Diagrama para Robot Seguidor de Línea
Set Implementation Details to "Powered from 5V on VIN; batte..." on U1, Set Implementation Details to "Upper LiPo cell in 2S series ..." on U2, and 16 more changes
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Set U1's Implementation Details to "Powered from 5V on VIN; battery 7.4V isolated from logic rail; GPIO D25 and D26 drive TIP120 motor switches; VP,VN,D34,D35,D3..."
Set U2's Implementation Details to "Upper LiPo cell in 2S series pack. Positive terminal feeds VBAT rail."
Set U3's Implementation Details to "Lower LiPo cell in 2S series pack. Negative terminal is system ground."
Set U4's Implementation Details to "5V step-down module from VBAT to 5V rail for ESP32 VIN and sensor supply."
Set Q1's Implementation Details to "Low-side switch for M1. Collector to motor negative, emitter to common ground, base driven from ESP32 D25 through R1."
Set Q2's Implementation Details to "Low-side switch for M2. Collector to motor negative, emitter to common ground, base driven from ESP32 D26 through R2."
Set M1's Implementation Details to "Motor positive connected to VBAT, negative switched by Q1 low-side transistor."
Set M2's Implementation Details to "Motor positive connected to VBAT, negative switched by Q2 low-side transistor."
Set R1's Implementation Details to "1k base resistor between ESP32 D25 and Q1 base."
Set R2's Implementation Details to "1k base resistor between ESP32 D26 and Q2 base."
Set U5's Implementation Details to "Fallback sensor channel 1 replacing one lane of QTR-8A; output to ESP32 VP."
Set U6's Implementation Details to "Fallback sensor channel 2 replacing one lane of QTR-8A; output to ESP32 VN."
Set U7's Implementation Details to "Fallback sensor channel 3 replacing one lane of QTR-8A; output to ESP32 D34."
Set U8's Implementation Details to "Fallback sensor channel 4 replacing one lane of QTR-8A; output to ESP32 D35."
Set U9's Implementation Details to "Fallback sensor channel 5 replacing one lane of QTR-8A; output to ESP32 D32."
Set U10's Implementation Details to "Fallback sensor channel 6 replacing one lane of QTR-8A; output to ESP32 D33."
Set U11's Implementation Details to "Fallback sensor channel 7 replacing one lane of QTR-8A; output to ESP32 D27."
Set U12's Implementation Details to "Fallback sensor channel 8 replacing one lane of QTR-8A; output to ESP32 D14."
- Añadí U1, M1, M2, Q1, Q2, R1, R2, U2, U3 y U4 para construir la arquitectura principal del robot.
- Como el QTR-8A exacto no estaba disponible en la librería, implementé un reemplazo funcional de 8 canales con U5, U6, U7, U8, U9, U10, U11 y U12.
- Conecté VBAT para alimentar directamente los motores y la entrada del buck U4, y conecté la salida 5V de U4 a U1 por
VINy al bloque sensor. - Cableé el control low-side: Q1 conmuta M1 y Q2 conmuta M2, con R1 y R2 de 1 kΩ desde GPIO del ESP32.
- Unifiqué todas las tierras en GND y añadí notas de implementación a los componentes principales para dejar el esquema documentado.
- ✅ La batería de 7.4 V alimenta directamente M1, M2 y la entrada de U4.
- ✅ La salida de 5 V de U4 alimenta U1 por
VINy el bloque sensor. - ✅ Cada motor quedó controlado mediante Q1 / Q2 en low-side con R1 / R2 de 1 kΩ desde el ESP32.
- ✅ Todas las tierras quedaron en común y no hay conexión directa de 7.4 V hacia U1 ni hacia el bloque sensor.
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