Hardware Overview
A guide to the hardware components used across e-Yantra robotics projects.
Standard Bill of Materials
| Component | Model | Purpose |
|---|---|---|
| Single Board Computer | Raspberry Pi 4 (4 GB) | Main compute |
| Microcontroller | Arduino Uno / Mega | Low-level I/O |
| 2D LiDAR | RPLidar A1 / A2 | Obstacle detection & SLAM |
| Camera | Raspberry Pi Camera v2 | Computer vision |
| IMU | MPU-6050 | Orientation & acceleration |
| Motor Driver | L298N / TB6612 | Drive motors |
| DC Motors | 12V with encoders | Locomotion |
| Battery | 11.1V 3S LiPo | Power |
Power Distribution
WARNING
Always disconnect the battery before making wiring changes.
LiPo Battery (11.1V)
├── Buck Converter → 5V → Raspberry Pi
├── Buck Converter → 5V → Arduino
├── Motor Driver (12V) → DC Motors
└── Step-down → 3.3V → SensorsCommunication Interfaces
| Interface | Speed | Use Case |
|---|---|---|
| UART | 115200 baud | Arduino ↔ Raspberry Pi |
| I2C | 400 kHz | IMU, ToF sensors |
| SPI | 1–10 MHz | High-speed peripherals |
| USB | — | Camera, LiDAR |
| Wi-Fi | — | ROS 2 multi-machine |
Raspberry Pi Quick Setup
bash
# Enable I2C and camera
sudo raspi-config # Interface Options
# Check I2C devices
i2cdetect -y 1
# Verify camera
libcamera-hello