Submitted version of the thesis - Airlab, the Artificial Intelligence ...

3.7. Hardware Architecture 33
In short, LiPo provide high energy storage to weight ratios in an endless
variety of shapes and sizes. The calculation is made to find the correct
battery. The motors are consuming 250 mA at free-run and 3300 mA for
the stall current. For the all three motors we should have the following
battery lives:
Battery Capacity/Current Draw = Battery Life
2∗2500mAh/750mA ∼ = 6.6hours
2∗2500mAh/9900mA ∼ = 0.5hours
using the 2 batteries each having a capacity of 2500 mAh. The battery
life shows changes according to the current draw of the motors. In case,
each motor is consuming 250 mA in free-run current will result 6.6 hours of
batteries life. On the other hand, with the stall current it will be 0.5 hour
battery life. Since the motor will not always work in stall current or the
free-run current; the choice of 2500 mA batteries (Figure 3.14) seems to be
enough to power the robot for at least 2 hours.
Figure 3.14: J.tronik - Battery Li-Po Li-POWER 2500 mA 2S1P 7,4V 20C
3.7 Hardware Architecture
During the development of the robot, we used several hardware pieces such
as microprocessor, camera, motor control boards, voltage regulator circuit,
voltage divider circuit. Most of them were already developed systems and
we did not focus on the production details of them. We only created the
voltage regulator and divider circuit, which we used in order to power the
boards and measure the battery level of charge.