2023 Capstone: Two Wheeled-Biped Infantry Robot
---
title: 2023 MacFalcons Infantry_Biped Electrical Assembly
---
%% Naming convention: first prefix is module name
flowchart
%% subgraph Chassis
subgraph CV["Jetson Nano (Linux PC)"]
CV-DcJack["19VDC Power Input"]
CV-USB-Camera["USB1"]
CV-CtrltoCv-USBtoTTL["USB-to-TTL to Control"]
end
subgraph CtrlBoardC["Type C Control Board (STM32F407IG)"]
Ctrl-XT30In["Power Input"]
CtrltoCv-UART2["UART2 for CV (USART1 in code)"]
CAN1-Chassis["Chassis CAN (CAN1)"]
end
subgraph ExtBoard1["ESC Center Board (CAN and XT30 Adaptor)"]
EB1-XT30["XT30 (7 ports)"]
EB1-CAN-2Pin["CAN-2Pin (7 ports)"]
EB1-CAN-4Pin["CAN-4Pin"]
EB1-XT60["XT60"]
end
%% Connections
Battery["Battery TB47S (24V)"]-->EB1-XT60
Camera["Camera"] --- CV-USB-Camera["USB1"]
EB1-XT30-->BuckConvertor["24V-to-19V Buck Convertor"]-->CV-DcJack
EB1-CAN-2Pin== CAN cable ===Motor-Joint["DM-J8006-2EC Joint Motors\n(Front-right, Front-left, Rear-left, Rear-right)"] & Motor-Drive["RMD-L-9015 Drive Motor\n(Left and Right)"]
EB1-XT30== XT30 cable ===Motor-Joint & Motor-Drive
EB1-XT30===Ctrl-XT30In
CV-CtrltoCv-USBtoTTL["USB-to-TTL to Control"] --- CtrltoCv-UART2["UART2 for CV (USART1 in code)"]
EB1-CAN-2Pin---CAN1-Chassis
%% end