Motor Power Supply 12 Cell NiCD pack for motor supply. Pack is laid out as two 6 cell packs in series. Future plans call for NiMH battery packs due to their higher capacity. I don't need the high draw rates possible from NiCds. Battery Charging Initially an external charger powered by 25 VDC supply with tempeture and end voltage sensing.
Future plan is to have internal chargers with tempeture and end voltage sensing.
One for each battery pack. Amp 25 VDC supply that the robot will be able to dock with. Estimated recharge time will be 40 minutes for NiCD packs and 80 minutes for NiMH packs. I chose to use IRDA bit timing formats due to some nice features it allows when used over a RS-485 link. I can do collision detection in software by monitoring loop signal level at standard input logic levels.