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Wheel Sensorization Module — Legacy (SENv_03)

Legacy module — 2020–2022

This wheel-hub sensorization PCB (SENv_03) is not part of the current kart. It was designed and built between 2020 and 2022 and has been superseded by the current wheel-speed signal path through the Kart Medulla. Kept here as a reference for any future redesign — PCB layout, sensor-fusion approach, and project artifacts may be useful starting points.

What it was

A custom PCB module that mounted in the wheel hub to provide wheel speed sensing, odometry, and vehicle state data for the autonomous control loop.

SENv_03 sensor assembly

Design summary

  • Custom PCB (SENv_03) — purpose-built for wheel-hub mounting, schematic-to-assembly done in-house (KiCAD/Altium).
  • Odometry + positioning — high-frequency sensor readings feeding the vehicle state estimator.
  • Compact integration — fit within the wheel hub envelope.
  • Communication — CAN bus interface to the vehicle network.

Project artifacts

Original design review documents (PowerPoint / Word):

Why it's documented here

Future iterations of wheel-side instrumentation (e.g. a wheel-hub temperature sensor, a strain-gauge ride-height pickup, or a redesigned speed encoder) can reuse:

  • The wheel-hub mechanical envelope work.
  • The CAN-side signal conditioning approach.
  • The schematic-to-manufacturing process the team has already validated.