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Hardware

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snaens edited this page Sep 23, 2024 · 2 revisions

Box's hardware is designed around a Jetson Nano and motor controller boards by EduArt.

Side view

side view of Bento-Box without enclosure, with numbered components
other side view of Bento-Box without enclosure, with numbered components
back view of Bento-Box without enclosure, with numbered components front view of Bento-Box without enclosure, with numbered components

  1. Motor Controller boards (use CAN commands for motor control)
  2. Power Board
  3. USB to UART coverter for LiDAR
  4. Power switch
  5. GX16-9 ethernet connector
  6. Emergency stop (switches enable signal via transistor)
  7. Batteries
  8. XT60 charging port
  9. LiDAR
  10. Cameras
  11. Jetson Nano
  12. Box full of screws (for ballast, to be replaced)
  13. Motor without wheel
  14. Microcontroller board (USB to CAN converter)
  15. CAN wiring
  16. Addressable LED wiring
  17. Unused 5v input port (now runs over USB)
  18. The dreaded 5v regulator (to be replaced with BEC)
  19. Addressable LED data output (add more LEDs here)
  20. Addressable LED strip (epic underglow)

Electronics

power board

The power board routes power to all components, contains a fuse and connects the power switch and emrg-stop.

❲jetson gpio❳───❲Emrg-Stop button❳──┬─❲enable signal❳
                                  └─❲LED❳

⦗battery⦘━━⦗fuse⦘━┳━⦗power ports⦘━━━━┳━⦗5V reg [Jetson & Sensors]⦘
                ┗━⦗charging port⦘  ┣━⦗6.7V reg [servo motors]⦘
                                  ┗━⦗Motor controllers⦘

Enable/LED

A compact transistor setup on the board comprises the enable circuit.
It and the emergency stop button are wired to 3v3 and GND on the Jetson.
The 2-pin connector carries GND and the output enable signal.

Battery, Charging & Fuse

Note

Fuse: 4~7A slow-blow (träge)
Battery: 6s1p, self-balancing
Battery charging: max 25.2v @ 3A, recommend: 25v @ 2A

Charging is done via the yellow XT60 connector wired to the power board. A suitable battery charger or lab bench PSU is used for charging.

Caution

The fuse protects the battery, incorrect voltage or reverse polarity on the charging port can still fry Bento-Box's electronics!

If using lab bench PSU:

  1. Set PSU to desired charging voltage, then set current to 0A
  2. Connect battery (as current is off, reverse polarity will only short the battery and blow the fuse)
  3. Turn on PSU and turn up current to desired charging current

Wiring

Wire colors are almost all consistent:

  • Blue: GND (for 5v)
  • Red: 5v
  • Yellow: Battery voltage (~24v)
  • Black: GND (for Bat. voltage)
  • Green/White: Data (mostly CAN)

Networking

Wi-Fi

An Intel AX210 PCIe wifi module generates a Network using NetworkMannager's shared mode.

SSID: Bento-Box
Passwd: Bento-Box
IP address: 192.168.38.1

Note

You will experience interference when operating in a noisy environment (e.g. competitions).
consider using an ethernet tether.

Ethernet

Ethernet is broken out through a GX16-9 port.

Tip

Pinout:
1: brown-white
2: brown
3: blue-white
4: blue
5: red-white
6: red
7: shield
8: green-white
9: green

Note

If for some reason the GX16 port fails (crap solder joints),
you can always just plug into the Jetson directly.
Just make sure the cable doesn't get caught on the tires
and that it has strain relief (a good direct tug and you'll break the RJ-45 connector)

sänks for reading our wiki. You can find out more about us at: https://bento-robotics.github.io/website/

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