There are two Printed Circuit Boards on A.R.I.S. The PCBs are two layer-copper boards that are made using a LPKF machine. In our robot design, we planned for most of our weight to be around the motors and battery. In order to reduce rear weight and prohibit A.R.I.S. from doing wheelies during acceleration, we mounted the motors as close to center as possible. Next, we left a space between the two motors for our battery. To keep the wiring clean, we chose to have one PCB in the rear, which would have the power components of A.R.I.S., and one towards the front, which would be used to communicate between sensors and microcontroller. The two boards would be connected via 16-wire Ribbon Cable.
Power PCB Board
The first PCB is referred to as the Power Board, or PCB1. PCB1 is made up of the battery, fuse, power switch, 5V voltage regulator and 3.3V voltage regulator, Dual Motor Driver and H-bridge, motor encoders, and one end of the 16-pin ribbon cable.
Schematic of PCB1:
Main PCB Board
The second PCB is referred to as the Main board, or PCB2. PCB2 houses the PIC32MX250F128D microcontroller as well as many header pins which are used to connect to our sensors. Each of the headers have the appropriate voltage and ground pins for the sensor, as well as an analog input that connected to the PIC32. Also, there is a header pin for our Raspberry PI 3 which supplies power and UART communication between PIC and PI. Last but not least, PCB2 has a 6 pin header that allows us to connect a PICKIT3 to the PIC32 for programming and debugging.