hku-martians-prototype

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HKU Martians Prototype Rover

Rudimentary 2-layer all-in-one Power Distribution Board (PDB) and logic carrier designed for small 6-wheel rovers with a 4-DoF robotic arm.

🚀 Key Specifications

Dimensions: 99.57 x 99.06 mm
Power Input: 6S LiPo (22.2V nominal, 25.2V max) via XT60.
Power Tree:
- 12V @ 10.8A: High-current rail for BLDC/DC Main Drive motors. External module attached through XT30 connectors
- 7.5V @ 5A: Dedicated HV Servo rail (Optimized for 7.4V nominal servos). External module attached through XT30 connectors
- 5.1V @ 5A: On-board stabilized logic power for Pi 5 and peripherals. 3V3 Using Pico's built-in regulator.
Processing:
- Dual-core architecture: Raspberry Pi 5 (Thinking) + Pi Pico 2 (Doing).
- UART communication bridge.
Actuation & Sensing:
- 6x PWM Encoder inputs.
- 6x PWM-Controlled DC motor driver headers.
- 4x High-Torque Servo ports with localized bulk capacitance.
- Integrated 6S Battery Fuel Gauge (Voltage Divider + ADC).

🛠 Hardware Setup

Battery Monitor Calibration

The internal voltage divider uses a 100kΩ (Top) and 13.7kΩ (Bottom) 1% precision resistor set.

Max Input: 25.2V
ADC Output: ~3.03V
Safety Factor: 10% headroom to prevent Pico ADC overvoltage.

Communication

The Pi 5 and Pico 2 communicate via UART.

Baud Rate: 115200 (Default)
Pinout: Pi GPIO 14/15 <-> Pico GPIO 0/1.

⚠️ Assembly Warnings

Thermal Reliefs: High-current pads (XT60, Regulators, Motors) have thermal reliefs DISABLED. Use a high-power chisel-tip iron and pre-heat the board to 100°C for assembly.
Ensure C1 & C2 (2000uF) is rated for 50V minimum.

Comments

HKU Martians Prototype Rover

Rudimentary 2-layer all-in-one Power Distribution Board (PDB) and logic carrier designed for small 6-wheel rovers with a 4-DoF robotic arm.

🚀 Key Specifications

Dimensions: 99.57 x 99.06 mm

Power Input: 6S LiPo (22.2V nominal, 25.2V max) via XT60.

Power Tree:

12V @ 10.8A: High-current rail for BLDC/DC Main Drive motors. External module attached through XT30 connectors
7.5V @ 5A: Dedicated HV Servo rail (Optimized for 7.4V nominal servos). External module attached through XT30 connectors
5.1V @ 5A: On-board stabilized logic power for Pi 5 and peripherals. 3V3 Using Pico's built-in regulator.

Processing:

Dual-core architecture: Raspberry Pi 5 (Thinking) + Pi Pico 2 (Doing).
UART communication bridge.

Actuation & Sensing:

6x PWM Encoder inputs.
6x PWM-Controlled DC motor driver headers.
4x High-Torque Servo ports with localized bulk capacitance.
Integrated 6S Battery Fuel Gauge (Voltage Divider + ADC).

🛠 Hardware Setup

Battery Monitor Calibration

The internal voltage divider uses a 100kΩ (Top) and 13.7kΩ (Bottom) 1% precision resistor set.

Max Input: 25.2V

ADC Output: ~3.03V

Safety Factor: 10% headroom to prevent Pico ADC overvoltage.

Communication

The Pi 5 and Pico 2 communicate via UART.

Baud Rate: 115200 (Default)

Pinout: Pi GPIO 14/15 <-> Pico GPIO 0/1.

⚠️ Assembly Warnings

Thermal Reliefs: High-current pads (XT60, Regulators, Motors) have thermal reliefs DISABLED. Use a high-power chisel-tip iron and pre-heat the board to 100°C for assembly.

Ensure C1 & C2 (2000uF) is rated for 50V minimum.

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