IR Ball Request Circuit
To request Nerf balls from the resupply depot during the game, an IR pulse needed to be generated with an on time of 10 ms and an off time of 30 ms (which corresponded to a 25 Hz PWM output with a duty cycle of 25%). This was accomplished by connecting a PWM output from the E128 to the gates of 5 different 2N7000 N-channel MOSFET transistors. Each of these had their sources connected to ground, and the IR LEDs were connected in series with a 100 ohm resistor between the drain and a +5V supply to provide for enough of a current output to reliably request a Nerf ball even if the alignment of the GBot at the power station was not completely correct.