============
Power System
============

Dual-battery system: main battery for propulsion, auxiliary 12V battery for computing/sensors.

Auxiliary Battery (12V)
=======================

Powers all computing and sensor systems.

+-------------------+---------------------------+
| Type              | AGM or Lithium-ion        |
+-------------------+---------------------------+
| Voltage           | 12V nominal               |
+-------------------+---------------------------+
| Capacity          | 20-50 Ah                  |
+-------------------+---------------------------+

Power Consumption
=================

+-----------------------+----------+----------+
| Component             | Typical  | Peak     |
+=======================+==========+==========+
| Main Computer         | 6 A      | 12 A     |
+-----------------------+----------+----------+
| Velodyne VLP-16       | 0.7 A    | 1 A      |
+-----------------------+----------+----------+
| Xsens MTi-630         | 0.2 A    | 0.3 A    |
+-----------------------+----------+----------+
| RealSense D435        | 0.7 A    | 1 A      |
+-----------------------+----------+----------+
| Teensy + CAN (×4)     | 0.6 A    | 1.2 A    |
+-----------------------+----------+----------+
| **Total**             | ~10 A    | ~18 A    |
+-----------------------+----------+----------+

**Runtime**: ~5 hours with 50 Ah battery

Fuses
=====

+-------------------+----------+
| Main Computer     | 15A      |
+-------------------+----------+
| LIDAR             | 2A       |
+-------------------+----------+
| Each Teensy Node  | 0.5A     |
+-------------------+----------+
| USB Hub           | 2A       |
+-------------------+----------+

Watchdog Timeouts
=================

+-------------+---------+---------------------------+
| Node        | Timeout | Fallback                  |
+=============+=========+===========================+
| Throttle    | 200ms   | Neutral + Idle            |
+-------------+---------+---------------------------+
| Brake       | 100ms   | Full brake                |
+-------------+---------+---------------------------+
| Steering    | None    | Hold position             |
+-------------+---------+---------------------------+