====== Electrical Connections ======

===== System Overview =====
This overview shows the whole system together with all necessary modules. Please note the additional electromagnet.
{{ :delta:ntb:system_overview_ntb.jpg?1000 |}}

===== Motors and Encoders =====


{{ :delta:ntb:level_shifters_ntb.jpg?1000 |}}

===== Magnet =====

  - GND
  - 12V
  - LEDs Chassis
  - Magnet

{{ :delta:ntb:magnet_print_ntb.jpg?600 |}}

One of our robots has a magnet with high residual magnetization even after the magnet has been turned off. For this purpose The MOSFET was replaced by an H-bridge circuit. When releasing the magnet, the H-bridge drives the magnet in opposite direction for a very short time. This ensures that the magnet immediately releases its block. For driving the H-bridge a second GPIO is necessary and must be defined in the configuration file.