> For the complete documentation index, see [llms.txt](https://projects.tylerqwong.me/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://projects.tylerqwong.me/robomaster-pdb/overview.md).

# Power Distribution Board

Represented below is the block diagram for a [mecanum-wheeled](https://en.wikipedia.org/wiki/Mecanum_wheel) remote control drone slated for competition in DJIs annual RoboMaster tournament. Over the next few months I will be designing and integrating a power distribution system that will allow us to track and manipulate power consumption separate from DJIs standard referee module (purple).

![Block Diagram](https://867149615-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M4AszZ6cDemtjRDbZfx%2F-M6DRhL8BcXs8_5R5pnP%2F-M6GPASSTGASg8xMsFt0%2Finfantry_block.png?alt=media\&token=2aed11e6-42ae-47a0-addd-c0d1750cce8b)

### Sub System Breakdown

<table data-header-hidden><thead><tr><th width="151">Sub-System</th><th>Notes</th></tr></thead><tbody><tr><td>Sub-System</td><td>Notes</td></tr><tr><td>Chassis</td><td>Includes terminal board and all four wheel driver motors. Power monitoring of this system in particular will be essential to rules compliance.</td></tr><tr><td>Gimbal </td><td>Controls power to development board A (control board with STM32 processor). Will also have to pass power consumption data to this area. Power consumption of the controller itself has been shown to be negligible.</td></tr><tr><td>Shoot</td><td>Since we are using non-stock motors for this system, we will need to step down 24V supply power to 12V power (current draw is 25A max but 1-5A during typical operation). Furthermore we should minimize current flow through the chassis / gimbal split. Therefore we should split the overall PDB into a main board below the split-ring and a peripheral board above the split ring.</td></tr><tr><td>Vision</td><td>As per tournament rules there is no specified limit to vision system power consumption. Furthermore systems like the Pi or the Nano usually include some sort of on-board circuit protection. Therefore instrumentation for this system is not a requirement.</td></tr></tbody></table>

## RCGs

### Requirements / Constraints

* Chassis power instrumentation
* Shoot system power instrumentation
* Aggregate power instrumentation
* Ability transmit instrumentation data to (dev board A)
* DC-DC, 24 to <17.4V step down for shoot system&#x20;
* Passive current limiting for C620 ESCs (20A)
* Active or passive current limiting for the shoot as a whole&#x20;
* Some sort of size constraint

### Goals

* Gimbal system power instrumentation
* Vision system power instrumentation
* Reintegrate defunct supercapacitor project from earlier in the year
* Probe points for circuit debugging.
* Not unecessarily large or expensive.

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See [external document](https://docs.google.com/document/d/1jNmA8QFx7Y89FBFNAygtOYLn9cEfTqD6M1qYDg10qKM/edit?usp=sharing)&#x20;
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