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资源说明：6 axis robot arm. Hardware, software and docs.
# Robot [in progress] Big Goal: 6 axis robot arm. Hardware, software and docs Current Goal: Finish the controller to drive a motor got from a kitchen mixer/blender (for some extra power). ## What we have (very short overview) A controller design. It's meant to control both speed and position of the motor, using 2 inputs: - IR Led <-> IR transistor counter mounted at the motor's fan - poor man's rotary encoder - Current sense through the rotor using the Atmega's ADC port connected to a 1ohm resistor in series with the rotor as measurement. (there's some extra circuitry to that - check out the schematics for details) and 2 outputs: - stator current flow direction (via the L6202 H-bridge) + PWM power control - PWM fed to a solid-state relay to control the power in the rotor We've also printed the layout on a pcb (looking pretty nice, UV printing is really fine). Stuck on some details, that out of the sudden showed up just now. Pictures below the questions section. ## Design Questions * I'm using a phase sensing circuit made with an CNY74 optocoupler and two 22K resistors. I've seen various LED circuts powered from the mains. However they also had a capacitor [in there](http://www.extremecircuits.net/2010/07/mains-powered-white-led-lamp.html). Is my design safe, or should I modify anything? Also, will 0.5W resistors work? * The stator will be powered by ~40V @ 0.8 - 1 Amp. The track widths are 2.5mm @ 0.35um thickness. Are they too narrow to support that? ## Schematic  ### Board Layout  ### Current looks of the board #### Front side: looks kind of empty, still need to add some components  #### Back side: Got a pretty nice print with UV 
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