diff --git a/Arduino/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18.ino b/Arduino/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18.ino
index 196351ab618a9b608b7b7fce4ebf5a1281d0d064..07a845b0fc5224924eb45c8ff8a8f36286f483ac 100644
--- a/Arduino/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18.ino
+++ b/Arduino/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18/4_vl53l7cx_clean_with_STlibrary_Shift_register_scalebal_to_18.ino
@@ -2,7 +2,6 @@
#include <Wire.h>
#include <ArduinoJson.h>
#include <vl53l7cx_class.h>
-#include "74HC154.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
@@ -120,7 +119,7 @@ void setup() {
DEV_I2C0.setSCL(SCL_PIN0);
DEV_I2C0.setSDA(SDA_PIN0);
DEV_I2C0.begin();
- DEV_I2C0.setClock(1000000);
+ DEV_I2C0.setClock(500000);
delay(50);
DEV_I2C1.setSCL(SCL_PIN1);
@@ -134,7 +133,7 @@ void setup() {
initializeSensorInterface0(sensor0, sensoraddress0, LPN_PIN0);
i2cScanner(); // Perform I2C scan
-
+
initializeSensorInterface0(sensor1, sensoraddress1, LPN_PIN1);
i2cScanner(); // Perform I2C scan
@@ -144,6 +143,21 @@ void setup() {
initializeSensorInterface0(sensor3, sensoraddress3, LPN_PIN3);
i2cScanner(); // Perform I2C scan
+ initializeSensorInterface0(sensor4, sensoraddress4, LPN_PIN4);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensorInterface0(sensor5, sensoraddress5, LPN_PIN5);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensorInterface0(sensor6, sensoraddress6, LPN_PIN6);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensorInterface0(sensor7, sensoraddress7, LPN_PIN7);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensorInterface0(sensor8, sensoraddress8, LPN_PIN8);
+ i2cScanner(); // Perform I2C scan
+
Serial.println("All sensors initialized successfully.");
}
@@ -153,12 +167,22 @@ void loop() {
VL53L7CX_ResultsData Results1;
VL53L7CX_ResultsData Results2;
VL53L7CX_ResultsData Results3;
+ VL53L7CX_ResultsData Results4;
+ VL53L7CX_ResultsData Results5;
+ VL53L7CX_ResultsData Results6;
+ VL53L7CX_ResultsData Results7;
+ VL53L7CX_ResultsData Results8;
// Process each sensor data and save to respective JSON arrays
processSensorData(sensor0, Results0, doc["sensor0"].to<JsonArray>(), "sensor0");
processSensorData(sensor1, Results1, doc["sensor1"].to<JsonArray>(), "sensor1");
processSensorData(sensor2, Results2, doc["sensor2"].to<JsonArray>(), "sensor2");
processSensorData(sensor3, Results3, doc["sensor3"].to<JsonArray>(), "sensor3");
+ processSensorData(sensor4, Results4, doc["sensor4"].to<JsonArray>(), "sensor4");
+ processSensorData(sensor5, Results5, doc["sensor5"].to<JsonArray>(), "sensor5");
+ processSensorData(sensor6, Results6, doc["sensor6"].to<JsonArray>(), "sensor6");
+ processSensorData(sensor7, Results7, doc["sensor7"].to<JsonArray>(), "sensor7");
+ processSensorData(sensor8, Results8, doc["sensor8"].to<JsonArray>(), "sensor8");
// Serialize the JSON document and print to Serial
serializeJson(doc, Serial);
@@ -231,7 +255,9 @@ void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const Js
void initializeSensorInterface0(VL53L7CX &sensor, uint16_t sensorAddress, int lpnPin) {
LPn(dataPin0, latchPin0, clockPin0, lpnPin, true); // Activate sensor power
delay(wait_for_i2c);
+
sensor.begin();
+ Serial.println(".");
delay(wait_for_i2c);
sensor.init_sensor();
delay(wait_for_i2c);
diff --git a/Bachelorarbeit/Forschungsfragen.txt b/Bachelorarbeit/Forschungsfragen.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7135aeee91d6f7865ce1ecb0149ad97378ed3cc
--- /dev/null
+++ b/Bachelorarbeit/Forschungsfragen.txt
@@ -0,0 +1,13 @@
+Übergeordnete Forschungsfrage:
+
+Inwieweit lassen sich mit ToF-Sensoren Kollisionen verhindern?
+
+1. Wie erreicht man eine möglichst vollständige Arbeitsraum überwachung mit ToF-Sensoren?
+ "Antwort" Kurz: Indem man mehrere Sensoren am Roboter selbst montiert.
+
+2. Wie wertet man die Sensordaten aus, wenn die Sensoren nicht raumfest sind?
+ "Antwort" Kurz: Indem man die Bewegung der Achse, an dem die Sensoren befestigt sind, in die Auswerung mit einbezieht.
+
+3. Wie unterscheide ich potentiele Kollisionsobjekte von dem seriellen Roboter?
+ "Antwort" Kurz: Indem man die Sensordaten filtert und die Punkte die auf den Achsen des Roboters liegen ignoriert.
+
diff --git "a/Organisatorisches/Zeitplan_f\303\274r_Meilensteine_und_Bachelorarbeitstatus.xlsx" "b/Organisatorisches/Zeitplan_f\303\274r_Meilensteine_und_Bachelorarbeitstatus.xlsx"
new file mode 100644
index 0000000000000000000000000000000000000000..ea40b7797fd00edc3c20abeee70d452089058cff
Binary files /dev/null and "b/Organisatorisches/Zeitplan_f\303\274r_Meilensteine_und_Bachelorarbeitstatus.xlsx" differ
diff --git a/Praxiprojekt_Bericht/text.tex b/Praxiprojekt_Bericht/text.tex
index fb35b8227856a534b5ecd99fc020350ea772304b..3a11f2799870874b559e4c1504015892baa8783c 100644
--- a/Praxiprojekt_Bericht/text.tex
+++ b/Praxiprojekt_Bericht/text.tex
@@ -51,16 +51,16 @@
Zum anderen geht mit der Industriellen Revolution -Industrie 4.0- ein steigender Bedarf von personalisierten Produkten einher, die das etablieren von Routinen in der Produktion unattraktiv machen. Das Bedeutet, dass \acrshort{Cobots} besser werden müssen in der Wahrnehmung ihrer Umgebung, damit man sie universeller einsetzbar machen kann.\cite{liu_application_2024}
\section{Kollisionsvermeidung und Kollisionserkennung}
%Warum ist Kollisionsvermeidung und Kollisionserkennung überhaupt wichtig?
- Roboterarme müssen große Kräfte aufbringen können, um Lasten zu heben. Ein Roboterarm ohne Sensoren hat keine Möglichkeit zu erkennen, ob er die erwünschte Pose des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein KO ausgeübt wird nur von der Motorleistung beschränkt, was Gefahren für Mensch und Material birgt.
+ Roboterarme müssen große Kräfte aufbringen können, um Lasten zu heben. Ein Roboterarm ohne Sensoren hat keine Möglichkeit zu erkennen, ob er die erwünschte \gls{Pose} des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein \gls{KO} ausgeübt wird nur von der Motorleistung beschränkt, was Gefahren für Mensch und Material birgt.
\\
%Paper zur Kollisionsdetektion nur mit Drehgeber und Drehmoment-Wächter
- Mit einem Drehgeber kann ein serieller Roboter den absolut Winkel der Gelenke bestimmen und dadurch mit anderen geometrischen Eigenschaften der Kinematik die Absolut Position der einzelnen Achsen bestimmen. Durch die Verwendung von Drehmoment-Wächtern und Angaben zu Schwerpunkten, Gewicht und Pose der einzelnen Achsen kann ein Soll-Drehmoment für jedes Gelenk in Drehrichtung bestimmt werden und mit dem Ist-Drehmoment verglichen werden. Unter der Voraussetzung das der Endeffektor kein Objekt gegriffen hat kann man davon ausgehen, dass es bei einer Abweichung, die nicht auf Beschleunigungen zurück zu führen ist, zu einer Kollision gekommen ist.\cite{popov_collision_2017}
+ Mit einem Drehgeber kann ein serieller Roboter den absolut Winkel der Gelenke bestimmen und dadurch mit anderen geometrischen Eigenschaften der Kinematik die Absolut Position der einzelnen Achsen bestimmen. Durch die Verwendung von Drehmoment-Wächtern und Angaben zu Schwerpunkten, Gewicht und \gls{Pose} der einzelnen Achsen kann ein Soll-Drehmoment für jedes Gelenk in Drehrichtung bestimmt werden und mit dem Ist-Drehmoment verglichen werden. Unter der Voraussetzung das der Endeffektor kein Objekt gegriffen hat kann man davon ausgehen, dass es bei einer Abweichung, die nicht auf Beschleunigungen zurück zu führen ist, zu einer Kollision gekommen ist.\cite{popov_collision_2017}
\\
Drehgeber und Drehmoment-Wächter sind propriozeptive Sensoren und können nur Eigenschaften messen die sich auf den inneren Status des Roboterarms beziehen. \cite{noauthor_robotics_2021}
\\
%Unterschiedliche Paper zum Stand dere Technik in der Kollisionsvermeidung
\indent Bei der Kollisionsvermeidung kann man unterschiedliche Ansätze verfolgen.
- Eine der Optionen ist mit einer Wärmebild Kamera einen Menschen zu identifizieren und dann mit dem Bild einer \acrfull{RGB-D} zu überlagern um die Position des Menschen im AR zu bestimmen.\cite{al_naser_fusion_2022}
+ Eine der Optionen ist mit einer Wärmebild Kamera einen Menschen zu identifizieren und dann mit dem Bild einer \acrfull{RGB-D} zu überlagern um die Position des Menschen im \gls{AR} zu bestimmen.\cite{al_naser_fusion_2022}
\\
In einem anderen Paper wurde Kollisionsvermeidung erreicht in dem man den Roboter langsamer werden ließ wenn er einem Menschen zu nahe kam. Die Distanz hat man gemessen in dem man mit einer \acrfull{KI} den Video Input von einer Kinect Kamera ausgewertet hat.\cite{amaya-mejia_vision-based_2022}
\\
@@ -103,12 +103,14 @@
\\
Die letzte Art von \acrshort{ToF}, die ich im Rahmen dieses Kapitels berücksichtigen möchte ist der Solid-State Scanner. Der Vorteil von dieser Art Scanner ist, dass er keine sich bewegende Teile besitzt und sehr große Scann raten von bis zu 600000 Punkten/s erreichen kann.\cite{noauthor_vlp_nodate}
Der Sensor, den ich im Rahmen meines Praxisprojekts verwende, fällt auch in die Kategorie der Solid-State Scanner. Der VL53L7CX ist Flash-Sensor, dass bedeutet das die Leuchtdiode des Sensors einen ungerichteten Lichtimpuls aussendet. Die räumliche Wahrnehmung des Sensors erreicht man durch den speziellen Aufbau des Empfängers. Der Detektor besitzt 64 Kanäle die alle etwas unterschiedlich ausgerichtet sind. Dadurch sehen die einzelnen Kanäle nur ihre eigene festgelegte Richtungen innerhalb einer 40° Horizontalen und 40° Vertikalen \acrshort{FOV}\cite{noauthor_vl53l7cx_nodate}. In Abbildung 4 kann man das Package vom \acrfull{IC} des VL53L7CX sehen.
+ \\
\begin{figure}[h]
\centering
- \includegraphics[scale=0.5]{images/VL53L7CX_Package.jpg}
+ \includegraphics[scale=0.2]{images/VL53L7CX_Package.jpg}
\caption{Package eines VL53L7CX, Source:\cite{noauthor_vl53l7cx_nodate}}
\label{VL53L7CX Package}
\end{figure}
+
\chapter{Umsetzung}
\section{Vorgehensweise}
Um erst mal herauszufinden, ob mein Vorhaben möglich ist habe ich auf Github nach ähnlichen Projekten gesucht. \cite{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate} Da ich in meinem Projekt mehrere Sensoren verwenden will, wurde mir von meiner externen Betreuerin, Sophie Charlotte Keunecke, für die Umsetzung der Raspberry Pi Pico \cite{noauthor_pico-series_nodate} \acrfull{MCU} vorgeschlagen, da dieser \acrshort{MCU} zwei \acrfull{I2C} Interfaces besitzt. Zur Visualisierung der Daten will ich das \acrfull{RVIZ} Programm auf einem \acrfull{NUC} mit Ubuntu 22.04 mit \acrfull{ROS} Humble benutzen.
@@ -240,57 +242,16 @@
In meinem Projekt habe ich in Gazebo Classic einen \acrshort{UR}10 simuliert und mit MoveIt2 bewegt.
Die Simulation hat dann Topics, die die Position der Gelenke vom Roboter betreffen veröffentlicht.
In der pcl\_rob\_node.py, die überprüft, ob die Sensorwerte den Roboter oder ein potentielles Kollisionsobjekt detektiert haben, wird die Information über die Position des Sensormoduls und die Position der einzelnen Achsen des Roboters benötigt.
- Als Vorlage für die Simulation diente \cite{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}. Jedoch gibt es an dem Modell von Universal Robotics kein Sensor Modul und deswegen habe ich zum Testen an den Unterarm des Roboters eine Sensor Halterung angebracht, wie in Abbildung \ref{ur10} zu sehen ist.
- \begin{figure}[h]
- \centering
- \includegraphics[scale=0.302]{images/Sensor_holder_on_UR10e.jpg}
- \caption{Bildschirmaufnahme aus Fusion von einer UR10 Baugruppe mit Sensormodul}
- \label{ur10}
- \end{figure}
+ Als Vorlage für die Simulation diente \cite{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}. Jedoch gibt es an dem Modell von Universal Robotics kein Sensor Modul und deswegen habe ich am Modell an den Unterarm des Roboters eine Sensor Halterung angebracht.
\\
- Zur Visualisierung und Validierung der 3D-Koordinaten der Punktwolken benutze ich \acrshort{RVIZ}. Bei meinem ersten Versuch eine Punktwolke mit den Daten von zwei VL53L7CX zu generieren. Habe ich die Sensoren gegen eine circa 1 Meter entfernte Wand gerichtet um sicherzustellen, dass die Sensoren richtig ausgerichtet sind. Die Punktwolke ist in Abbildung \ref{two_pcd} zu sehen.
- \begin{figure}[h]
- \centering
- \includegraphics[scale=0.5]{images/two_pcd.jpg}
- \caption{Bildschirmaufnahme aus \acrshort{RVIZ} von einer Punktwolke von einer Wand}
- \label{two_pcd}
- \end{figure}
- \\
-
+ Zur Visualisierung und Validierung der 3D-Koordinaten der Punktwolken benutze ich \acrshort{RVIZ}.
\section{Hardware}
\subsection{Elektronisch}
- \begin{figure}[h]
- \centering
- \includegraphics[scale=0.5]{images/Wiring_Schematic.png}
- \caption{Schaltplan von der Verkabelung von 16 VL53L7CX Sensoren}
- \label{wiring}
- \end{figure}
- Der elektrische Aufbau basiert auf einer zentralen Steuereinheit, die über einen \acrshort{I2C}-Bus mehrere Time-of-Flight (ToF)-Sensoren anbindet. Dabei dient ein Mikrocontroller – in diesem Fall ein Raspberry Pi Pico – als Host, der die Kommunikation mit den Sensoren übernimmt und die erfassten Daten weiterverarbeitet. Die Sensoren vom Typ VL53L7CX sind über eine gemeinsame SCL- und SDA-Leitung mit dem Host verbunden. Da der \acrshort{I2C}-Bus von Natur aus eine offene Kollektor-Topologie nutzt, werden die beiden Leitungen durch Pull-up-Widerstände von jedem VL53L7CX-Modul auf ein definiertes High-Potential gezogen.
- Da \acrshort{I2C}-Adresskonflikte bei der Nutzung mehrerer baugleicher Sensoren auftreten können, wird eine Lösung zur individuellen Adresszuweisung implementiert. Dies geschieht über die LPn-Pins der Sensoren, die über dedizierte GPIO-Pins des Mikrocontrollers gesteuert werden. Durch gezieltes Aktivieren und Deaktivieren einzelner Sensoren können diesen jeweils unterschiedliche \acrshort{I2C}-Adressen zugewiesen werden, sodass sie eindeutig ansprechbar sind.
- Zusätzlich sind mehrere Multiplexer in der Schaltung integriert, um eine größere Anzahl an Sensoren verwalten zu können. Diese Multiplexer erlauben es, verschiedene Gruppen von Sensoren selektiv mit dem Mikrocontroller zu verbinden, wodurch die physikalische Begrenzung der \acrshort{I2C}-Geräteanzahl umgangen wird. Die Multiplexer selbst werden ebenfalls über Steuerleitungen angesteuert, die über den Mikrocontroller aktiviert oder deaktiviert werden können.
- Dieser Aufbau erlaubt es, eine Vielzahl an Abstandsmessungen gleichzeitig durchzuführen und in Echtzeit auszuwerten. Die gewonnenen Daten werden anschließend über ein \acrshort{USB}-Kabel an ein übergeordnetes System weitergeleitet, um eine präzise Kollisionsvermeidung zu ermöglichen.
- \cleardoublepage
\subsection{Mechanisch}
- \begin{figure}[h]
- \centering
- \includegraphics[scale=0.6]{images/sensormodul.jpg}
- \caption{Bildschirmaufnahme vom Sensormodul aus Fusion}
- \label{fusion_modul}
- \end{figure}
- In Abbildung \ref{fusion_modul} kann man das Sensormodul sehen, das speziell für die Montage an einem Roboterarm konzipiert wurde. Sein Aufbau ist darauf ausgelegt, eine nahezu lückenlose Rundumüberwachung zu gewährleisten. Der Pi Pico liegt im inneren des Aufbaus um den \acrshort{MCU} selbst und die Kontakte vor Stößen zu schützen. Auf der Innenseite des Modells sind 4 Bohrungen für Schmelzgewinde um den Raspberry Pi Pico mit vier M2 Schrauben zu fixieren.
- Das Sensormodul wird in zwei Hälften gefertigt. Die beiden Teile vom Modul positioniert man um den Unterarm des Roboterarms und verbindet Sie mit zwei M2 Schrauben. An der Unterseite sind drei Bohrungen in die man Schmelzgewinde einlässt und mit drei M2 Schrauben kann man das Modell am Arm an einer bestimmten Höhe montieren.
- Um eine lückenlose Rundumüberwachung zu gewährleisten, sind die Sensoren in einem ringförmigen Muster um das Modul herum angeordnet. Diese Anordnung stellt sicher, dass keine zu großen toten Winkel entstehen und dass Objekte aus allen Richtungen erfasst werden können.
- Die Wandstärke vom Modell wurde möglichst dünn gewählt, um die Druckzeit im 3D-Drucker zu reduzieren und um möglichst viel Platz für die Verkabelung im inneren der Halterung zu haben. Die Leiterplatinen von den Sensoren haben zwei knapp über 2 Millimeter große Montagelöcher auf der einen Seite und die Pin-Löcher auf der gegenüberliegenden Seite. Um die Pins von der Innenseite der Halterung erreichen zu können, ist hinter jeder Leiterplatine eine Aussparung. Um die Schmelzgewinde für die Montage der Leiterplatine zu halten, ist hinter jedem Montagepunkt eine zylinderförmige Ansammlung von \acrfull{PLA}.
+\chapter{Ergebnis}
\chapter{Ausblick}
- Im Rahmen dieses Projekts wurde ein Sensorsystem zur Kollisionsvermeidung für einen \acrshort{Cobot} entwickelt. Die Ergebnisse zeigen, dass die Verwendung von \acrshort{ToFs} in Kombination mit einem Raspberry Pi Pico Mikrocontroller und dem \acrshort{ROS} eine effektive Möglichkeit darstellt, den Arbeitsraum eines \acrshort{Cobot} zu überwachen und potenzielle Kollisionen zu vermeiden. Die präzisen Entfernungsdaten der \acrshort{ToFs} ermöglichen es, ein detailliertes 3D-Bild der Umgebung zu erstellen und somit eine zuverlässige Kollisionsvermeidung zu ermöglichen.
-
- Die Integration des Systems in eine \acrshort{ROS}-Umgebung ermöglicht eine flexible und erweiterbare Architektur, die es erlaubt, das System an verschiedene Roboterplattformen anzupassen. Die Verwendung von \acrshort{RVIZ} zur Visualisierung der Sensordaten und Gazebo Classic zur Simulation des Roboters und seiner Umgebung hat sich als äußerst hilfreich erwiesen, um das System zu testen und zu validieren.
-
- Für zukünftige Entwicklungen gibt es mehrere Möglichkeiten, das System weiter zu verbessern. Eine Möglichkeit wäre die Integration von \acrshort{KI}, um die Daten der \acrshort{ToFs} noch effizienter zu verarbeiten und eine präzisere Kollisionsvermeidung zu ermöglichen. Beispielsweise könnten \acrshort{KI}-Algorithmen verwendet werden, um Objekte in der Umgebung zu erkennen und zu klassifizieren, um so das Verhalten des \acrshort{Cobot} entsprechend anzupassen.
-
- Eine weitere Möglichkeit wäre die Integration weiterer Sensoren, wie beispielsweise Kameras oder \acrfull{IMU}, um ein noch umfassenderes Bild der Umgebung zu erhalten oder die Montage zu erleichtern in dem man mit der \acrshort{IMU} die Ausrichtung der Sensoren zu bestimmen. Die Kombination verschiedener Sensortypen könnte die Robustheit und Zuverlässigkeit des Systems erhöhen.
-
- Zusätzlich könnte die Software optimiert werden, um die Latenzzeit zu reduzieren und die Reaktionsgeschwindigkeit des \acrshort{Cobot} zu erhöhen. Dies wäre besonders wichtig in dynamischen Umgebungen, in denen sich Objekte schnell bewegen.
-
- Das gesamte Projekt, einschließlich der Software und des Hardware-Designs, ist auf GitHub verfügbar. Interessierte können das Projekt unter folgendem Link einsehen und weiterentwickeln: https://git-ce.rwth-aachen.de/rene.ebeling/robot-sensor. Die Open-Source-Natur des Projekts ermöglicht es, dass andere Entwickler das System an ihre spezifischen Anforderungen anpassen und so zur Weiterentwicklung der kollaborativen Robotik beitragen können.
+
\cleardoublepage
+\bibliography{BA}
+
+\end{document}
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index b9ffecb2f569383470fc1cbd30e83bc9b5ed150c..d198eb24131fb52e3812747107d01ff849bc0863 100644
Binary files a/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_142336.zip and b/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_191751.zip differ
diff --git a/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_125720.zip b/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_215048.zip
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rename from Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_125720.zip
rename to Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_215048.zip
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diff --git a/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_221716.zip b/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX-backups/PCB_for_VL53L7CX-2025-03-10_221716.zip
new file mode 100644
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diff --git a/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX.kicad_pcb b/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX.kicad_pcb
index ea997b2b6f28c02d98594d9c276058a9e10b3ab5..39b6eb9ed5762104f1a65c9d33f7151160df8276 100644
--- a/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX.kicad_pcb
+++ b/Wiring/PCB_for_VL53L7CX/PCB_for_VL53L7CX.kicad_pcb
@@ -138,13 +138,13 @@
(footprint "Resistor_SMD:R_0402_1005Metric"
(layer "F.Cu")
(uuid "047ae558-79c8-4459-ab0f-d97960978af8")
- (at 82 65.975 -90)
+ (at 82 65.475 -90)
(descr "Resistor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R11"
(at 1.725 0 180)
(layer "F.SilkS")
- (uuid "66cf86f8-4bf0-4846-bf41-cfb5eeb8e971")
+ (uuid "d6574307-7ace-44c3-9298-e5b4231dd5db")
(effects
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@@ -155,7 +155,7 @@
(property "Value" "47k"
(at -1.225 0.15 0)
(layer "F.Fab")
- (uuid "a75d3e23-d03e-4801-b187-491c00ea0d3c")
+ (uuid "93e66dd0-2e0b-4873-83d7-5e1a50c07d3f")
(effects
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@@ -168,7 +168,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "2e99b068-e309-4fac-b60f-2c6c6a706411")
+ (uuid "0bc94386-0682-4b2f-8dc4-efd630fe11ee")
(effects
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@@ -181,7 +181,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "3f1c53e9-d0f0-47ee-aa86-6c5d83429094")
+ (uuid "61b7439e-54af-4d20-adfa-50f90a00c8e8")
(effects
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@@ -339,14 +339,14 @@
(footprint "Resistor_SMD:R_0603_1608Metric"
(layer "F.Cu")
(uuid "17b11140-0d7f-4fcf-ac92-f19d40596189")
- (at 79.775 76.35)
+ (at 79.775 75.85)
(descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R5"
(at -0.725 1.05 0)
(unlocked yes)
(layer "F.SilkS")
- (uuid "fbae6ac0-72b5-48b3-8af7-5bc686388169")
+ (uuid "cf4c9d0a-183a-4838-b212-8836aeaddfd1")
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(at 0.075 1.1 0)
(unlocked yes)
(layer "F.Fab")
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(unlocked yes)
(layer "F.Fab")
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(unlocked yes)
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@@ -543,14 +543,14 @@
(footprint "Resistor_SMD:R_0603_1608Metric"
(layer "F.Cu")
(uuid "29e2a9ee-77e1-4bd5-a79f-093208801abe")
- (at 84.125 76.25)
+ (at 84.125 75.75)
(descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R7"
(at -1.075 1 0)
(unlocked yes)
(layer "F.SilkS")
- (uuid "b8534a0e-097a-4063-8f0d-cd0f7fb3c79b")
+ (uuid "dce64b7a-dcb5-481d-9de5-0ac2ecebeb2c")
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(at -0.175 -1.1 0)
(unlocked yes)
(layer "F.Fab")
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@@ -575,7 +575,7 @@
(unlocked yes)
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(unlocked yes)
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@@ -747,13 +747,13 @@
(footprint "Resistor_SMD:R_0603_1608Metric"
(layer "F.Cu")
(uuid "3d17fdf2-6486-4480-a73c-f2b1f7d2356f")
- (at 77.15 67.975 -90)
+ (at 77.15 67.475 -90)
(descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R1"
(at -0.825 1 270)
(layer "F.SilkS")
- (uuid "f8b7fa24-324e-4202-903b-ea6dcb631e09")
+ (uuid "65b5e702-2f3b-4ddd-a364-dd404e2964bf")
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@@ -764,7 +764,7 @@
(property "Value" "10k"
(at 0.025 1 270)
(layer "F.Fab")
- (uuid "328576ea-2522-4593-bf5e-f43a0306070e")
+ (uuid "0bfe8a04-731a-4ad1-ae9e-b5d71fbf863c")
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@@ -777,7 +777,7 @@
(unlocked yes)
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(unlocked yes)
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(hide yes)
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(effects
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@@ -948,14 +948,14 @@
(footprint "Capacitor_SMD:C_0603_1608Metric"
(layer "F.Cu")
(uuid "3fdb5ff1-a9f8-4653-840b-f8d458678c98")
- (at 85 65.975 90)
+ (at 85 65.475 90)
(descr "Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "capacitor")
(property "Reference" "C2"
(at -1.725 0 0)
(unlocked yes)
(layer "F.SilkS")
- (uuid "21f9b6f6-6ffa-4ce0-97d8-5088e7ac5c98")
+ (uuid "73f538c8-a3c6-4d93-a211-8ad88730081a")
(effects
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@@ -967,7 +967,7 @@
(at -2.175 -0.15 0)
(unlocked yes)
(layer "F.Fab")
- (uuid "fc8f0391-d1bc-408c-a2c6-360fbc807785")
+ (uuid "ec411f44-8244-4b50-9a9f-98c96eb4b1a6")
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@@ -980,7 +980,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "d516f8e0-e210-4b85-9c56-8a96821ce64d")
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(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "8c7e92d7-2314-479b-b76c-6de297b2c263")
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@@ -1152,7 +1152,7 @@
(footprint "Resistor_SMD:R_0603_1608Metric"
(layer "F.Cu")
(uuid "9e8d3c9e-d064-45cc-9a13-ef717f17aa30")
- (at 80.5 65.975 -90)
+ (at 80.5 65.475 -90)
(descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R4"
@@ -1160,7 +1160,7 @@
(unlocked yes)
(layer "F.SilkS")
(hide yes)
- (uuid "f9513c63-6893-45b4-a981-2e15f6ce3728")
+ (uuid "b7a3f552-43a3-4483-a30a-43a6e32447af")
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@@ -1172,7 +1172,7 @@
(at 1.725 0 0)
(unlocked yes)
(layer "F.Fab")
- (uuid "927f8f95-f21f-49e3-93bc-787d35974c8a")
+ (uuid "75828aa9-9d79-49bb-a6a5-1b14a56d10f9")
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@@ -1185,7 +1185,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "5d59697f-f7c0-4dda-87eb-e9108000afb6")
+ (uuid "96c7b696-df5e-491f-a860-d60af3d35571")
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(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "5d2af7f8-91af-48d3-939d-b64e39173526")
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(effects
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@@ -1357,7 +1357,7 @@
(footprint "Capacitor_SMD:C_0603_1608Metric"
(layer "F.Cu")
(uuid "a271ab05-1b19-43e9-ab7b-283ef8cb492e")
- (at 83.5 65.975 90)
+ (at 83.5 65.475 90)
(descr "Capacitor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "capacitor")
(property "Reference" "C1"
@@ -1365,7 +1365,7 @@
(unlocked yes)
(layer "F.SilkS")
(hide yes)
- (uuid "444e64ba-984d-47b4-8af4-f5d6984a9e38")
+ (uuid "42988948-f684-4191-a507-3325309d02d9")
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@@ -1377,7 +1377,7 @@
(at -2.125 0 0)
(unlocked yes)
(layer "F.Fab")
- (uuid "d13ec23a-8d4b-45ad-b83f-eb67590c833d")
+ (uuid "c920f4b2-a5b8-4646-a6f4-b43f8eca0fe9")
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@@ -1390,7 +1390,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "1c11e448-f795-4a4f-87ee-a273a9b46e6d")
+ (uuid "1e2583d3-836c-4b2b-9aa5-71bd3bf4abca")
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(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "9ec30169-12c2-4cfe-9d06-61980abb0768")
+ (uuid "02a945bc-2f66-41f5-9360-927799b39cb0")
(effects
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@@ -1562,14 +1562,14 @@
(footprint "SamacSys_Parts:VL53L7CXV0GC1"
(layer "F.Cu")
(uuid "a50af999-37d6-4dba-be99-d1cfd3b91b69")
- (at 82.5 70)
+ (at 82.5 69.5)
(descr "Optical LGA16 with liner")
(tags "Integrated Circuit")
(property "Reference" "IC1"
(at -1.75 0 0)
(unlocked yes)
(layer "F.SilkS")
- (uuid "55caadff-9003-4509-9531-8f5eafb584af")
+ (uuid "8f02a7d6-2198-44f8-a50f-c942af004f10")
(effects
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@@ -1582,7 +1582,7 @@
(unlocked yes)
(layer "F.SilkS")
(hide yes)
- (uuid "2e4ad606-add1-48f2-899b-811f4cbc4ad9")
+ (uuid "8a06490b-5873-4c39-8ffc-53a01213aa74")
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@@ -1595,7 +1595,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "cfd2f982-7f2f-46c5-948e-f931507bbc9c")
+ (uuid "71e5bb53-8bd5-473d-ae70-68b42dae4f61")
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@@ -1608,7 +1608,7 @@
(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "6f8740be-a6b1-4dd2-a0a0-45521603cff1")
+ (uuid "51a375df-7241-4700-b9a4-19bd0c2016ae")
(effects
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@@ -2054,14 +2054,14 @@
(footprint "Resistor_SMD:R_0603_1608Metric"
(layer "F.Cu")
(uuid "a9e138c8-a58f-4703-a7f9-138cd52b2685")
- (at 85.2 74.025 90)
+ (at 85.2 73.525 90)
(descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R6"
(at 1.775 0 0)
(unlocked yes)
(layer "F.SilkS")
- (uuid "3f1e450b-a8da-4081-be2d-3a5cae3f1ad0")
+ (uuid "cd401d07-2d06-428a-b3c0-da58b2ec49bb")
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(at 1.725 0 0)
(unlocked yes)
(layer "F.Fab")
- (uuid "ec1a3cba-8648-4d8f-b787-a244baa61888")
+ (uuid "ac201dd2-2a6c-465a-94a1-34a36abcd522")
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(unlocked yes)
(layer "F.Fab")
(hide yes)
- (uuid "4cf8c924-8e47-48c3-94c8-7898be2837a6")
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(unlocked yes)
(layer "F.Fab")
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(footprint "Resistor_SMD:R_0603_1608Metric"
(layer "F.Cu")
(uuid "ad207e87-0f8c-4037-89b5-c8bcbdcac94f")
- (at 79 74.025 -90)
+ (at 79 73.525 -90)
(descr "Resistor SMD 0603 (1608 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor")
(property "Reference" "R9"
(at -1.875 0 0)
(unlocked yes)
(layer "F.SilkS")
- (uuid "47d0f800-c416-42ae-b461-6dec469286ec")
+ (uuid "3fee59e5-8361-4121-a582-7a03ca9e5f80")
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(at -1.675 -0.05 0)
(unlocked yes)
(layer "F.Fab")
- (uuid "567b3032-ddae-48c0-b80b-045e12af549b")
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(unlocked yes)
(layer "F.Fab")
(hide yes)
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(unlocked yes)
(layer "F.Fab")
(hide yes)
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