Main Control and Power Distribution  
The 5 V input voltage main control board acts as the brain, serving as the robot's central processing unit that handles all necessary CAN communications. This includes transmitting motor speed information to inverters and sending lighting effects data to sensor LED boards. Additionally, the implemented SBUS interface is designed for use with FrSky transmitters, enabling true low-level control of the robot. All these functions are realized by an Infineon XMC4700 microcontroller based on Arm® Cortex®-M4 architecture, operating at 144 MHz, featuring up to 2 MB flash memory, 352 kB RAM, 100–196 pins, 6 CAN nodes, 4 12-bit ADCs, 18 input channels, 4 parallel sampling and conversion units, 6-channel USIC (configurable as SPI, UART, I²C, IIS), and more. 

Meanwhile, the power distribution solution converts and routes power to where it is needed with extremely low power loss, and enables current measurement on all six 5 V output channels. The solution operates using a four-phase interleaved buck converter capable of handling input voltages up to 80 V, and includes a power controller for independent sleep mode, high-side switches with diagnostic and protection features, and a high-speed CAN transceiver.