P
PRAHARI
ROBOT PARAMETERS & HARDWARE SPECS

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

PRAHARI HARDWARE ARCHITECTURE (RASPBERRY PI 5 COMPUTING CORE)
RPI 5 • BCM2712
COMPUTE BRAIN
Raspberry Pi 5 (8GB)
Broadcom BCM2712 2.4GHz Quad-Core
MOTORS & DRIVE
2× MY1016 350W
36V DC Brushed High-Torque
MOTOR DRIVERS
2× BTS7960 43A
RP1 Hardware PWM (GPIO 12/13/18/19)
BATTERY POWER
36V 10S Li-ion
10Ah 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