2. The Zakharos

Common

• Updated cable system with 8-pin connectors (see: Power post. Part one.).
• Added union connectors for charging of all platforms at once.
• Added switchers for each platform.
• Created a new repository including the sensor platform and the face module: an-dr/zakhar_io

Sensor platform

• Used Arduino Nano v3 instead Pro Micro - for better stability
• United with face module as one platform
• Added Ultrasonic Sensor HC-SR04, but without software support yet.
• Updated face module with stabilized voltage

Computing (brain) platform

• Raspberry Pi 4, ROS Noetic with Python 3
• New ROS-based application architecture
• OLED as status display for the computing platform (see: Startup check)
• Achieved stable (finally) I2C connection. Thanks to lower frequency (10KHz) and the new connectors.
• Added Raspberry Pi Camera, but without software support yet.
• Created a new repository for the platform: an-dr/zakhar_brain: Software for Zakhar's brain

Moving platform

• New chassis with a stand
• ESP32 instead of Arduino Nano v3
• Bluetooth connection control
• Position module MPU9250 with ability to turn for a given angle (see: New ESP32-based platform testing: Angles!)
• New third wheel - with rubber
• Removed rotation encoders as useless
• Updated motors by the modification with a metal reductor