Upload 12635 files

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@@ -33,3 +33,500 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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Architecture/README.md

@@ -0,0 +1,149 @@
+# ARCHITECTURE
+
+## RAMIE
+
+RAMIE is an acronym for:
+- RAD Radical
+- AI
+- Messing
+- In
+- Earthworks
+
+RAMIE is an MVP AI robot meant to use local 4B LLMs as poor's man AGI and achieve general robotics to an extent.
+
+RAMIE showcasses an end to end STT LLM TTS workflow using MCP tools to sense the robot state and control the robot actions.
+
+RAMIE is menat to run 100% locally without internet connection, all within a small mobile robots, cost, power, memory and compute envelopes.
+
+It has proven most challenging finding an SBC capable of such feats.
+
+## SPECIFICATIONS
+
+- Power: 40 W
+- Batttery Duration: ? h
+- DoF: 2
+- Complexity: MVP
+
+# HARDWARE ARCHITECTURE
+
+## SBC
+
+The single board computer takes care of high level user application and running AI models and required python glue.
+
+RAMIE is powered by the ```Latte Panda Mu N100 16GB``` mounted on a ```Latte Panda Mu Lite Carrier Board```
+
+This board was choosen because of a combination of RAM, RAM bandwidth, compute, power envelope and Intel being one of the two companies in the world that knows how to write drivers and ML frameworks.
+
+## Microcontroller
+
+RAMIE is equipped with a microcontroller board takes care of real time applications, like motor control.
+
+- ```Atmel 324 PA``` 32KB Flash, 4KB SRAM
+- ```LCD 2x16``` Display board status
+- ```UART 250Kb/s``` Link with the SBC
+
+## Motors
+
+RAMIE moves using two continuous rotation servos using PPM protocol and two wheels with pivot.
+
+Motors are labeled left and right, in this order. The table below will show the robot action when a given speed is sent to the microcontroller board.
+
+| Left Speed  | Right Speed | Robot Motion | 
+|-------------|-------------|--------------|
+| 0           | 0           | STOP         |
+| +10         | +10         | FORWARD 100mm/s          |
+| -10         | -10         | BACKWARD 100mm/s          |
+| -10         | +10         | COUNTERCLOCKWISE 180°/s |
+| +10         | -10         | CLOCKWISE 180°/s |
+
+## Communication Protocol SBC <-> 
+
+Hardware link uses full duplex 250Kb/s link on UART ```ttys4```
+
+The protocol is meant to allow the SBC to read the robot state, and emit robot actions, with the microcontroller firmware taking care of real time operation.
+
+### FEATURE: COMMUNICATION TIMEOUT
+
+The firmware is configured to STOP the motors automatically if no communications is received within a given time limit.
+
+This feature is meant to mitigate the scenario where the SBC application has stalled and the robot will keep executing the last given command, preventing a collision and making it convenient to rearm the robot.
+
+Typical timeout configuration is 1000ms
+
+### FEATURE: DIRECT MODE VS. TIMED MODE
+
+I thought a lot about it, and designed to set of velocity commands to be sent to the SBC.
+
+- Direct Mode: The SBC send a velocity for left and right wheel, and the wheel will move at that speed unless commanded otherwise.
+- Timed Mode: The SBC send a timed velocity command that specify a duration in servo step (50Hz). The microcontroller has a queue. This allows the SBC to send a number of motion commands and the microcontroller will execute the commands in sequence for the specified time, then when queue is empty, stop the motors.
+
+Direct Mode is convenient for teleoperation, by binding a velocity to a keystroke down, and velocity zero to keystroke up.
+
+Timed Mode is convenient for LLM orchestration, where the LLM can come up in a single query with a number of motion instructions, and the microcontroller will execute them in sequence. THe SBC isn't going to be convenient for real time anyway, let the microcontroller deal with it.
+
+The microcontroller will seamless switch mode based on last received command, switching will flush the queue of timed commands.
+
+### UART Command Reference (SBC <-> MICROCONTROLLER)
+
+*All messages are ASCII strings terminated by the literal sequence `"/0"` (slash zero). The SBC always sends the terminator; the micro‑controller never sends any data except the replies listed below.*
+
+**RAMIE UART Command Reference (SBC ↔ MC‑U)**  
+
+| Command | Syntax | Arguments | Meaning | Reply (if any) |
+|---------|--------|-----------|---------|----------------|
+| **PING** – refresh communication timeout | `P/0` | – | Resets the internal timeout timer. | None |
+| **SIGN** – get robot signature | `SIGN/0` | – | Returns a string identifying the robot. | `RAMIE/0` |
+| **REV** – firmware revision | `REV/0` | – | Returns date of current firmware (ISO‑8601). | `2025-11-16/0` |
+| **STOP** – emergency stop | `STOP/0` | – | Immediately cuts power to both motors, bypassing acceleration limits and flushes the motion queue. | `STOP/0` |
+| **SET VELOCITY** – set constant wheel speed (bypass orchestration) | `VR%sL%s/0` | `R`: right‑wheel speed  (–127 … +127)<br>`L`: left‑wheel speed  (–127 … +127) | Motor controller accepts the two signed bytes and drives each wheel at the requested PWM value. The values are clipped to the legal range. | None |
+| **SET TIMED VELOCITY** – enqueue a motion segment | `VT%uR%sL%s/0` | `T`: duration (steps) at 50Hz <br>`R`, `L`: wheel speeds as above | The controller stores the tuple *(right, left, duration)* in its internal queue. When no other command is received, it executes each queued segment sequentially and stops automatically after the last step. Duration is an integer multiple of **1 step = 20 ms** (i.e., one 50Hz cycle). | None |
+| **GET BATTERY** – read battery voltage | `GETBAT/0` | – | ? | ? |
+
+
+### Common Notes
+
+- **Terminators** – Every command string must end with the literal characters `/0`. The micro‑controller responds in exactly the same way (if a reply is defined).  
+- **Error Handling** – If an unknown or malformed command arrives, the micro‑controller sends back `ERR/0`. No other action is taken.  
+- **Speed Units** – The signed byte values represent PPM 
+- **Queue Size** – Timed Mode supports up to 16 motion commands before overflowing. Overflow behaviour is flush.
+- **Safety** – The servo driver implements a change in command limit from time step to time step, that is speed for position servos, and acceleration for speed servos.
+
+
+#### Example Session
+
+```
+# Reset timeout
+P/0
+
+# Query signature
+SIGN/0   → RAMIE/0
+
+# Set constant speeds for 2 seconds
+VR10L-10/0
+VT20R20L20/0      # queue: forward 3 s (since duration=30 steps)
+```
+
+The test bench shows the response to orchestration
+
+```
+//MOTIONS QUEUED UP
+St_wheel_speed_duration mov1{ 10, -10, 5 };   // spin in place for 5 steps
+St_wheel_speed_duration mov2{ 20,  20, 3 };    // forward for 3 steps
+St_wheel_speed_duration mov3{-15, 15, 4 };     // spin opposite direction
+```
+
+```
+//SPEED OF THE MOTORS AT EACH ORCHESTRATION STEP
+Step:   1 | R:    10 | L:   -10
+Step:   2 | R:    10 | L:   -10
+Step:   3 | R:    10 | L:   -10
+Step:   4 | R:    10 | L:   -10
+Step:   5 | R:    10 | L:   -10
+Step:   6 | R:    20 | L:    20
+Step:   7 | R:    20 | L:    20
+Step:   8 | R:    20 | L:    20
+Step:   9 | R:   -15 | L:    15
+Step:  10 | R:   -15 | L:    15
+Step:  11 | R:   -15 | L:    15
+Step:  12 | R:   -15 | L:    15
+```

Electronics/Battery Operation/Images/2025-11-23-T1537 Teleoperation SSH Demo.mp4

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+size 1551264

Electronics/Battery Operation/README.md

@@ -0,0 +1,26 @@
+# Battery Operation
+
+Final test with the robot under battery power with SBC, AT324, WiFI and motors running with SSH teleoperation form keyboard
+
+![](/Electronics/Battery%20Operation/Images/2025-11-23-T1514%20Battery%20and%20Wheels.jpg)
+
+Install batteries
+
+![](/Electronics/Battery%20Operation/Images/2025-11-23-T1516%20Install%20Batteries.jpg)
+
+Installed and ready without tethers
+
+![](/Electronics/Battery%20Operation/Images/2025-11-23-T1516%20Ready.jpg)
+
+Powered from batteries 16.2 V
+
+![](/Electronics/Battery%20Operation/Images/2025-11-23-T1516%20Powered.jpg)
+
+
+Video of the robot roaming teleoperated
+
+https://github.com/user-attachments/assets/86d634cf-5507-45de-8ebf-013d29c1c32a
+
+## ISSUES
+
+ISSUE: I have grave issues trying to power the SBC. There are checksum errors when it powers, and it seems to power only when I remove the ttyS4 connection. It needs to be checked WHY

Electronics/Board motor screen/AT324LCD_V1.kicad_dru

@@ -0,0 +1,8 @@
+(version 1)
+(rule "class 0:0"
+  (condition "A.NetClass == 'Signal' && B.NetClass == 'Signal'")
+  (constraint clearance (min 0.5mm)))
+
+(rule "class 1:1"
+  (condition "A.NetClass == 'Power' && B.NetClass == 'Power'")
+  (constraint clearance (min 0.5mm)))

Electronics/Board motor screen/AT324LCD_V1.kicad_prl

@@ -0,0 +1,173 @@
+{
+  "board": {
+    "active_layer": 0,
+    "active_layer_preset": "",
+    "auto_track_width": true,
+    "hidden_netclasses": [],
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "images": 0.6,
+      "pads": 1.0,
+      "shapes": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      "vias",
+      "footprint_text",
+      "footprint_anchors",
+      "ratsnest",
+      "grid",
+      "footprints_front",
+      "footprints_back",
+      "footprint_values",
+      "footprint_references",
+      "tracks",
+      "drc_errors",
+      "drawing_sheet",
+      "bitmaps",
+      "pads",
+      "zones",
+      "drc_warnings",
+      "drc_exclusions",
+      "locked_item_shadows",
+      "conflict_shadows",
+      "shapes"
+    ],
+    "visible_layers": "ffffffff_ffffffff_ffffffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "git": {
+    "repo_type": "",
+    "repo_username": "",
+    "ssh_key": ""
+  },
+  "meta": {
+    "filename": "AT324LCD_V1.kicad_prl",
+    "version": 5
+  },
+  "net_inspector_panel": {
+    "col_hidden": [
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false,
+      false
+    ],
+    "col_order": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23
+    ],
+    "col_widths": [
+      294,
+      279,
+      173,
+      120,
+      173,
+      173,
+      173,
+      126,
+      173,
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+      173,
+      173,
+      173,
+      173,
+      173,
+      173,
+      173,
+      173,
+      173,
+      173
+    ],
+    "custom_group_rules": [],
+    "expanded_rows": [],
+    "filter_by_net_name": true,
+    "filter_by_netclass": true,
+    "filter_text": "",
+    "group_by_constraint": false,
+    "group_by_netclass": false,
+    "show_unconnected_nets": false,
+    "show_zero_pad_nets": false,
+    "sort_ascending": true,
+    "sorting_column": 0
+  },
+  "open_jobsets": [],
+  "project": {
+    "files": []
+  },
+  "schematic": {
+    "selection_filter": {
+      "graphics": true,
+      "images": true,
+      "labels": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pins": true,
+      "symbols": true,
+      "text": true,
+      "wires": true
+    }
+  }
+}

Electronics/Board motor screen/AT324LCD_V1.kicad_pro

@@ -0,0 +1,339 @@
+{
+  "board": {
+    "3dviewports": [],
+    "design_settings": {
+      "defaults": {
+        "apply_defaults_to_fp_fields": false,
+        "apply_defaults_to_fp_shapes": false,
+        "apply_defaults_to_fp_text": false,
+        "board_outline_line_width": 0.05,
+        "copper_line_width": 0.2,
+        "copper_text_italic": false,
+        "copper_text_size_h": 1.5,
+        "copper_text_size_v": 1.5,
+        "copper_text_thickness": 0.3,
+        "copper_text_upright": false,
+        "courtyard_line_width": 0.05,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": true,
+          "text_position": 0,
+          "units_format": 0
+        },
+        "fab_line_width": 0.1,
+        "fab_text_italic": false,
+        "fab_text_size_h": 1.0,
+        "fab_text_size_v": 1.0,
+        "fab_text_thickness": 0.15,
+        "fab_text_upright": false,
+        "other_line_width": 0.1,
+        "other_text_italic": false,
+        "other_text_size_h": 1.0,
+        "other_text_size_v": 1.0,
+        "other_text_thickness": 0.15,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.8,
+          "height": 1.27,
+          "width": 2.54
+        },
+        "silk_line_width": 0.1,
+        "silk_text_italic": false,
+        "silk_text_size_h": 1.0,
+        "silk_text_size_v": 1.0,
+        "silk_text_thickness": 0.1,
+        "silk_text_upright": false,
+        "zones": {
+          "min_clearance": 0.5
+        }
+      },
+      "diff_pair_dimensions": [],
+      "drc_exclusions": [],
+      "meta": {
+        "filename": "board_design_settings.json",
+        "version": 2
+      },
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "error",
+        "creepage": "error",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_filters_mismatch": "ignore",
+        "footprint_symbol_mismatch": "warning",
+        "footprint_type_mismatch": "ignore",
+        "hole_clearance": "error",
+        "hole_to_hole": "warning",
+        "holes_co_located": "warning",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "warning",
+        "lib_footprint_mismatch": "warning",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "mirrored_text_on_front_layer": "warning",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "nonmirrored_text_on_back_layer": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "warning",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "warning",
+        "silk_over_copper": "warning",
+        "silk_overlap": "warning",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_on_edge_cuts": "error",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
+        "track_angle": "error",
+        "track_dangling": "warning",
+        "track_segment_length": "error",
+        "track_width": "error",
+        "tracks_crossing": "error",
+        "unconnected_items": "error",
+        "unresolved_variable": "error",
+        "via_dangling": "warning",
+        "zones_intersect": "error"
+      },
+      "rules": {
+        "max_error": 0.005,
+        "min_clearance": 0.2032,
+        "min_connection": 0.0,
+        "min_copper_edge_clearance": 0.025,
+        "min_groove_width": 0.0,
+        "min_hole_clearance": 0.25,
+        "min_hole_to_hole": 0.25,
+        "min_microvia_diameter": 0.2,
+        "min_microvia_drill": 0.1,
+        "min_resolved_spokes": 2,
+        "min_silk_clearance": 0.0,
+        "min_text_height": 0.8,
+        "min_text_thickness": 0.08,
+        "min_through_hole_diameter": 0.3,
+        "min_track_width": 0.0,
+        "min_via_annular_width": 0.1,
+        "min_via_diameter": 0.5,
+        "solder_mask_to_copper_clearance": 0.0,
+        "use_height_for_length_calcs": true
+      },
+      "teardrop_options": [
+        {
+          "td_onpthpad": true,
+          "td_onroundshapesonly": false,
+          "td_onsmdpad": true,
+          "td_ontrackend": false,
+          "td_onvia": true
+        }
+      ],
+      "teardrop_parameters": [
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_round_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_rect_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_track_end",
+          "td_width_to_size_filter_ratio": 0.9
+        }
+      ],
+      "track_widths": [],
+      "tuning_pattern_settings": {
+        "diff_pair_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 1.0
+        },
+        "diff_pair_skew_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        },
+        "single_track_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        }
+      },
+      "via_dimensions": [],
+      "zones_allow_external_fillets": false
+    },
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
+    "layer_pairs": [],
+    "layer_presets": [],
+    "viewports": []
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
+  "libraries": {
+    "pinned_footprint_libs": [],
+    "pinned_symbol_libs": []
+  },
+  "meta": {
+    "filename": "AT324LCD_V1.kicad_pro",
+    "version": 3
+  },
+  "net_settings": {
+    "classes": [
+      {
+        "bus_width": 12,
+        "clearance": 0.2032,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Default",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "priority": -1,
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.2,
+        "via_diameter": 0.6,
+        "via_drill": 0.3,
+        "wire_width": 6
+      },
+      {
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+        "clearance": 0.2032,
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+        "diff_pair_width": 0.2,
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+        "microvia_diameter": 0.3,
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+        "name": "Power",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
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+        "via_diameter": 1.2064,
+        "via_drill": 0.8,
+        "wire_width": 6
+      },
+      {
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+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Signal",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "priority": -1,
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.2,
+        "via_diameter": 0.6,
+        "via_drill": 0.3,
+        "wire_width": 6
+      }
+    ],
+    "meta": {
+      "version": 4
+    },
+    "net_colors": null,
+    "netclass_assignments": null,
+    "netclass_patterns": [
+      {
+        "netclass": "Power",
+        "pattern": "GND"
+      },
+      {
+        "netclass": "Power",
+        "pattern": "VIN5"
+      },
+      {
+        "netclass": "Power",
+        "pattern": "VIN"
+      }
+    ]
+  },
+  "pcbnew": {
+    "last_paths": {
+      "gencad": "",
+      "idf": "",
+      "netlist": "",
+      "plot": "",
+      "pos_files": "",
+      "specctra_dsn": "",
+      "step": "",
+      "svg": "",
+      "vrml": ""
+    },
+    "page_layout_descr_file": ""
+  },
+  "schematic": {
+    "drawing": {
+      "label_size_ratio": 0.25,
+      "pin_symbol_size": 0,
+      "text_offset_ratio": 0.08
+    },
+    "legacy_lib_dir": "",
+    "legacy_lib_list": []
+  },
+  "sheets": [],
+  "text_variables": {}
+}

Electronics/Board motor screen/Gerber/AT324LCD_V1.GBL

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Electronics/Board motor screen/Gerber/AT324LCD_V1.GTS

@@ -0,0 +1,249 @@
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Electronics/Board motor screen/Gerber/AT324LCD_V1.drd

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Electronics/Board motor screen/Gerber/AT324LCD_V1.dri

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+Generated by EAGLE CAM Processor 5.6.0
+
+Drill Station Info File: C:/Documents and Settings/robo66/Documenti/Project Eagle/Module_AT324LCD_v1/Gerber/AT324LCD_V1.dri
+
+ Date              : 21/02/2012 14.24.06
+ Drills            : generated
+ Device            : Excellon drill station
+
+Parameter settings:
+
+ Tolerance Drill + :  2.50 %
+ Tolerance Drill - :  2.50 %
+ Rotate            : no
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+ Optimize          : yes
+ Auto fit          : yes
+ OffsetX           : 0inch
+ OffsetY           : 0inch
+ Layers            : Drills Holes
+
+Drill File Info:
+
+ Data Mode         : Absolute
+ Units             : 1/10000 Inch
+
+Drills used:
+
+ Code  Size       used
+
+ T01   0.0240inch    15
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+ T03   0.0320inch    47
+ T04   0.0394inch    16
+ T05   0.0400inch    33
+ T06   0.0984inch     4
+
+Total number of drills: 119
+
+Plotfiles:
+
+ C:/Documents and Settings/robo66/Documenti/Project Eagle/Module_AT324LCD_v1/Gerber/AT324LCD_V1.drd

Electronics/Board motor screen/Gerber/AT324LCD_V1.drl

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Electronics/Board motor screen/Gerber/AT324LCD_V1.gpi

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+Generated by EAGLE CAM Processor 5.6.0
+
+Photoplotter Info File: C:/Documents and Settings/robo66/Documenti/Project Eagle/Module_AT324LCD_v1/Gerber/AT324LCD_V1.gpi
+
+ Date              : 21/02/2012 14.33.27
+ Plotfile          : C:/Documents and Settings/robo66/Documenti/Project Eagle/Module_AT324LCD_v1/Gerber/AT324LCD_V1.GTO
+ Apertures         : generated: 
+ Device            : Gerber photoplotter with RS-274-X aperture generation
+
+Parameter settings:
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+ Emulate Apertures : no
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+ Tolerance Draw  - :  0.00 %
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+
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+ Code     Shape     Size                  used
+
+ D10      draw      0.0000inch               8
+ D11      draw      0.0080inch             606
+

Electronics/Board motor screen/README.md

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+# Motor Board
+
+This is a board that I designed in 2012 to control robots
+
+It was convenient for me to use this board as I have a bounch of them assembled
+
+It has an Atmel AT324PA PDIP40, an ISP programmer, power and breaks out all the pins
+
+I also have a more recent board based on Atmel 4809 in SMD package, both work for this application.
+
+## Gerber
+
+### Bottom Side
+
+![](/Electronics/Board%20motor%20screen/PCB%20BOT.PNG)
+
+### Top Side
+
+![](/Electronics/Board%20motor%20screen/PCB%20TOP.PNG)
+
+### Top Components 
+
+![](/Electronics/Board%20motor%20screen/Component_Top.png)
+
+### Bot Components 
+
+![](/Electronics/Board%20motor%20screen/Component_Bot.png)
+
+### Assembled Powered Flashed
+
+![](/Electronics/Board%20motor%20screen/2025-11-15-T0928%20Motor%20Control.jpg)
+
+## Adapters
+
+For going to the board I soldered a number of adapters
+
+### Adapter - Pinstrip to Eight Servo
+
+TODO
+
+### Adapter - Pinstrip to Screw COnnector
+
+TODO
+
+## BOM - Bill of Material
+
+TODO

Electronics/Board motor screen/fp-info-cache

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