forked from shihchengyen/auto_nav
-
Notifications
You must be signed in to change notification settings - Fork 1
/
electronic_architecture.drawio
338 lines (338 loc) · 31.8 KB
/
electronic_architecture.drawio
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
<mxfile host="www.draw.io" modified="2020-02-27T08:48:01.549Z" agent="Mozilla/5.0 (Macintosh; Intel Mac OS X 10_15_3) AppleWebKit/605.1.15 (KHTML, like Gecko) Version/13.0.5 Safari/605.1.15" etag="2rt7DV2NoOC73aiEc_Kr" version="12.7.8" type="github">
<diagram id="C5RBs43oDa-KdzZeNtuy" name="Page-1">
<mxGraphModel dx="1113" dy="664" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
<root>
<mxCell id="WIyWlLk6GJQsqaUBKTNV-0" />
<mxCell id="WIyWlLk6GJQsqaUBKTNV-1" parent="WIyWlLk6GJQsqaUBKTNV-0" />
<mxCell id="-r63VeYMjiq5WX8LQAI8-0" value="<b>openCR 1.0</b>" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="210" y="260" width="150" height="120" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-22" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.75;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#000000;fontSize=4;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-2" target="C6u8oy-Dxv8HJUiQ6di3-16">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="227.5" y="213" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-2" value="Dynamixel&nbsp;<br>Motor&nbsp;<br>XL430-W250T<br><b>(RIGHT)</b>" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E6E6E6;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="67.5" y="160" width="120" height="70" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-27" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.75;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#330000;fontSize=4;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-3" target="C6u8oy-Dxv8HJUiQ6di3-24">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-3" value="Dynamixel&nbsp;<br>Motor&nbsp;<br>XL430-W250T<br><b>(LEFT)</b>" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E6E6E6;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="67.5" y="80" width="120" height="70" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-6" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#FF0000;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-5" target="-r63VeYMjiq5WX8LQAI8-0" edge="1">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="147.5" y="310" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-5" value="19.98 Wh&nbsp;<br>Li-Po battery" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#dae8fc;strokeColor=#6c8ebf;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="27.5" y="290" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-7" value="12V" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="157.5" y="290" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-11" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.75;exitDx=0;exitDy=0;strokeColor=#000000;fontSize=9;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-12" target="-r63VeYMjiq5WX8LQAI8-0">
<mxGeometry relative="1" as="geometry">
<mxPoint x="367.5" y="330" as="targetPoint" />
<Array as="points">
<mxPoint x="448" y="320" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-12" value="<b>Raspberry Pi 3B+</b>" style="rounded=1;whiteSpace=wrap;html=1;perimeterSpacing=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="440" y="240" width="200" height="160" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-42" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;strokeColor=#FF9933;fontSize=7;fontColor=#000000;startArrow=none;startFill=0;endArrow=none;endFill=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-14" target="-r63VeYMjiq5WX8LQAI8-16">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-14" value="Lidar Driver" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="560" y="430" width="80" height="40" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-16" value="Lidar Sensor<br>LDS-01" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="540.0023529411766" y="490" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-24" value="" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="307.5" y="720" width="295" height="160" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-25" value="Payload" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="420" y="730" width="70" height="20" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-26" value="Solenoid Plunger" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="325" y="775" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-27" value="Servomotor" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="465" y="775" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="-r63VeYMjiq5WX8LQAI8-34" value="R-Pi&nbsp;<br>Infrared Camera<br><b>OV5647</b>" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#ffcc99;strokeColor=#36393d;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
<mxGeometry x="535" y="167.5" width="110" height="55" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-1" value="" style="endArrow=classic;html=1;strokeColor=#000000;exitX=-0.001;exitY=0.583;exitDx=0;exitDy=0;exitPerimeter=0;entryX=1;entryY=0.667;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-0" target="-r63VeYMjiq5WX8LQAI8-5">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="227.5" y="320" as="sourcePoint" />
<mxPoint x="147.5" y="335" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-3" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="157.5" y="330" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-4" value="TTL0" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="220" y="270" width="57.5" height="16" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-6" value="Battery" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="210" y="300" width="37.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-7" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="210" y="320" width="27.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-8" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="332.5" y="310" width="27.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-9" value="+5V" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="330" y="290" width="30" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-10" value="" style="endArrow=classic;html=1;strokeColor=#FF0000;fontSize=9;fontColor=#FF0000;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-9" target="C6u8oy-Dxv8HJUiQ6di3-37">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="367.5" y="311" as="sourcePoint" />
<mxPoint x="448" y="301" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-14" value="+5V" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="380" y="280" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-15" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="380" y="300" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-16" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="217.5" y="260" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-17" value="VDD" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="237.5" y="260" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-20" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;strokeColor=#FF0000;fontSize=4;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" target="-r63VeYMjiq5WX8LQAI8-2">
<mxGeometry relative="1" as="geometry">
<mxPoint x="247" y="260" as="sourcePoint" />
<Array as="points">
<mxPoint x="247.5" y="195" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-21" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.25;entryDx=0;entryDy=0;strokeColor=#FF9933;fontSize=4;fontColor=#000000;exitX=0.5;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-18" target="-r63VeYMjiq5WX8LQAI8-2">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="267" y="178" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-18" value="DATA" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="257.5" y="260" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-23" value="TTL1" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="290" y="270" width="57.5" height="16" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-24" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="287.5" y="260" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-28" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;strokeColor=#FF0000;fontSize=4;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-25" target="-r63VeYMjiq5WX8LQAI8-3">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-25" value="VDD" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="307.5" y="260" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-29" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=1;entryY=0.25;entryDx=0;entryDy=0;strokeColor=#FF9933;fontSize=4;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-26" target="-r63VeYMjiq5WX8LQAI8-3">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-26" value="DATA" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="327.5" y="260" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-30" value="" style="endArrow=none;html=1;strokeColor=#FF9933;fontSize=4;fontColor=#000000;exitX=1.003;exitY=0.667;exitDx=0;exitDy=0;exitPerimeter=0;fillColor=#ffcc99;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="-r63VeYMjiq5WX8LQAI8-0" target="C6u8oy-Dxv8HJUiQ6di3-44">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="370" y="350" as="sourcePoint" />
<mxPoint x="448" y="340" as="targetPoint" />
<Array as="points">
<mxPoint x="410" y="340" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-31" value="USB" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="380" y="320" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-33" value="MICRO<br>USB" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="322.5" y="330" width="37.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-34" value="USB 1" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="440" y="330" width="32.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-36" value="PIN6 (GND)" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="440" y="310" width="42.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-37" value="PIN4 (+5V)" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="440" y="290" width="42.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-38" value="SERIAL" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=9;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="570" y="240" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-48" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=none;endFill=0;strokeColor=#FF9933;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-40" target="-r63VeYMjiq5WX8LQAI8-14">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-40" value="USB 2" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="585" y="380" width="30" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-44" value="" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=#000000;fillColor=none;fontSize=7;fontColor=#000000;verticalAlign=bottom;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="440" y="330" width="32.5" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-54" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.25;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;strokeColor=#000000;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-50" target="C6u8oy-Dxv8HJUiQ6di3-52">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="380" y="450" />
<mxPoint x="380" y="430" />
<mxPoint x="309" y="430" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-55" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=1;entryDx=0;entryDy=0;startArrow=classic;startFill=1;endArrow=none;endFill=0;strokeColor=#FF0000;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-50" target="C6u8oy-Dxv8HJUiQ6di3-53">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="390" y="420" />
<mxPoint x="329" y="420" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-50" value="Servo Motor<br>FS5109M" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#ffcc99;strokeColor=#36393d;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="338.75" y="440" width="110" height="55" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-51" value="" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=#000000;fillColor=none;fontSize=7;fontColor=#000000;verticalAlign=bottom;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="298.75" y="370" width="40" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-52" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="298.75" y="370" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-53" value="5V" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="318.75" y="370" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-58" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.553;entryY=-0.007;entryDx=0;entryDy=0;entryPerimeter=0;startArrow=none;startFill=0;endArrow=none;endFill=0;strokeColor=#FF9933;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-57" target="C6u8oy-Dxv8HJUiQ6di3-50">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="485" y="420" />
<mxPoint x="400" y="420" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-57" value="PIN 40" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="470" y="380" width="30" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-68" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;startArrow=none;startFill=0;endArrow=none;endFill=0;strokeColor=#FF9933;fontSize=7;fontColor=#000000;entryX=0;entryY=0.5;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-59" target="C6u8oy-Dxv8HJUiQ6di3-75">
<mxGeometry relative="1" as="geometry">
<mxPoint x="490" y="540" as="targetPoint" />
<Array as="points">
<mxPoint x="525" y="490" />
<mxPoint x="480" y="490" />
<mxPoint x="480" y="525" />
<mxPoint x="479" y="525" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-59" value="PIN 37" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="510" y="380" width="30" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-60" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="240" y="370" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-61" value="12V" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=4;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="260" y="370" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-67" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=-0.003;entryY=0.356;entryDx=0;entryDy=0;entryPerimeter=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;strokeColor=#FF0000;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-62" target="C6u8oy-Dxv8HJUiQ6di3-65">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-62" value="" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=#000000;fillColor=none;fontSize=7;fontColor=#000000;align=left;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="240" y="370" width="40" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-65" value="Solenoid" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#ffcc99;strokeColor=#36393d;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="338.75" y="500" width="110" height="50" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-73" value="" style="endArrow=none;html=1;strokeColor=#000000;fontSize=7;fontColor=#000000;entryX=0.25;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" target="C6u8oy-Dxv8HJUiQ6di3-62">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="250" y="560" as="sourcePoint" />
<mxPoint x="267.5" y="430" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-75" value="" style="verticalLabelPosition=bottom;shadow=0;dashed=0;align=center;html=1;verticalAlign=top;shape=mxgraph.electrical.transistors.npn_transistor_1;rotation=90;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="468.75" y="500" width="21.25" height="30" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-78" value="" style="endArrow=none;html=1;strokeColor=#000000;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="250" y="560" as="sourcePoint" />
<mxPoint x="510" y="560" as="targetPoint" />
<Array as="points">
<mxPoint x="380" y="560" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-79" value="" style="endArrow=none;html=1;strokeColor=#000000;fontSize=7;fontColor=#000000;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="510" y="560" as="sourcePoint" />
<mxPoint x="510" y="520" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-81" value="" style="endArrow=none;html=1;strokeColor=#000000;fontSize=7;fontColor=#000000;exitX=0.997;exitY=0.383;exitDx=0;exitDy=0;exitPerimeter=0;entryX=0.7;entryY=1;entryDx=0;entryDy=0;entryPerimeter=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-65" target="C6u8oy-Dxv8HJUiQ6di3-75">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="452.2825" y="547.62" as="sourcePoint" />
<mxPoint x="470.22" y="547.37" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-84" value="" style="endArrow=none;html=1;strokeColor=#000000;fontSize=7;fontColor=#000000;exitX=0.7;exitY=0;exitDx=0;exitDy=0;exitPerimeter=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-75">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="430" y="530" as="sourcePoint" />
<mxPoint x="510" y="520" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-85" value="2N2222" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="460" y="520" width="40" height="20" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-86" value="" style="text;html=1;strokeColor=#000000;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="460" y="240" width="70" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-87" value="5V" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="460" y="240" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-88" value="GND" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="480" y="240" width="20" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-89" value="PIN 36" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=7;fontColor=#000000;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="500" y="240" width="30" height="10" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-91" value="Infrared Sensor<br><b>TSMP58000</b>" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#ffcc99;strokeColor=#36393d;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry x="440" y="95" width="110" height="55" as="geometry" />
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-93" value="" style="endArrow=none;html=1;strokeColor=#FF9933;fontSize=7;fontColor=#000000;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-38" target="-r63VeYMjiq5WX8LQAI8-34">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="520" y="210" as="sourcePoint" />
<mxPoint x="570" y="160" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-94" value="" style="endArrow=none;html=1;strokeColor=#FF0000;fontSize=7;fontColor=#000000;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.277;exitY=0.999;exitDx=0;exitDy=0;exitPerimeter=0;startArrow=classic;startFill=1;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="C6u8oy-Dxv8HJUiQ6di3-91" target="C6u8oy-Dxv8HJUiQ6di3-87">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="520" y="210" as="sourcePoint" />
<mxPoint x="570" y="160" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-95" value="" style="endArrow=classic;html=1;strokeColor=#000000;fontSize=7;fontColor=#000000;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.277;exitY=0.999;exitDx=0;exitDy=0;exitPerimeter=0;endFill=1;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="490.4699999999999" y="149.945" as="sourcePoint" />
<mxPoint x="490" y="240" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="C6u8oy-Dxv8HJUiQ6di3-96" value="" style="endArrow=classic;html=1;strokeColor=#FF9933;fontSize=7;fontColor=#000000;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.277;exitY=0.999;exitDx=0;exitDy=0;exitPerimeter=0;endFill=1;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
<mxGeometry width="50" height="50" relative="1" as="geometry">
<mxPoint x="515.2399999999999" y="149.945" as="sourcePoint" />
<mxPoint x="514.77" y="240" as="targetPoint" />
</mxGeometry>
</mxCell>
</root>
</mxGraphModel>
</diagram>
</mxfile>