The main board serves as the central hub and brains of our robot. It contains a PIC32MZ2048EFH100 microcontroller, for the 100 pin output as well as a high processor speed for allowing our code to run without any limitations. The MCU will be sampling the output of the sensors via ADC, turning on the mosfet for the water pump and providing the PWM outputs for the motors.
The motor board consists of a DRV8412DDW motor driver which has dual full H-bridges that will control the speed and direction of the motors. There are two motor boards onboard FEAR in order to control the 4 motors.
The sensor board breaks out the connections for the three IR sensors and one Ultrasonic sensor. Each sensor board contains a dual op amp LM358 which amplifies the signal from the dual IR flame sensors. There are three sensor boards on-board FEAR, one in the front and one on the left and the right.