Power Circuitry Overview
All of our robots boards were powered by 3 7.2 V hobby batteries that were rated for over 1500 mA-hrs. 2 of the batteries, connected in series, were entirely dedicated to supplying power to the motors, which were controlled by an L298 H-Bridge capable of providing up to 2 A of current. The remaining circuit boards and sensors (Arduino, Tape Sensing, Beacon Sensing, and Bump Detection) were powered by a single battery through a 5 V voltage regulator that could source up to 1 A of current. All the circuitry on the robot was connected a common ground on the H-bridge chip.