V4 PROTOTYPE

THE ANATOMY OF TRUCK 0

This is not an RC toy. It is a fully IP-connected, industrial-grade teleoperation node. As we transition into the V4 Architecture, we have completely untethered the hardware, creating a machine that bridges the gap between digital networks and physical dirt. To turn your web browser into a native cockpit with consistent, sub-50ms latency, we had to rethink control from the ground up. Traditional remote control is dead here. Instead, we use an intention-based system: your browser sends the goal, and the truck calculates the physics.

🧠 THE BRAIN LOGIC CORE MODULE

This is the central nervous system. It lives just under the roof, processing the network stream and making sure you don't crash.

Raspberry Pi 5 (8GB)

The absolute mastermind. Handles high-bandwidth WebRTC video encoding, maintains the WebSocket connection, and runs the local Python control loop.

PCA9685 16-Ch PWM

The Pi is too busy handling network traffic to deal with micro-timing. This board takes high-level I2C instructions and translates them into perfectly timed PWM signals.

GY-87 IMU "Eisenbach"

Safety first. This 10-DOF sensor fusion board constantly monitors for dangerous tilt angles. If a rollover is imminent, it cuts drive power locally with zero network delay.

MAX98357A I2S Amp

The voice of the truck. Pulls digital audio directly from the I2S bus and pumps out 3W of crisp engine and system sounds.

👁️ THE TOWER SENSES & GIMBAL MODULE

The roof-mounted array dedicated to spatial awareness and tactical oversight.

ESP32 Gimbal Mind

Managing digital servos takes serious processing power. An ESP32 acts as a dedicated co-processor, receiving coordinates via USB to calculate smooth, interpolated movement.

Waveshare 360° Kit

Mounted on a thrust ball bearing with ST3215 servos for buttery-smooth panning, providing an unrestricted 360° view of the environment and trailer payload.

Pi HQ Cam (Bird-View)

Streaming crystal-clear 1080p video straight into your browser's Picture-in-Picture display.

INMP441 Digital Mic

Highly sensitive I2S microphone captures every servo whine and falling rock, streaming ambient audio live so you can hear the physics.

1.3" OLED + TTP223

The local UI. Because sometimes you just need to stand next to the machine, read its IP address, and run local diagnostics without a laptop.

🦾 CABIN & CHASSIS ACTUATOR MODULE

Where the data hits the dirt. This layer translates digital logic into raw physical force and light.

Pi HQ Cam (Driver)

Mounted right in the driver's seat with an ultra-wide lens. The UI digitally pans across this wide sensor in real-time when you steer, mimicking natural head movement.

MD13S Motor Driver

The beast tamer. Takes logic signals and dumps massive, unfiltered power into the drivetrain.

Servonaut Planetary

Pure, industrial low-end torque. Built to pull heavy loads of real earth up steep inclines.

8× MOSFET Drivers

High-power electronic switches to safely drive the 12V LED groups (headlights, indicators, beacons) without frying the 5V logic boards.

⚡ THE POWER GRID MULTI-VOLTAGE ARCH.

Earthmoving requires torque. Torque creates massive voltage drops. Here is how we isolated the power.

24V Li-Ion (10Ah)

The primary energy reserve for the entire system ecosystem.

DC-DC 24V → 5V 50W

The life support system. Converts 24V into a massively stable 5V rail exclusively for the Pi, PWM logic, and the steering servo.

DC-DC 24V → 12V 5A

The auxiliary rail. Dedicated to powering the bright LED matrix and the ESP32 turret servos.

7.2V Drive Battery

The secret to absolute stability. The main drive motor draws its huge current spikes from this completely separate, isolated battery so the digital brain never feels a drop.

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