The basis of the Electrical Design of the robot was to develop circuits that would take in information from sensors process that information and send it to the TINAH to make decisions.

Infrared Sensor Circuit

The Most complicated of such circuits was the one responsible for processing the infrared signal.  The basic outline of the circuit was given to us by Dr. Marziali but the exact values for the components were determined by the team.  The circuit takes in a IR signal with a DC offset and then progressively filters and amplifies it to a single sine wave which is then measured through a peak detector and sent as an analog input

Reflective Sensor Comparator Circuit

The team also designed a comparator circuit to take in the voltage from the reflective circuit and compare it to a known threshold in order to establish whether we were on the tape or not.