Elcano Project Wiki - User contributions [en]

Power System

2025-08-24T22:17:28Z

Luke: /* Motor Driver Board August 2025 */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png|500px]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png|500px]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png|500px]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png|500px]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png|500px]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
[[File:Motor Driver PCB.png|500px]]

The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. The wiring housings have '''+ symbols''' to indicate where to place the relevant power, where the rest are to be ground. These are to be connected to external buck regulators which are then connected to systems like the Jeston Nano, Pixhawk, and Latte Panada. The external buck regulator is labeled Out/In power on the back to initiate where to place the wires as shown below. This regulator needs to be tested before full integration system. If proven successful, it can be implemented fully into system.

More buck regulators can be found here: https://www.amazon.com/dp/B07G446KHJ?ref=ppx_yo2ov_dt_b_fed_asin_title

==== Back of Buck Regulator ====
[[File:Buck Back.jpg|200px]]

==== Front of Buck Regulator ====
[[File:Buck Front.jpg|200px]]

This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

Power System

2025-08-24T22:12:19Z

Luke: /* Printed Circuit Board (PCB) */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
[[File:Motor Driver PCB.png]]

The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. The wiring housings have '''+ symbols''' to indicate where to place the relevant power, where the rest are to be ground. These are to be connected to external buck regulators which are then connected to systems like the Jeston Nano, Pixhawk, and Latte Panada. The external buck regulator is labeled Out/In power on the back to initiate where to place the wires as shown below. This regulator needs to be tested before full integration system. If proven successful, it can be implemented fully into system.

More buck regulators can be found here: https://www.amazon.com/dp/B07G446KHJ?ref=ppx_yo2ov_dt_b_fed_asin_title

==== Back of Buck Regulator ====
[[File:Buck Back.jpg|200px]]

==== Front of Buck Regulator ====
[[File:Buck Front.jpg|200px]]

This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

Power System

2025-08-24T22:02:45Z

Luke: /* Front of Buck Regulator */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
[[File:Motor Driver PCB.png]]

The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. The wiring housings have '''+ symbols''' to indicate where to place the relevant power, where the rest are to be ground. The external buck regulators have labeled Out/In power on the back to initiate where to place the wires as shown below.

==== Back of Buck Regulator ====
[[File:Buck Back.jpg|200px]]

==== Front of Buck Regulator ====
[[File:Buck Front.jpg | 200px ]]

This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

Power System

2025-08-24T22:02:28Z

Luke: /* Back of Buck Regulator */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
[[File:Motor Driver PCB.png]]

The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. The wiring housings have '''+ symbols''' to indicate where to place the relevant power, where the rest are to be ground. The external buck regulators have labeled Out/In power on the back to initiate where to place the wires as shown below.

==== Back of Buck Regulator ====
[[File:Buck Back.jpg|200px]]

==== Front of Buck Regulator ====
[[File:Buck Front.jpg]]

This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

Power System

2025-08-24T22:01:17Z

Luke: /* Motor Driver Board August 2025 */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
[[File:Motor Driver PCB.png]]

The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. The wiring housings have '''+ symbols''' to indicate where to place the relevant power, where the rest are to be ground. The external buck regulators have labeled Out/In power on the back to initiate where to place the wires as shown below.

==== Back of Buck Regulator ====
[[File:Buck Back.jpg]]

==== Front of Buck Regulator ====
[[File:Buck Front.jpg]]

This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

File:Buck Back.jpg

2025-08-24T21:54:06Z

Luke:

File:Buck Front.jpg

2025-08-24T21:53:49Z

Luke:

File:Motor Driver PCB.png

2025-08-24T21:41:22Z

Luke: Luke uploaded a new version of File:Motor Driver PCB.png

Power System

2025-08-24T21:39:18Z

Luke: /* Printed Circuit Board (PCB) */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
[[File:Motor Driver PCB.png]]

The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

File:Motor Driver PCB.png

2025-08-24T21:38:47Z

Luke:

Power System

2025-08-24T21:38:29Z

Luke:

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO-L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2- and 4-hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5-volt rail powers the smaller ICs on the board which need a lower voltage to operate.

=== Printed Circuit Board (PCB)===
The current PCB is a 2-sided board which was made that way to reduce its size from initial designs. The microcontroller board is a NUCLEO-L476RG, which sits in the middle of the motor controller systems. The input power from the battery is labeled as ''Battery In'' and ''Battey Out (GND)''. The connections to each of the motors are labeled as ''A'', ''B'', and ''C''. The top the PCB shows where the RJ-45 connector currently will sit, along with the wire housings on its right. This board has not been fabricated due to its cost from the manufacture OSH Park. A different manufacture can be chosen to make the board, or splitting the current design into 4 individual boards are options to possibly reduce the cost needed. This will make it so that each wheel has one board, meaning that a smaller microcontroller board can be chosen to use instead.

NEXT > [[Low Level]]

Power System

2025-08-24T21:08:44Z

Luke: /* Voltage Regulator */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2 and 4 hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
[[File:Motor Driver Voltage Regulator.png]]

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5 volt rail powers the smaller IC’s on the board which need a lower voltage to operate.

NEXT > [[Low Level]]

File:Motor Driver Voltage Regulator.png

2025-08-24T21:08:06Z

Luke:

Power System

2025-08-24T21:07:49Z

Luke: /* Motor Driver Board August 2025 */

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
[[File:Motor Driver Overview.png]]

There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2 and 4 hole connectors connected to the battery supply and ground.

=== Microcontroller ===
[[File:Microcontroller.png]]

The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
[[ File:Motor Driver Gate Driver.png]]

The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
[[File:Motor Driver H-Bridge.png]]

The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===

The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5 volt rail powers the smaller IC’s on the board which need a lower voltage to operate.

NEXT > [[Low Level]]

File:Motor Driver H-Bridge.png

2025-08-24T21:03:40Z

Luke:

File:Motor Driver Gate Driver.png

2025-08-24T21:03:25Z

Luke:

File:Microcontroller.png

2025-08-24T21:03:03Z

Luke:

File:Motor Driver Overview.png

2025-08-24T21:00:23Z

Luke:

Power System

2025-08-24T20:54:08Z

Luke:

[[File:Batteries-annotated.JPG]]

The Elcano power supply is a 36V battery on the Catrike recumbents or a 48V supply on the ELF. The picture shows three 12V lead-acid batteries connected in series to provide 36V. The fourth box in the top of the picture is a plastic case that houses a circuit board and two DC-DC converters. The converters output a 12V supply and a 24V supply. All power lines are color-coded with the right color wire when possible and with the right color Anderson connectors. The power lines are:

* Ground: Black

* Pink: 5V (not commonly used between modules)

* Orange: 12V

The steering servo runs on 12V.

Brakes are held on with 12V.

All Arduinos have a Vin pin that can take 12V. The Arduino internally converts the voltage to 5V and 3.3V.

The four-wire CAN connection consists of CAN hi, CAN lo, Ground, and 12V. This connection powers the Raspberry Pi, Receiver board and Scanse Sweep board.

* Purple: 24V

Used to apply the brakes.

* Green: Either 12V or 24V

This is the power line to the brake solenoids. It is initially 24V to apply the brake, then reduced to 12V to hold the brake on.

* Red: 36V or 48V power

== Power System Pre-2024 ==

Main power goes to the E-Bike controller, which converts DC power to three phase AC to drive the electric motor. The circuit board inside the box (shown in the picture below) with the DC-DC converters does some conditioning on the main power before sending it on to the E-Bike controller. The signal conditioning board has been called the PowerOn board. It initially had three functions:

1. Provide a power-on circuit that the Kelly e-bike controllers need. It has a large resistor between the 36V input line and 36V output line. When the switch is thrown, a relay bypasses the resistor.

2. Signal conditioning on phase signals from electric motor to give a fine resolution of vehicle speed.

3. An Arduino Micro applied the correct PWM signal to the brakes when E-stop was triggered. The Arduino is no longer used, since PWM is no longer used to control brakes.

The PowerOn board presently in use implements only the first function. The board is cut and jumpered so that the DPST switch also turns the 12V and 24V lines on/off. The fuse is bypassed by a bolt. The fuse was originally 2 Amps, and intended for the signal portion of the 36V line that drives the e-bike controller. (The main 36V line goes the the electric motor and is fused for 25A). The 12V line is fused for 10A and the 24V line for 5A. Since both of these lines now go through the fuse on the board, that fuse is too small and is redundant.

[[File:DC-DC converters.jpg|1000px]]

== Power System Summer 2024 ==

The Current power system takes 36 V from the batteries and steps it down to 24 V in one converter and then to 12 V in a second converter. Grounds are all connected together and fuses are included for all DC-DC converters. All the voltage outputs are connected on a connector box where wires can be connected to power peripherals at 12 or 24 volts. Problems have been experienced with voltage fluctuations based on current draw

[[File:ConnectorBox.jpg|300px]]

=== E-bike controller ===
The Kelly E-bike controller is power by 36V directly connected to the batteries and it receives inputs 0-5V from the DBW board.

[[File:E-bike Controller.jpg|300px]]

=== DC-DC converters ===
36-24V converter

[[File:36-24V Supply.jpg|300px]]

Part link
[https://www.amazon.com/dp/B07Y7YB14L?ref=ppx_yo2ov_dt_b_product_details&th=1 36-24 V DC regulator]

24-12V converter

[[File:24-12V Supply.jpg|300px]]

Part link
[https://www.amazon.com/Converter-Voltage-Regulator-Waterproof-Transformer/dp/B0C66635R1/ref=sr_1_5?crid=5ZQ6Q6R8WU7H&dib=eyJ2IjoiMSJ9.nsjF7Go1dNs2WYQ3DYdR303Z_eN-GIBlA3IvX9HIGSg8Z3eY2Xau85DQ74CxYvz0kvFLT7pH-j9volXrkA_SnWtxPtfob12ukohGWvARVsLkZgNS_NL6IXHrvlxnxWkxHqI6X6BgnOFR4NMIEAE0cLk4zm5wNmjOWaiBwYmRQs2UF8RZLrJYtwQtbwuj2tW4MJMKlakFTvtYvH-q4UbynFyXGXhqdGs156-cE32PY8s.uY44tbNRe2P1bru0xbk5HR8A9dBqTGMUFJSNC4jJVmA&dib_tag=se&keywords=DC%2Bbuck%2Bconverter%2B24-12%2BV%2B10%2BA%2B120W&qid=1723768300&sprefix=dc%2Bbuck%2Bconverter%2B24-12%2Bv%2B10%2Ba%2B120w%2Caps%2C163&sr=8-5&th=1 24-12 V DC regulator]
=== Current Peripherals being powered ===

* Steering board 12V
* Kelly E-bike controller 36V
* Solenoid Brakes 12-24V
* DBW board 12V

== Motor Driver Board August 2025 ==

=== Overview ===
There are 4 identical motor controller systems, which are made up of a gate driver and a 3-phase H-Bridge. All of them are all attached to the central microcontroller, a NUCLEO L476RG, arranged in a way the optimized trace distance. Each motor controller is attached to its own wheel and provides feedback to the microcontroller to aid it in determining what new speed the wheels need to be set at. This is done via hall effect sensors, which are not implemented on the schematic due to being directly connected with wires in this iteration. In addition, there are connections for our additional systems, such as the Jetson Nano, to be powered through an external buck regulator. This can be seen on the bottom right corner with 2 and 4 hole connectors connected to the battery supply and ground.

=== Microcontroller ===
The RJ45 connector inputs 8 signals from the Drive-By-Wire board into the microcontroller, which gives the throttle signals, and also takes in current speed from hall effect sensors for each wheel. These inputs are read and processed by the microcontroller, which then outputs signals that determine the speed and direction that are needed. The relevant signals necessary to achieve this are then fed to the Gate Drivers, for a total of 6 outputs for each Gate Driver. Each set of outputs has been placed to optimize distance to the Gate Drivers. The MCU is powered through the VCC pin which operates at 5 volts, taken off of a 5-volt buck converter. Future signals may need to be added later on, depending on what full testing reveals, as the system this is based on, VESC, has feedback signals from the Gate Drivers. These should all ideally fit on to the current MCU if needed, but each wheel maybe need is own board if there is no more room.

=== Gate Driver ===
The Gate Driver is both supplied by the battery and off of the 5 volts regulator. It takes in the output signals from the microcontroller and amplifies them for use by the 3-Phase H-Bridge. It also takes in feedback from the H-Bridge’s bottom MOSFETS sensor resistors to aid in correctly amplifying the input signals into the MOSFETs.

=== 3-Phase H-Bridge ===
The H-Bridge is controlled by the Gate Driver’s outputs to the MOSFETs’ gate pin, and by the 12 Volt battery supply, which firstly determines the operation mode the MOSFETs should be in. In addition, the output signals determine the speed via the frequency they are being sent at. This combined determines if the ATV needs to go forwards or backwards, and how fast it needs to do so. The sensor resistors attached to the bottom MOSFETs again provide feedback to the Gate Driver, and there are analog switches which have not been implemented into the overall design yet.

=== Voltage Regulator ===
The voltage regulator takes in 12 Volts from the battery and outputs 5 Volts, which is labeled as VCC through the system. The 5 volt rail powers the smaller IC’s on the board which need a lower voltage to operate.

NEXT > [[Low Level]]

Main Page

2025-08-22T20:09:09Z

Luke: /* Software repositories */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years, many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact, it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires to further their knowledge or simply finding a safer way to work.

Visit our github repository [//https://github.com/elcano here].

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing, help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
The basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low-Level system (aka Drive-By_Wire) uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level (aka Sensor Hub) system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

Using a stored map of the area of operation, nodes will be created around the map as appropriate. The vehicle program will then implement Dijkstra's Algorithm to get from the starting node to the desired node. Should the vehicle encounter an impassable obstacle, it will revert to its most recent node visited and reimplement Dijkstra's Algorithm. However, this time, the pathing where the obstacle lies will be ignored to use a different path.

If an obstacle can be traversed around, then the vehicle will sense which side (left or right) of the path is being occupied by the obstacle. The vehicle will then veer to the left or right accordingly. There will be sensors to ensure that the vehicle won't go over the path edge, which could be dangerous. In this scenario, the vehicle will reverse and consider the obstacle impassable.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive-by radio). Includes onboard controls (drive by wire).

== [[ Simulator]] ==
Using the Open-source CARLA platform with a go-between board allows simulation.

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High-Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High-Level works.

The LiDAR sensor is able to detect the distance and angle of any object in its view. This data can be used by the high-level software to determine where an obstacle is located for the vehicle to avoid.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High-Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== Software development procedures ==

=== [[Software repositories]] ===
What's in each of our GitHub repositories.

Luke Kustra's repo: https://github.com/luke-kustra/JetHawk-LKustra.git

Luke's contribution was experimenting with the LiDAR sensor. He was able to get the LiDAR to deactivate and display information about its surroundings, including the number of objects and their distance from the LiDAR sensor. Of course, the sensor should never deactivate when in real use; however, this deactivation is proof that the LiDAR is ready to be utilized in a larger system such as a vehicle.

Henry Haight's repo: https://github.com/Autonomous-ATV-Capstone-Team-Sequence/-LIDAR

=== [[Arduino software]] ===
Getting started; references; development tools. Dealing with libraries and different parameters for each vehicle.

=== [[Using Git and GitHub]] ===
Practices for maintaining code and source files on Elcano Project's GitHub repositories.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]

Lidar

2025-08-22T19:53:33Z

Luke:

= Hardware =

Scanse Sweep is a portable, rotating, horizontal-plane lidar unit. It has a maximum specified range of 40 meters and works best at ranges greater than 0.5 meter. '''Range data''' precision is 1 centimeter and range values are in centimeters. Angular resolution is user-configurable by adjusting sample rate and motor rotation frequency. Surface variables like reflectivity and environmental variables like strong illumination by sunlight limit measurement signal quality. '''Signal quality''' is a number between 0-255, with smaller numbers indicating poorer signal quality. '''Angle data''' precision is 0.0625 degrees and angle values are in degrees, expressed as a 16-bit fixed-point number with twelve integer bits and four fractional bits.

{| class="wikitable"
|-
! Angle bits
! Angle decimal (degrees)
|-
| ...0000'''0001'''
| 0.0625
|-
| ...0001'''0000'''
| 1.0
|-
| ...0001'''0001'''
| 1.0625
|}

The Scanse Sweep lidar unit is connected to an Arduino Micro to capture and process range, angle, and signal quality data during a scan.

= Software =
Software on the Arduino Micro controls the Scanse Sweep. On startup, the '''setup()''' procedure resets the lidar, configures scan frequency and motor rotation frequency, waits for the motor to come up to speed, and configures the lidar to begin scanning. The '''loop()''' procedure requests the most recent complete scan reading, filters out invalid readings, and processes the signal for transmission to high level.

== Filtering ==
Readings should be rejected if:
* '''Range''' is greater than 4000cm or equal to 1cm
* '''Angle''' is not within desired scan angles
* '''Signal quality''' is above an arbitrary value

Warning: the lidar is always scanning during operation unless the software signals it to stop (not implemented). The Scanse Sweep is a class 1 laser device and designed to be eye-safe, but placing the eye directly in the path of the beam or the scan plane should be avoided or prevented.

== Signal processing ==

Signal processing is required to limit bytes sent to [[HighLevel]] but still allow HighLevel to reconstruct obstacle data from the scan. At maximum sampling frequency, the lidar unit collects 1000 range readings per second. Some of these reading are filtered out. This results in tens or hundreds of readings during each pass. To reduce data bandwidth, the software uses a "max delta" value to break the scan into segments beginning and ending at points with a change in range greater than the max delta. This discards small changes in range, but detects larger changes in range that indicate obstacles. This balances the need to detect both obstacles and continuous surfaces like walls. A single straight surface is broken into several segments centered on the closest point. If obstacles are placed on front of the surface, the change in range for each obstacle produces one or more segments for each obstacle and one or more segments for each section of straight surface. How accurately this process reconstructs the field of obstacles depends on how many points are filtered out before signal processing: if obstacle data is missing, it will not begin or end a segment.

= Scanse Sweep =

The Scanse Sweep is a lidar sensor. Its head spins around multiple times per second, and collects information about its lateral surroundings. The spin speed and sampling rate can be changed.

It sends readings over a serial connection, each of which includes the angle, distance, signal strength, and other information.

Blasé Johnson worked on the sweep in the summer of 2017. The following is from his 6/22/17 report.

= YDLIDAR =

The YDLIDAR was worked on for the autonomous ATV capstone project summer of 2025 by Henry Haight. The lidar separates the data it detects and creates objects that can be used by the software. More information can be found on the GitHub page: https://github.com/elcano/Obstacles

= Basic Sweep Obstacle Detection Algorithm =
Goal

To use the readings from the sweep to determine if there is an obstacle present within a given distance in front of the trike, and to stop the trike if this is so.
Sweep Operation
Rotation and Speed
The Sweep rotates counterclockwise. Its rotational speed can be set to any integral value between 0 Hz and 10 Hz (number of full rotations per second).

= Sampling Rate =

The sweep obtains readings according to a given sample rate. Three distinct sample rates can be used for the Sweep:
500 – 600 Hz
750 – 800 Hz
1000 – 1075 Hz\

= Sample Data =

Each reading from the Sweep contains these data:

* A byte with sync/error bits, where the sync bit indicates whether the current reading is the first reading since the sensor last made a full rotation, one of the error bits indicates a communication error with the Lidar module, and the rest of the bits are reserved for future uses.

* The azimuth (degree of angle with starting position), transmitted as a 16-bit fixed point number, where the 12 MSBs are the integral part and the 4 LSBs are the fractional part.

* The distance from the nearest obstacle in centimeters, transmitted as a 16-bit integer.

* A value representing the signal strength, transmitted as an unsigned 8-bit integer, where 0 is the lowest strength, and 255 is the highest strength.

* A checksum, which is the remainder of the sum of the six previous bytes divided by 255.

= Math =

The trike will be expected to stop if an obstacle is detected within a certain distance from the front side of the vehicle, within the horizontal span of the trike. These distances are illustrated in Figure 1 as DISTANCE and WIDTH, respectively. 
The grey lines in Figure 1 show the distances that will be measured by the Sweep if it detects an obstacle at the line. The formula for this distance is DISTANCE/cos(AZIMUTH) .
The range of azimuths for the front side of the trike can be computed from the formula sarcsin(WIDTH/(2*DISTANCE))
and
360-arcsin(WIDTH/(2*DISTANCE))
for the right and left corners, respectively.

= Process =

Once the Sweep begins taking measurements, check the measurements whose azimuths lie within the boundaries of the front side of the trike. For each measurement within this range, determine if the distance from an obstacle in centimeters is equal to or less than DISTANCE/cos(AZIMUTH) . If so, stop the vehicle until a search of the measurements within the front boundary comes back negative, and a certain amount of time has passed since the last obstacle was detected.W

NEXT > [[Camera]]

== External Links ==

[http://scanse.io/ Scanse]

-- Main.JohnsonB - 2017-11-07
* Figure 1: Distance from trike to detect obstacle & trike width: <br />
<img src="%PUBURLPATH%/%WEB%/%TOPIC%/ScanseTrike.png" alt="ScanseTrike.png" width="397" height="463" />

Main Page

2025-08-22T11:39:11Z

Luke: /* Software repositories */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years, many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact, it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires to further their knowledge or simply finding a safer way to work.

Visit our github repository [//https://github.com/elcano here].

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing, help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
The basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low-Level system (aka Drive-By_Wire) uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level (aka Sensor Hub) system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

Using a stored map of the area of operation, nodes will be created around the map as appropriate. The vehicle program will then implement Dijkstra's Algorithm to get from the starting node to the desired node. Should the vehicle encounter an impassable obstacle, it will revert to its most recent node visited and reimplement Dijkstra's Algorithm. However, this time, the pathing where the obstacle lies will be ignored to use a different path.

If an obstacle can be traversed around, then the vehicle will sense which side (left or right) of the path is being occupied by the obstacle. The vehicle will then veer to the left or right accordingly. There will be sensors to ensure that the vehicle won't go over the path edge, which could be dangerous. In this scenario, the vehicle will reverse and consider the obstacle impassable.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive-by radio). Includes onboard controls (drive by wire).

== [[ Simulator]] ==
Using the Open-source CARLA platform with a go-between board allows simulation.

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High-Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High-Level works.

The LiDAR sensor is able to detect the distance and angle of any object in its view. This data can be used by the high-level software to determine where an obstacle is located for the vehicle to avoid.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High-Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== Software development procedures ==

=== [[Software repositories]] ===
What's in each of our GitHub repositories.

Luke Kustra's repo: https://github.com/luke-kustra/Drive-by-wire-LKversion.git

Luke's contribution was experimenting with the LiDAR sensor. He was able to get the LiDAR to deactivate and display information about its surroundings, including the number of objects and their distance from the LiDAR sensor. Of course, the sensor should never deactivate when in real use; however, this deactivation is proof that the LiDAR is ready to be utilized in a larger system such as a vehicle.

=== [[Arduino software]] ===
Getting started; references; development tools. Dealing with libraries and different parameters for each vehicle.

=== [[Using Git and GitHub]] ===
Practices for maintaining code and source files on Elcano Project's GitHub repositories.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]

Main Page

2025-08-22T11:19:05Z

Luke: /* Lidar */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years, many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact, it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires to further their knowledge or simply finding a safer way to work.

Visit our github repository [//https://github.com/elcano here].

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing, help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
The basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low-Level system (aka Drive-By_Wire) uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level (aka Sensor Hub) system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

Using a stored map of the area of operation, nodes will be created around the map as appropriate. The vehicle program will then implement Dijkstra's Algorithm to get from the starting node to the desired node. Should the vehicle encounter an impassable obstacle, it will revert to its most recent node visited and reimplement Dijkstra's Algorithm. However, this time, the pathing where the obstacle lies will be ignored to use a different path.

If an obstacle can be traversed around, then the vehicle will sense which side (left or right) of the path is being occupied by the obstacle. The vehicle will then veer to the left or right accordingly. There will be sensors to ensure that the vehicle won't go over the path edge, which could be dangerous. In this scenario, the vehicle will reverse and consider the obstacle impassable.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive-by radio). Includes onboard controls (drive by wire).

== [[ Simulator]] ==
Using the Open-source CARLA platform with a go-between board allows simulation.

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High-Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High-Level works.

The LiDAR sensor is able to detect the distance and angle of any object in its view. This data can be used by the high-level software to determine where an obstacle is located for the vehicle to avoid.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High-Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== Software development procedures ==

=== [[Software repositories]] ===
What's in each of our GitHub repositories.

=== [[Arduino software]] ===
Getting started; references; development tools. Dealing with libraries and different parameters for each vehicle.

=== [[Using Git and GitHub]] ===
Practices for maintaining code and source files on Elcano Project's GitHub repositories.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]

Main Page

2025-08-22T11:17:22Z

Luke: /* High Level */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years, many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact, it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires to further their knowledge or simply finding a safer way to work.

Visit our github repository [//https://github.com/elcano here].

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing, help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
The basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low-Level system (aka Drive-By_Wire) uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level (aka Sensor Hub) system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

Using a stored map of the area of operation, nodes will be created around the map as appropriate. The vehicle program will then implement Dijkstra's Algorithm to get from the starting node to the desired node. Should the vehicle encounter an impassable obstacle, it will revert to its most recent node visited and reimplement Dijkstra's Algorithm. However, this time, the pathing where the obstacle lies will be ignored to use a different path.

If an obstacle can be traversed around, then the vehicle will sense which side (left or right) of the path is being occupied by the obstacle. The vehicle will then veer to the left or right accordingly. There will be sensors to ensure that the vehicle won't go over the path edge, which could be dangerous. In this scenario, the vehicle will reverse and consider the obstacle impassable.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive-by radio). Includes onboard controls (drive by wire).

== [[ Simulator]] ==
Using the Open-source CARLA platform with a go-between board allows simulation.

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High-Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High-Level works.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High-Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== Software development procedures ==

=== [[Software repositories]] ===
What's in each of our GitHub repositories.

=== [[Arduino software]] ===
Getting started; references; development tools. Dealing with libraries and different parameters for each vehicle.

=== [[Using Git and GitHub]] ===
Practices for maintaining code and source files on Elcano Project's GitHub repositories.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]

Main Page

2025-08-22T11:13:05Z

Luke: /* High Level */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years, many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact, it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires to further their knowledge or simply finding a safer way to work.

Visit our github repository [//https://github.com/elcano here].

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing, help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
The basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low-Level system (aka Drive-By_Wire) uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level (aka Sensor Hub) system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

Using a stored map of the area of operation, nodes will be created around the map as appropriate. The vehicle program will then implement Dijkstra's Algorithm to get from the starting node to the desired node. Should the vehicle encounter an impassable obstacle, it will revert to its most recent node visited and reimplement Dijkstra's Algorithm. However, this time, the pathing where the obstacle lies will be ignored in order to use a different path.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive-by radio). Includes onboard controls (drive by wire).

== [[ Simulator]] ==
Using the Open-source CARLA platform with a go-between board allows simulation.

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High-Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High-Level works.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High-Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== Software development procedures ==

=== [[Software repositories]] ===
What's in each of our GitHub repositories.

=== [[Arduino software]] ===
Getting started; references; development tools. Dealing with libraries and different parameters for each vehicle.

=== [[Using Git and GitHub]] ===
Practices for maintaining code and source files on Elcano Project's GitHub repositories.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]