Assembled PCBA for the Open-source CDA 1Tenth hardware platform. This PCBA includes the following features: Low voltage protection cut off at 20v Buck converters to allow for external device power: 18V 5A rail for Orin Nano or AGX power via screw terminals 5V 5A rail for lidar or Raspberry Pi power via USB A connectors and screw terminals ESP32-S3 microcontroller with a custom micro-ROS firmware for chassis control and management. 3 x TMC 5160 stepper drivers with encoder interfaces to allow for closed loop control. All drivers are connected to the ESP32 via SPI for control logic. Embedded 6-axis IMU for improved vehicle odometry. 3 x headers intended for GPIO and 5V connections for external sensors to the ESP32 2 x headers intended for power and control of LEDs from the ESP32 ESP32 Firmware is still under active development in the USDOT FHWA STOL cda1tenth-hardware GitHub Repository. Please contact [email protected] if you have any further questions. This PCBA is provided as-is without warranty. Intended for research and development use only.
