This section describes in further detail the schematics of the electronic controller and the algorithms run by the PICs (see  for the exact design). It is convenient to split the description into two parts. The first one only explains the connection between the boards and the devices and the communication between them, i.e., the hardware. The second one, focuses into the firmware, i.e., the software, which is only in the PICs. The main and motor boards use the PIC18F6520 microcontroller, which is a 64-pin surface mount chip. The pins are grouped in ports that allow the communication with other devices. Some of these ports have modules that perform specific tasks such as AD conversion or Pulse Width Modulation.