PRAHARI
11.8V
ROBOT PARAMETERS & HARDWARE SPECS

Calibrate motor thresholds, obstacle detection safety limits, and battery interlocks.

PRAHARI HARDWARE ARCHITECTURE (ARDUINO NANO RP2040 COMPUTE CORE)
ARDUINO NANO RP2040 CONNECT • RP2040
COMPUTE BRAIN
Arduino Nano RP2040 Connect
RP2040 Processor • 16MB Flash
MOTORS & DRIVE
2× High-Torque DC Motors
Geared Drive • 360° Front Casters
MOTOR DRIVERS
2× BTS7960 43A
RP2040 Hardware PWM (D5/D6/D9/D10)
BATTERY POWER
LI-ION BATTERY 11.5 V 4500MAH
4.5Ah 3S Pack • 40A Inline Fuse
CALIBRATION PARAMETERS
Triggers immediate PWM cut if obstacle distance falls below cutoff
Protects BTS7960 H-Bridges from continuous stall overcurrent
Governs maximum throttle permitted during manual or web teleoperation
Warns operator to return robot to charging bay before BMS cutoff