1. Control Feasibility ATMega328 has 18 I/Os (16 brought out) 5V Operation @ 16MHz External OSC 4 out of 6 Successive A-to-D ports available Features SPI,6 PWM ports,I2C and UART Large community support and freely available libraries

2. Servo Feasibility Pulse Width Modulation Control – Pulse width determines angle of servo. Current Measurements: 700 mA transients 500 mA under stable load 40 mA holding idle 5 mA idle

3. Servo Feasibility Cont. Assuming 7.2V 5AH Battery – 5V servo voltage rail (switching buck) – Discharging at 0.1068C (worst case) would take 46.8164 hours to fully discharge Calculations 5V*(.700A*1.1) = 3.85W (Including 10% loss by Buck) 3.85W = 7.2V * IBatt IBatt = 0.5347 A 0.5347A/5AH = 0.1068 C MAX 5AH/0.1068C = 46.8164 hours to full discharge

4. Protection Mainboard uses two separate PTCs – Buck protection 3A Trip Current – Control protection 0.1A Trip Current Buck circuit also includes over current, under voltage, and thermal protection (built into the IC)

5. Mainboard Layout - Bottom

6. Mainboard Layout – Top

7. PCB Schematic

8. PCB Schematic Continued

9. Chassis IO Board Brings out 10 usable IOs to the outside of the LVE 4 Have Analog In Capabilities 4 Have PWM Capabilities 6 Are General I/O IO Pins Protected By Custom Shroud

10. Chassis IO Layout

12. Chassis IO Custom Shroud