> ## Documentation Index
> Fetch the complete documentation index at: https://benrover-docs.tekbot.io/llms.txt
> Use this file to discover all available pages before exploring further.

# Power and Command System

> Overview of the power and command system of the rover

<img className="block dark:hidden" src="https://raw.githubusercontent.com/BenRover-24/docs/main/docs/electronics/images/ems_block2.jpg" alt="battery block" />

<img className="hidden dark:block" src="https://raw.githubusercontent.com/BenRover-24/docs/main/docs/electronics/images/ems_block2.jpg" alt="battery block" />

## Power Management System

For efficient power system management, we have opted for the following configuration:

<CardGroup cols={2}>
  <Card title="Battery Configuration" icon="battery-full" href="#">
    The rover's power supply consists of two parallel-connected 12-volt batteries, each rated at 5 Ah.
  </Card>

  <Card title="Power Monitoring" icon="microchip" href="#">
    An Arduino Nano manages the power supply, displaying the temperature via an LM35 sensor and battery charge level on an I2C LCD screen.
  </Card>
</CardGroup>

<CardGroup cols={2}>
  <Card title="Emergency Stop" icon="power-off" href="#">
    An emergency stop button is integrated to shut down the entire system if necessary.
  </Card>

  <Card title="Autonomy" icon="clock" href="#">
    With the current power supply, we have a capacity of 10 Ah, offering a maximum autonomy of 5 hours at a consumption of 2A.
  </Card>
</CardGroup>

### Additional Factors:

The autonomy may be reduced by factors such as variations in component consumption, circuit losses, and temperature fluctuations.

## Command System

To control the actuators such as the 5 servo motors, 6 continuous motors, and stepper motors, we used an Arduino Mega.

<CardGroup cols={2}>
  <Card title="Servo Motors" icon="gears" href="#">
    The servomotors from REV ROBOTICS are supplied with 12V and require a maximum dropout current of 2A. TIP122 transistors amplify the 20 mA supplied by the Arduino Mega.
  </Card>

  <Card title="Noise Reduction" icon="wave" href="#">
    Capacitors are added to filter the noise produced by motors powered through their drivers by 12V.
  </Card>
</CardGroup>