Power Supply
In order to simplify wiring and reduce noise in our circuitry, we created a power rail that was directly connected to the power supply. Our logic boards, servos, and some sensors, mainly the potentiometer and switches, required +5 V. The microntrollers required +9 V, but they used their own wall transformer and supply. Each of our targets as well as the vibration motors were run directly off of +13.4 V. By connecting all of the grounds on the power rail rather than linking them together in series, we were able to separate all of the high and low voltage circuits and reduce noise (Fig. 1).