Electrical Connections

System Overview

This overview shows the whole system together with all necessary modules. Please note the additional electromagnet.

Motors and Encoders

Magnet

  1. GND
  2. 12V
  3. LEDs Chassis
  4. Magnet

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.