Fig. 1: PCB 2011

Fig. 2: PCB routing

The power supply of the robot consists of two NiMH accumulators. These accumulators are connected to the supply-board which consists of 3.3V, 5V (logic), two 5.5V (power), 12V and 24V TRACO voltage converters. On the main board there are implemented three Xmega 256 microcontrollers from Atmel. The main board, based on a modular electronic system, includes all of the intelligence needed for reading sensor information, controlling the movement of the robot and accessing the robots actuators. To reduce wiring complexity each input/output port has its own power supply for the sensor/actuator that is connected to it. The main processor distributes the tasks to the slave processors. It is the central unit which communicates with the slaves via serial interface (RS422). The main processor executes the main program which includes all the strategies, the timing, the route planning, etc. The slave processors control three DC motors and four servos which control the speed, the position and the odometric navigation system. To detect the playing elements or the oponent robots sensors from IFM and Baumer are used.

A Human-Machine Interface (HMI board) is also connected to the main board. The HMI board allows the parameters to be easily changed and show error messages from the main board, moreover it provides easy access to the program and JTAG ports that are looped through to the main board.