Overview:

This board acts as the brain of the Rover and houses 2 µControllers in a Master/Slave configuration. It's the intermediary between the Driver/Operator most onboard devices.

I'll refer to the Master µController as the "Main MCU" and the Slave µController as the "Secondary MCU" from here on. The Main MCU is a Teensy 4.1 and the Secondary MCU is a Seeed Studio XIAO SAMD21.

Capabilities:

Power:

• 1 V_in output

• 1 10A 12V buck convertor

• 2 10A 5V buck convertors

• 2 12V outputs

• Independent LED indicators for each buck convertor and Main MCU

Connectivity:

• 1 10/100 ethernet port

• 1 LCD display port

• 1 Secondary MCU port

• 1 UART channel for communication with the battery

• 2 4-pin pwm controlled fan outputs (12V or 5V selectable)

• 2 independent CAN bus networks

• 4 independent servo motor ports

• 5 independent IA LED output ports (12V or 5V selectable)

• 7 independent PWM outputs

• 7 independent quadrature encoder ports

Secondary MCU:

The Secondary MCU controls the LEDs as well as the 2 fans based on commands form the Main MCU.