Custom PCBs

This chapter presents the custom PCBs designed for the Fenrir Project.

The robot includes three custom PCBs with the following functionalities:

• Raspberry Pi Sield (header)

  • Power supply
  • I2C bus
  • SPI bus
  • UART bus
  • Fan cooling
  • Buttons
  • LEDs

• I2C Sensor Board

  • IMU (Accelerometer + Gyroscope)
  • Barometer
  • Magnetometer
  • ADC
  • Real-Time Clock (RTC)

• Arduino Nano Board

  • I2C bus
  • Motor Control
  • Motor Encoders
  • Ultrasonic Sensors
  • Line Sensors

For detailed design files, please refer to the pcbs folder in the root of this repository.

Raspberry Pi Shield

Figure 1. Raspberry Pi Shield schematic.

Figure 2. Raspberry Pi Shield 3D render.

I2C Sensor Board

Figure 3. I2C Sensor Board schematic.

Figure 4. I2C Sensor Board 3D render.

Arduino Nano Every Board

Figure 5. Arduino Nano Board schematic.

Figure 6. Arduino Nano Board 3D render.