Block Diagram

PCB layout

Functions

• Control two motors through cytron motor controllers
• Control two servos
• Collect data from one quadrature encoder and one Broadcom Aeat encoder
• Collect temperature and moisture data from the STEMMA sensor
• Collect data from 5 limit switches

Features

• Synchronous Buck converter
• ESD protection
• STMF4 MCU
• CAN transceiver
• Molex CLK-in Connector

Change from Rev1 → Rev 2

• LDO→Buck converter
• Added ESD protection
• Upgraded connectors to Molex CLK-IN mate
• Removed voltage divider from reset button
• Changed debugging header
• changed foot print from 0603 to 0805

Peripherals

• Cytron 10A 5-30V Dual Channel DC Motor Driver
• Feetech FS90- 9g analog servo
• Hitec HS-82MG - Metal gear micro servo 
• Pololu 4693 motor
• Pololu 4685 motor
• Adafruit STEMMA Soil Sensor - I2C capacitive moisture sensor

Designers

• Wolfgang Windholtz - Schematic and PCB design - WolfgangWindholtz

Design Software

• Altium Designer