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<li class="toctree-l2"><a class="reference internal" href="#sensorarray">Sensorarray</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#specs-v4">Specs V4</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#specs">Specs</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#id2">Details</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#mainboard">Mainboard</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#id3">Specs</a></li>
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<div class="section" id="hardware">
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<span id="other-bardware"></span><h1>Hardware<a class="headerlink" href="#hardware" title="Permalink to this heading">¶</a></h1>
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<div class="section" id="sensorarray">
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<h2>Sensorarray<a class="headerlink" href="#sensorarray" title="Permalink to this heading">¶</a></h2>
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<p><img alt="SensorarrayImage" src="../_images/Sensorarray.png" /></p>
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<div class="section" id="specs-v4">
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<h3>Specs V4<a class="headerlink" href="#specs-v4" title="Permalink to this heading">¶</a></h3>
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<div class="line-block">
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<div class="line"><strong>Processor:</strong> <a class="reference external" href="https://mou.sr/3UxW49B">STM32G030F6P6</a> - 32-bit ARM Cortex M0 CPU @ 64 MHz</div>
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<div class="line"><strong>I/O:</strong> 1x I2C, 1x SWD</div>
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<div class="line"><strong>Sensors:</strong> 5x <a class="reference external" href="https://mou.sr/3TWGYdI">QRE1113GR</a></div>
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</div>
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</div>
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<div class="section" id="specs-v2">
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<h3>Specs V2<a class="headerlink" href="#specs-v2" title="Permalink to this heading">¶</a></h3>
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<div class="line-block">
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<div class="line"><strong>Processor:</strong> <a class="reference external" href="https://mou.sr/3FxhPC5">ATMEGA328P-AU</a> - 8-bit CPU @ 16 MHz</div>
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<div class="line"><strong>I/O:</strong> 1x I2C, 1x UART, 1x ISP</div>
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<div class="line"><strong>Sensors:</strong> 5x <a class="reference external" href="https://mou.sr/3TWGYdI">QRE1113GR</a></div>
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</div>
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</div>
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<div class="section" id="details">
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<h3>Details<a class="headerlink" href="#details" title="Permalink to this heading">¶</a></h3>
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<p>Das Sensorarray wird verwendet um Linienen vor dem Roboter zu erkennen. Es agiert als I2C Slave und muss dementsprechend aktiv gepollt werden.
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Zusätzlich besteht die möglichkeit alle Emitter zu deaktiviern um einen eventuellen Messfehler durch Sonneneinstralung oder andere Störquellen zu erkennen.</p>
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<p>Version 4 unterscheidet sich zu Version 2 im Mikroprozessor, da es zu Lieferengpässen des ATMEGA gekommen ist.
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Zusätzlich wurde die möglichkeit alle Emitter einzeln an bzw. auszuschalten entfernt, da diese keinen signifikanten Mehrwert brachte.</p>
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</div>
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</div>
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<div class="section" id="motorboard">
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<h2>Motorboard<a class="headerlink" href="#motorboard" title="Permalink to this heading">¶</a></h2>
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<p><img alt="MainboardImage" src="../_images/Mainboard.png" /></p>
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<div class="section" id="specs">
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<h3>Specs<a class="headerlink" href="#specs" title="Permalink to this heading">¶</a></h3>
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<p><strong>Motor-Treiber:</strong> <a class="reference external" href="https://mou.sr/3TXbFzu">LV8548MC-AH</a></p>
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</div>
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<div class="section" id="id2">
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<h3>Details<a class="headerlink" href="#id2" title="Permalink to this heading">¶</a></h3>
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<p>Das Motorboard kann an einen der 4 Ports am Roboter angesteckt werden und ermöglicht das Ansteuern von Motoren und auslesen von Encodern.</p>
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</div>
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</div>
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<div class="section" id="mainboard">
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<h2>Mainboard<a class="headerlink" href="#mainboard" title="Permalink to this heading">¶</a></h2>
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<div class="section" id="id3">
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<h3>Specs<a class="headerlink" href="#id3" title="Permalink to this heading">¶</a></h3>
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<div class="line-block">
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<div class="line"><strong>Processor:</strong> <a class="reference external" href="https://mou.sr/3fuaAQv">STM32L051C8T6TR</a> - 32-bit ARM Cortex M0 @ 32MHz</div>
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<div class="line"><strong>I/O:</strong> 4x I2C (3x Bus 1, 1x Bus 2), 1x 40 Pin GPIO Header, 2x SPI (Verbunden mit GPIO), 4x Motor-/Servo-connector, 1x SWD, 1x USB-C</div>
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</div>
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</div>
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<div class="section" id="id4">
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<h3>Details<a class="headerlink" href="#id4" title="Permalink to this heading">¶</a></h3>
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<p>Das Mainboard wird auf den GPIO-Header eines Raspberry Pi gesteckt und ermöglicht die Steuerung eines Roboters mittels 4 Motor- bzw. Servo-Ports. Der RaspberryPi kommuniziert dabei mittels SPI mit dem Mainboard und steuert die einzelnen Sensoren oder Module an.
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Zusätzlich befinden sich auf der Unterseite des Mainboards Lötstellen, welche direkt mit der Stromversorgung der Motoren verbunden sind und geben so die möglichkeit Motoren mit mehr als 5V anzusteuern.</p>
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