Indoor Autonomous Mobile Platform

Designing a dedicated board to count encoder ticks and publish them using micro-ROS.

This board is only 50mm by 50mm, and the 4 corner mounting holes will align with the hole pattern in the platform level plates. 

Using Paper Aided Design (PAD) to validate the component footprints and discover any accidental intersections. 

The JST connector footprint I selected is too small, so I'll need to swap these out and move some other components around to fit them.

Testing different component layouts with an Arduino Mega as the motor driver and a Raspberry Pi 3 Model B for a controller. 

The RPLidar unit will likely sit in the centre of the upper level to provide the clearest view of the robot's surroundings.