Your robot is packed with features that help manage the robot's environment and let you focus on higher-level programming tasks.

Processors and Memory

Two separate 40MHz processors handle the robot's functions.  A BrainStem Moto 1.0 processor handles the motion control and several sensor inputs.  A BrainStem GP 2.0 processor provides a serial interface, IR communication capability, and additional IO.  Each processor has a 32K EEPROM for code storage.

Body

The robot chassis is made of rugged aluminum.  All bolts are secured with nylon-threaded lock nuts to prevent them from coming loose.  Several cutouts in the chassis hold plastic panels.  These panels may be modified and swapped easily to meet the needs of the user.

Battery

The robot is powered by a standard 6-cell 7.2V 3000mAH NiMH battery pack.  A smart charger is included with the robot.  It can top off a completely drained battery pack in a couple of hours.

Serial Port

External computers may communicate with the Garcia through a TTL-level serial port.

Motors

A Garcia robot uses two Maxon motors with built-in 16 cpr quadrature encoders and 19:1 planetary gearboxes.  These are some of the highest quality motors made.  An extra 3:1 gear reduction stage between the motor and wheel supports the weight of the robot.

Odometry

The Garcia drive train produces 3648 encoder pulses per wheel revolution.  This makes it possible to perform accurate turns and travel precise distances.

Stall Sensing

Onboard software checks the performance of the motor control algorithms several times per second.  It can tell if the motors are struggling in order to reach a desired speed and stop the robot.

Range Finders

Garcia has six IR range finders.  They provide valid distance measurements in a range of 4 to 18 inches.  These sensors enable the robot to wall-follow or detect obstacles while maneuvering.  When not in use, pairs of sensors can be disabled to save battery power.

Ledge Detectors

Under the front end, there are left and right floor proximity detectors.  These sensors can tell the robot if it is about to roll over a ledge.  If your robot is moving slowly toward a ledge, it can stop its wheels and skid to a stop before plummeting.  Of course, if your robot is going too fast it will plummet anyway.  Use caution near ledges.

User IO

The robot has a button for user input.  There also an additional LED that can be used as a status light in user applications.

Configurable A2D Inputs

Some extra A2D inputs are set aside for measuring motor current draw and RF signal strength for robots with the wireless modem link option.  These inputs can be selected with jumpers.  They may also be hooked up to other analog-output devices if necessary.

Room for Expansion

In addition to the built-in IO features, the robot has 4 free I2C connections, an extra serial port, and 4 servo outputs.  All these connectors have convenient power pins.