In this section, we will take a closer look at the different Printed Circuit Boards (PCBs) used in the TNY-360, their design, and their roles in the robot's electronics.
The robot has a total of 6 PCBs, each one handling a specific aspect of the robot's electronics, from power distribution to sensor management and communication interfaces.
Main PCB - Hosting the ESP32-S3 microcontroller, and other high-level components.
Motor Driver PCB - Dedicated to controlling the MG996R servos.
Analog Reader PCB - Communication interface between the analog sensors and the microcontroller.
Paw PCB - Used for power distribution and interface between the motor driver / analog reader PCBs and the motors.
Power PCB - Main power distribution board, used for voltage and current monitoring and for connecting the battery.
Plug PCB - Use in the universal plug system to connect modules by exposing connection pads for power & signals.