resistor could be added directly to the ESP8266 PCB.\nObserve that the GIO bins can only source 12mA.\n I used a 220 Ohm resistor, which will result in about 6 mA. +$Comp +L JUMPER JP4 +U 1 1 557F5616 +P 1835 4435 +F 0 "JP4" H 1835 4585 60 0000 C CNN +F 1 "Wlan" H 1830 4405 40 0000 C CNN +F 2 "ACS712:Pin_Header_Straight_1x02" H 1835 4435 60 0001 C CNN +F 3 "" H 1835 4435 60 0000 C CNN +F 4 "Value" H 1835 4435 60 0001 C CNN "Bestellnummer" + 1 1835 4435 + 1 0 0 1 +$EndComp +NoConn ~ 1470 4035 +Wire Wire Line + 1510 4535 1510 4795 +Wire Wire Line + 1470 4535 1510 4535 +Wire Wire Line + 1470 4435 1535 4435 +$Comp +L GND #PWR0119 +U 1 1 557F5C65 +P 2300 4435 +F 0 "#PWR0119" H 2300 4185 60 0001 C CNN +F 1 "GND" V 2300 4210 60 0000 C CNN +F 2 "" H 2300 4435 60 0000 C CNN +F 3 "" H 2300 4435 60 0000 C CNN + 1 2300 4435 + 0 -1 -1 0 +$EndComp +Wire Wire Line + 2135 4435 2300 4435 +Text GLabel 1915 4280 2 60 Output ~ 0 +Led-Wlan +Wire Wire Line + 1470 4335 1820 4335 +Wire Wire Line + 1820 4335 1820 4280 +Wire Wire Line + 1820 4280 1915 4280 $EndSCHEMATC From 5329cb10a7500f139f108f5a7b0ddfb0489330c7 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 8 Jul 2015 19:47:27 +0200 Subject: [PATCH 76/78] changed motorLeftPID.Kp --- ardumower/mower.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/mower.cpp b/ardumower/mower.cpp index 13060026a..903966c9b 100644 --- a/ardumower/mower.cpp +++ b/ardumower/mower.cpp @@ -142,7 +142,7 @@ Mower::Mower(){ motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1 motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2 // ---- normal control --- - motorLeftPID.Kp = 0.87; // motor wheel PID controller + motorLeftPID.Kp = 1.5; // motor wheel PID controller motorLeftPID.Ki = 0.29; motorLeftPID.Kd = 0.25; /*// ---- fast control --- From 8c4020a284b8ef40f72851fe8a005c95dd90a288 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 8 Jul 2015 19:53:46 +0200 Subject: [PATCH 77/78] adjusted version --- ardumower/robot.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ardumower/robot.h b/ardumower/robot.h index 13d825e98..28256505b 100644 --- a/ardumower/robot.h +++ b/ardumower/robot.h @@ -56,7 +56,7 @@ */ // code version -#define VER "1.0a4-Azurit-dev" +#define VER "1.0a4-Azurit" // sensors From e6c73bea4cecbc6c50f2a94b6083025543e1e1e7 Mon Sep 17 00:00:00 2001 From: "S.Gennat" Date: Wed, 8 Jul 2015 20:08:06 +0200 Subject: [PATCH 78/78] updated changelog --- CHANGELOG.md | 46 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 4ccabc85c..b4117a5c1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,49 @@ +1.0a4-Azurit + +2015-07-08 changed motorLeftPID.Kp +2015-06-26 better driving around perimeter +2015-06-26 more robust sonar sensor +2015-06-26 battery stats display fix (nan) +2015-06-25 optimized driving behavior around perimeter +2015-06-25 mower now stops immediately when in station +2015-06-25 added sonar turn feature ( http://www.ardumower.de/index.php/de/forum/anleitungen-hilfe/585-ultraschallsensoren-bitte-um-hilfe#7146) +2015-06-24 another small bugfix for battery stats +2015-06-24 small bugfix for battery stats +2015-06-22 made "mow modulate" a developer option (use at your own risk) +2015-06-19 optimized station times +2015-06-18 bugfix: better checking for zero values (float is never exactly zero) +2015-06-18 bugfix: really stop if setspeed=0 and actualspeed almost zero +2015-06-18 bugfix: now reacting on motorcurrent in state PFND, PTRK +2015-06-17 Merge branch 'leftright_pid_sync' into develop +2015-06-17 mini config fix +2015-06-15 pfodapp plot adjustments +2015-06-15 leftright pid sync +2015-06-15 better and more random driving behavior around obstacles and perimeter new values in Settings-Motor and Perimeter +2015-06-14 enabled checkTilt() again some code cleanup +2015-06-14 new stats: mower now records battery statistics +2015-06-12 Revert "recharged battery capacity in maH is now only updated if mower is in STATE_STATION_CHARGING" +2015-06-12 recharged battery capacity in maH is now only updated if mower is in STATE_STATION_CHARGING +2015-06-12 optimized mower motor over current behavior fixes: https://github.com/Ardumower/ardumower/issues/20 https://github.com/Ardumower/ardumower/issues/52 +2015-06-10 performance improvements and code cleanup also fixes https://github.com/Ardumower/ardumower/issues/21 +2015-06-10 new config.h option: USE_BLANK_MEGA for testing purposes only when using USE_BLANK_MEGA in config.h it is possible to run the ardumower code on an blank Arduino Mega +2015-06-06 added statsOverride option now it is possible to reenter accidentally lost mower stats +2015-06-06 new feature: mower now records statistics first version mow time total and mow time trip is recorded +2015-06-04 improved driving behavior after mower was outside perimeter +2015-06-03 added missing values in Robot::printSettingSerial() +2015-06-03 mower now uses perimeter as default new defaults: motorZeroSettleTime, motorRollTimeMax, motorRollTimeMin, motorReverseTime, motorForwTimeMax, sonarTriggerBelow, perimeterTrackRollTime, perimeterTrackRevTime +2015-06-03 improved driving behavior +2015-05-31 new default: motorSwapDir = 0; for both driving motors current measurements from MC are more reliable +2015-05-31 new default: using only one channel of our motor odometry encoder solves https://github.com/Ardumower/ardumower/issues/35 +2015-05-31 corrected version number +2015-05-31 improved handling of sonar sensors sonar sensor readings and caused behavior should now be more reliable +2015-05-31 improved behavior when the robot is stucked +2015-05-31 improved checkPerimeterBoundary behavior mower now moves back in when driven outside perimeter while driving backwards +2015-05-29 bugfix for Robot::checkIfStucked() added STATE_ERROR +2015-05-29 initial stuck detection feature if GPS is in use the mower can now detect if it´s stucked if stucked the mower tries to set free, if not successful mower is switched into ERROR +2015-05-25 now time and date under DATE/TIME are always shown fixes https://github.com/Ardumower/ardumower/issues/42 +2015-05-25 added motorRollTimeMin implements https://github.com/Ardumower/ardumower/issues/41 so we are in better control of robot movement +------------------------------------------------------------------------------------------------------------------------------------------- + 1.0a3-Azurit 2015-05-25 adjusted version