The Circuitry
The circuitry for the spool stacking machine was focused on controlling the three DC motors. While our first idea was to utilize stepper motors, we found the more powerful DC motors were more appropriate.These three DC motors were needed to operate each of the three subsystems. To control the DC motors, we used three dual h-drivers, connecting the dual drivers in series to deliver enough current to each motors. Each of the dual h-drivers was controlled by our microcontroller to change the cirection of the motors, and turn the motors on and off.
