On Board Controller (OBC) OBC is the main communication hub for all subassemblies in the V2 rover. All communication inside the rover will happen using CAN. OBC will use a Teensy 4.1 as the main microcontroller that will be programmed by the software team using MicroROS. OBC will contain GPS and LoRa modules, will power and monitor 3 fans and status/error LEDs, as well as gather temperature data from the temperature sensor boards (RD1). Additionally, it will also have an IMU chip on-board, while also allowing for the use of an external one. It will use ethernet protocol to communicate any necessary data to the Jetson AGX Orin.
The On Board Controller V1.1 is the central communications and integration board for the V2 rover. Built around a Teensy 4.1, it serves as the system hub that connects major rover subassemblies, aggregates sensor data, and distributes commands across the platform. The board is designed to support reliable field operation by combining high speed compute connectivity with robust distributed communication, so the rover can coordinate perception, navigation, and subsystem control through a single backbone. It also includes core usability and status features so operators can quickly understand system state during bring up, testing, and competition runs.
At the architecture level, the board routes rover wide communication over a CAN network and provides the primary link to the Jetson AGX Orin through Ethernet. It integrates both GPS and a LoRa RF module, with separate RF power to support stable radio operation. For inertial sensing, the board includes an onboard IMU while also supporting an external IMU option, giving flexibility for calibration, placement, and redundancy. To enable broad subsystem connectivity and expansion, it exposes CAN as the main bus and also supports SPI and I2C for peripheral devices and sensor boards, keeping the design modular as the rover evolves.
The board supports rover health monitoring and basic actuation by powering and monitoring up to 3 fans and temperature sensor boards, helping manage thermal performance and component safety during long runs. It also controls status and error LEDs to provide clear visual feedback for debugging and operations. For mechanical and payload functionality, it can drive servo motors for camera angle control, supporting adjustable viewpoints during teleoperation and testing. The design is implemented as a 4 layer PCB intended for vertical mounting with an IO bracket, prioritizing clean integration, secure mounting, and accessible connectors for fast service and troubleshooting.
See Project Spec in files, very detailed and outlines everything needed to be known about the board (Firmware info, design characteristics, features etc.)