1. Raspberry Pi 4

Our central component for controlling the programming of the various hardware parts. Uses Ubuntu 20.04, not raspbian OS.

2. Hoverboard Motor

The standard 6.5 inch hoverboard motor used in almost every model. Has 14 poles however, not the standard 15 or 30.

3. Motor controller x2

This is to allow us to control the speed, stop, and start, and separately control the motors in a programmable way.

4.Lidar

Primary use of the lidar is for object avoidance and mapping of the indoor environment. Furthermore, the lidar will be used for odometry data to give us a more accurate position of the robot.

5. IMU

reports acceleration, orientation, angular rates, and other gravitational force. Allows us to use that information to get the direction of our robot and other data used for odometry purposes.

6. DAC x2

generate variable voltage inputs directly from the Raspberry Pi's digital outputs, allowing for controlling motor drivers that rely on analog signals to adjust behavior.

7. Stop Button

A simple emergency stop button that when pressed deactivates the motors and when it is turned back the motors are reactivated but will not run again until programmed to do so.

8. 12 V battery

Our main battery source to keep all of the components charged. This includes the RPI, the motors, the motor controllers.

9. 36 V battery

The battery from the hoverboard that is used to give power to the motors.

10. DC/DC converter

Converts from 36v ~ 12v and is used for the battery to charge the 36 v battery that is used for the motors.

11. DC/DC converter

Converts from 12V to 5.2V 6A and is used for the 12 v battery to the raspberry pi4.