<box 300px right | **Project details**>
^ Name: | GECKO3power ||
^ Maintainer| [[gecko-addons:gecko3_robot_and_gecko3power:unknown]]||
^ Revision: |  ||
^ Development status: | stable ||
^ Compatibility: | GECKO3 || 
</box>
====== GECKO3power ======

This is the electronic module of [[:gecko-platforms:gecko3_robot|gecko3-robot]].\\
It mainly consists of three parts:
  * Power System to power GECKO3 modules
  * Sensors
  * Actuators and power drivers

Below you find the description of all sub modules of the board.
\\
\\
\\
\\
\\
{{ :gecko-addons:gecko3_robot_and_gecko3power:gecko3powernets.png?500 |}}

===== Schematic and Bill of Material =====
{{ :gecko-addons:gecko3_robot_and_gecko3power:gecko3power_supply.pdf |}}\\
{{:gecko-addons:gecko3_robot_and_gecko3power:gecko3power_supply-bom.pdf|Bill of material}}

===== LEDs =====
   * Red: Charging LED, lights during the charging process
   * Green: Power LED, lights when the system is switched on
   * Yellow: Battery empty LED, lights when you should recharge the Battery

===== Power Switch =====
Three position switch functions: 
  * off
  * system on, motors off
  * system and motors on

===== Motor driver =====
=== H-Brige Vishay Si9986 ===
Full support H-Brige for forward, backward and brake.

Datasheet: [[http://www.vishay.com/docs/70007/si9986.pdf|Si9986]]\\
Application Note: [[http://www.vishay.com/docs/70590/70590.pdf|Application Note]]

=== Controlling the motors ===
The two motors are controlled by the two signals INA and INB of each motor:
^  Name   ^ Description                  ^ FPGA output ^
|  M1_INA | Control signal A for motor 1 | AA21 | 
|  M1_INB | Control signal B for motor 1 | AB24 | 
|  M2_INA | Control signal A for motor 2 | AC26 | 
|  M2_INB | Control signal B for motor 2 | W24  | 

The motor acts according to the control signal:
^ Signal  ^ Brake ^ +Dir ^ -Dir ^ Open ^
|  Mx_INA | 0 | 0 | 1 | 1 |
|  Mx_INB | 0 | 1 | 0 | 1 |

=== Pinning of the Motor Connector JP1 and JP2 ===
JP1 and JP2 connect the GECKO3power with the Maxon motors.
^  Pin ^ Name    ^ Description           ^
|  1  | MA+    | Motor positive output  |
|  2  | +3V3   | Motor 3.3 V supply (independent from System 3.3 V)  |
|  3  | Mx_ENA | Encoder output A  |
|  4  | Mx_ENB | Encoder output B  |
|  5  | GND   | System GND | 
|  6  | MA-   | Motor negative output |

==== Motor and Decoder ====
Are documented under [[gecko3:gecko-platform:gecko3_robot#Motors]].

===== Sensors =====
==== Line Sensor ====
{{:gecko-addons:gecko3_robot_and_gecko3power:tcnd5000.png?300|}}

With these sensors and the on board circuit to realize a Delta-Sigma ADC (R-C element for integration, D Flip-Flop) you are able to measure the brightness of the floor. So you can build a robot that is following for example a white line on a darker floor.

=== Reflective Sensor Vishay TCND5000 ===
  * Peak operating range: 2 mm to 25 mm
  * Daylight blocking filter
  * High linearity
  * Emitter wavelength 940 nm

Datasheet: [[http://www.vishay.com/docs/83795/tcnd5000.pdf|tcnd5000]]

==== Ultrasonic Distance Sensor ====
{{:gecko-addons:gecko3_robot_and_gecko3power:ultrasonic_sfr10_back.jpg?300|}}{{:gecko-addons:gecko3_robot_and_gecko3power:ultrasonic_sfr10_front.jpg?300|}}

=== Devantech SRF10 ===
  * Frequency 40KHz
  * Max. Analogue Gain Variable 40 to 700 in 16 steps
  * Units Range reported in uS, mm or inches
  * Range from 30 to 6000 mm
  * Connected to I<sup>2</sup>C Bus
  * Size of only 32 x 15 x 10 mm
  * [[http://www.robot-electronics.co.uk/acatalog/Ultrasonic_Rangers.html|Devantech US Rangers]]

Datasheet with description of the I<sup>2</sup>C commands: {{http://www.robot-electronics.co.uk/htm/srf10tech.htm}}

===== Battery =====
{{ :gecko-addons:gecko3_robot_and_gecko3power:gecko3power_battery.jpg?300|}}
The battery is a common lithium-ion type rechargeable type.

=== Contrell PA-LP987 ===
  * Cell Type Panasonic CGA103450
  * Voltage 3.6 – 4.2 V
  * Capacity 3900 mAh
  * 1s2p type: 2 cells in parallel

==== Battery Charger LTC4075EDD ====
Charge through USB or with wall adapter.\\

To charge it using a USB cable you can use any USB connector on any other board connected to the system bus!

===== Wall adapter Input =====
The wall adapter input is a common barrel connector.

=== Connector ===
  * Outer diameter 3.5 mm
  * Hole diameter 1.35 mm
  * Input current up to 4 A
  * Input voltage 4.5 – 5.5 V

If you need a connector to plug into the robot you can use the one with order number [[https://www.distrelec.ch/ishopWebFront/catalog/product.do/para/node/is/acakabaaacab/and/highlightNode/is/151300/and/id/is/01/and/series/is/1.html|151300 at Distrelec]]

===== DC/DC Converter =====
The system voltage of GECKO3 modules is 3.3 V. The DC/DC Converter is the primary power supply for any 3.3 V component on other modules.

=== Supply ===
  * Voltage: 3.3 V
  * Available current: up to 3 A

===== 60 to 120 pin adapter =====
This adapter connects the power module to the system bus electrically and matches the height and position of the system bus connector for the [[:gecko-platforms:gecko3_robot|gecko3 robot]].
{{ :gecko-addons:gecko3_robot_and_gecko3power:gecko3robot_adapter.jpg?300|}}

Schematic and bill of material:\\
{{:gecko-addons:gecko3_robot_and_gecko3power:pcb_60pin_120pin.pdf|}}\\
{{:gecko-addons:gecko3_robot_and_gecko3power:pcb_60pin_120pin_bom.pdf|}}

Pinning of the [[:gecko3:system_bus:start|120 pin GECKO3 system bus]].