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](images/Bento-Box%20Internals%201.jpg)  
![other side view of Bento-Box without enclosure, with numbered components](images/Bento-Box%20Internals%202.jpg)  
![back view of Bento-Box without enclosure, with numbered components](images/Bento-Box%20Internals%203.jpg)
![front view of Bento-Box without enclosure, with numbered components](images/Bento-Box%20Internals%204.jpg)  

> 1.  Motor Controller boards *(use CAN commands for motor control)*  
> 2.  [Power Board](#electronics)  
> 3.  USB to UART coverter for LiDAR  
> 4.  Power switch  
> 5.  [GX16-9 ethernet connector](#ethernet)  
> 6.  Emergency stop *(switches enable signal via [transistor](#enableled))*  
> 7.  Batteries  
> 8.  [XT60 charging port](#battery-charging--fuse)  
> 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](#wiring)  
> 16. Addressable LED [wiring](#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
<!-- TODO: update image -->
![power board](images/Power_Board.jpg)

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

<!-- wtf github why do you get the spaces wrong, this is fekkin monospace -->
```
❲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)