DAMIAO_4340_Acutuator - dingdongdengdong/astra_ws GitHub Wiki

graph TD
    subgraph Power_Supply
        PS_ACT[48V High-Current Power Supply/Battery] -->|Power Line Plus| ACT1_P
        PS_ACT -->|Power Line Plus| ACT2_P
        PS_ACT -->|...| ACT_Px
        PS_ACT -->|Power Line Plus| ACT6_P
        PS_ACT --- GND_COMMON[Common Ground]
    end

    subgraph Actuators
        ACT1_P[DAMIAO 4340 Actuator 1 plus]
        ACT1_P --- ACT1_GND[GND]
        ACT1_GND --- GND_COMMON
        ACT1_CAN_H[CAN H] --- CAN_BUS_H
        ACT1_CAN_L[CAN L] --- CAN_BUS_L

        ACT2_P[DAMIAO 4340 Actuator 2 plus]
        ACT2_P --- ACT2_GND[GND]
        ACT2_GND --- GND_COMMON
        ACT2_CAN_H[CAN H] --- CAN_BUS_H
        ACT2_CAN_L[CAN L] --- CAN_BUS_L

        ACT_Px[...]
        ACT_Px --- ACT_Gx
        ACT_Gx --- GND_COMMON
        ACT_CHx --- CAN_BUS_H
        ACT_CLx --- CAN_BUS_L

        ACT6_P[DAMIAO 4340 Actuator 6 plus]
        ACT6_P --- ACT6_GND[GND]
        ACT6_GND --- GND_COMMON
        ACT6_CAN_H[CAN H] --- CAN_BUS_H
        ACT6_CAN_L[CAN L] --- CAN_BUS_L
    end

    subgraph CAN_Bus
        CAN_BUS_H(CAN Bus High)
        CAN_BUS_L(CAN Bus Low)
        CAN_BUS_H --- TR1_H[120 Ohm Terminator]
        CAN_BUS_L --- TR1_L[120 Ohm Terminator]
        CAN_BUS_H --- TR2_H[120 Ohm Terminator]
        CAN_BUS_L --- TR2_L[120 Ohm Terminator]
    end

    subgraph Jetson_Orin_Side
        JETS_ORIN[Jetson Orin]
        JETS_ORIN_PS[Jetson Orin Power Supply] --> JETS_ORIN
        JETS_ORIN --- JETS_GND[GND]
        JETS_GND --- GND_COMMON

        JETS_ORIN --> USB_PORT(USB Port)
        USB_PORT --- USB_CAN_ADAPTER[USB-CAN Adapter]
        USB_CAN_ADAPTER --- USB_CAN_ADAPTER_GND[GND]
        USB_CAN_ADAPTER_GND --- GND_COMMON
        USB_CAN_ADAPTER --> CAN_H_ADAPTER[CAN H]
        USB_CAN_ADAPTER --> CAN_L_ADAPTER[CAN L]
    end

    CAN_H_ADAPTER --- CAN_BUS_H
    CAN_L_ADAPTER --- CAN_BUS_L