Electrical
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:
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.
