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Electrical

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The majority of the electrical work for this project was comprised of linear amplifier circuits to drive the DC motors. Each of the two motors had the following circuits created:

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The V_in signal came from the PC/104 stack analog outputs driven from the computational model. The motors were each driven usen +/- 15V, but the stack could only output +/- 9V. Therefore, to push 9V up to the 15V source, the multiplier 5/3 (1.667) was chosen to push the limits. This would give us ultimate torque and speed.

The solenoids were also driven with a similar amplifier, though they only needed 12V.

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