Custom PCBs
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Teensy PCB
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.. figure :: daughterboard-images/image1.png
    :alt: Daughterboard
    :align: center

    Daughterboard

The RamBOT's Teensy PCB is the primary communication board, utilizing
the Teensy microcontroller's pins to communicate to the Inertial
Measurement Unit (IMU), and each of the ODrives that control the motors
and movement of the bot. This PCB functions and has replaced more than
30 loose wires previously installed on the RamBOT and adds a more robust
form of communication for the electrical infrastructure.

ODrive PCB
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.. figure :: daughterboard-images/image2.png
    :alt: Daughterboard
    :align: center

    Daughterboard

The RamBOT's ODrives have specific pin connections that are critical for
accurate motor control and communication between the encoders and the
motors. There are six iterations of this PCB, one for each ODrive on the
RamBOT, coordinating the communication between the Odrive, Encoders, and
the Teensy PCB. These PCBs have not only replaced what was once upwards
of 50 loose wires interconnected and weaved, but have dramatically
upgraded the RamBOT's electrical troubleshooting process and
reliability.

Electrical Infrastructure
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.. figure :: daughterboard-images/image3.png
    :alt: Daughterboard
    :align: center

    Daughterboard

Integration of the new printed circuit boards has allowed for a more
realized electrical infrastructure, optimizing procedures for hardware
troubleshooting and wire management. The PCBs were a necessary hardware
upgrade to the RamBOT replacing a once convoluted wire installation with
a detailed and documented subsystem.