Assembly
This section contains all the information about the kart, organized as a tree of sub-assemblies. Each sub-assembly includes detailed specifications, components, and relevant documentation.
Assembly Instructions
Step-by-step assembly instructions are still a work in progress.
Hardware Overview
| Subsystem | Component | Key Specs | Details |
|---|---|---|---|
| Chassis | Tony Kart Extreme | CIK ICA 330/99, 30/32mm CrMo tubing, 40mm rear axle | Chassis |
| Computer | NVIDIA Jetson AGX Orin | 12-core ARM, 62 GB RAM, Ampere GPU (CUDA 12.6), NVMe boot | Computer, Orin Setup |
| Camera | ZED 2 stereo | USB 3.0, RGB + depth + IMU, used for cone detection | Camera |
| Microcontroller | ESP32 "Kart Medulla" | UART 115200 baud to Orin, controls actuators | Kart Medulla |
| Steering | DC motor + H-bridge | Analog position sensor, closed-loop control on ESP32 | Steering, H-bridge |
| Throttle | DAC → motor controller | 0–3.3V analog signal (66% max until 5V DAC available) | Throttle Pedal |
| Motor | Electric kart motor | Controlled via motor controller + throttle signal | Motor |
| Power | Battery pack | Supplies 12V to Orin (via barrel jack 9–20V) + motor controller | Battery |
| Emergency braking | Pneumatic EBS | Solenoid valve, shutdown circuit in series | EBS |
| Wiring | Custom harness | Color-coded: black=GND, red=12V, orange=5V, yellow=3.3V | Wiring, Net Naming |
Notes
- The red plastic piece of the steering column goes on top of the bolt that holds it
- The bearings on the wheels are separated with tube of ? ID x ? OD x ? length to allow compressing them with the bolts without applying constant shear force on the bearings
- ...