I'm designing my first Teensy project of any complexity, and I would love to get feedback before I make any foreseeable mistakes. It's a quadruped robot controlled by a small imitation of itself: Robot has four legs with a hip and a knee attached to servos; controller has four legs with a hip and a knee attached to resistive position sensors. At the end of each leg will be a weapon motor, controlled by a corresponding switch. The goal is to build an antweight combat robot.
Here's the controller schematic:
The wires from the controller to the pots and switches will be about 10cm-30cm (4"-12") long.
Here's the robot schematic:
The wires from the battery/controller to the servos and DC motors will be about 50cm-150cm (20"-60") long.
I expect the DC weapon motors to be electrically noisy. They draw a fair amount of current for a tiny motor (18A at stall) and the brushes throw off lots of sparks. They're one of the models of 130-size motors used for Nerf gun modifications.
Have I made any obvious mistakes in the schematic?
Are there any subtle problems I might run into with these circuits?
I'm a bit worried that the position sensors and the wires to them will pick up noise, causing jitter in the signal and corresponding jitter in the servo positioning. Should I be worried about that? If so, is there anything I can do about it?
The voltage regulator on the robot is a switching regulator. If I need to add an external regulator to the controller, am I correct to assume that I should use a linear regulator instead of a switching regulator in order to get more consistent signals from the position sensors than a switching regulator would provide?
Is the number of sensors and motors involved too much for a single Teensy? Should I divide the workload among a couple of MCUs?
All thoughts and suggestions welcome, including advice on making the schematic more presentable. It's the first one I've made for public consumption, so I'm sure there are things that could be improved on in it from both an electronic and an aesthetic point of view.
Thanks!
Here's the controller schematic:
The wires from the controller to the pots and switches will be about 10cm-30cm (4"-12") long.
Here's the robot schematic:
The wires from the battery/controller to the servos and DC motors will be about 50cm-150cm (20"-60") long.
I expect the DC weapon motors to be electrically noisy. They draw a fair amount of current for a tiny motor (18A at stall) and the brushes throw off lots of sparks. They're one of the models of 130-size motors used for Nerf gun modifications.
Have I made any obvious mistakes in the schematic?
Are there any subtle problems I might run into with these circuits?
I'm a bit worried that the position sensors and the wires to them will pick up noise, causing jitter in the signal and corresponding jitter in the servo positioning. Should I be worried about that? If so, is there anything I can do about it?
The voltage regulator on the robot is a switching regulator. If I need to add an external regulator to the controller, am I correct to assume that I should use a linear regulator instead of a switching regulator in order to get more consistent signals from the position sensors than a switching regulator would provide?
Is the number of sensors and motors involved too much for a single Teensy? Should I divide the workload among a couple of MCUs?
All thoughts and suggestions welcome, including advice on making the schematic more presentable. It's the first one I've made for public consumption, so I'm sure there are things that could be improved on in it from both an electronic and an aesthetic point of view.
Thanks!