Hardware

Vector has two main PCBs: a headboard and a bodyboard.

TODO: these should be their own pages, each with pictures

Headboard

The headboard is host to the main SoC, storage, RAM, camera, screen, Wi-Fi, BLE, IMU, and PMIC. It is the brains.

• SoC: Qualcomm APQ8009
  • Quad-core Cortex-A7
    • Max clock: 1.3GHz
    • Vector is limited to 533 MHz to prevent overheating and to reduce power usage
  • Adreno 304
    • Weak, but can theoretically handle some AI tasks better than the CPU
    • Anki experimented with this, but never ended up actually using it
  • One quirk: the ADSP is disabled, and the MDSP is repurposed as the ADSP.
• eMCP: Kingston 04EMCP04-NL3DM627
  • 4GB eMMC storage, 4Gb DDR3 RAM
    • (4Gb = 512MB)
  • eMCP = storage and RAM on one chip
• Screen
  • Vector 1.0: 184x96, accepts RGB565 data over SPI
  • Vector 2.0: 160x80, accepts bswapped RGB565 data over SPI
• Camera
  • Vector 1.0: 720p, 90 degree FoV
  • Vector 2.0: 2MP, TODO (who knows)
• WLAN/BLE: WCN3660B
• PMIC: Qualcomm PM8916
• IMU: BMI160

Bodyboard

The bodyboard is where all the robot bits (motors, sensors) connect to.

• MCU: STMicroelectonics STM32F030C8
  • 8K RAM, 64K ROM
  • Takes data from the sensors, outputs it into frames which the head can understand
  • Receives data from the head, outputs it to the analog components (motors, LEDs)
• Cliff sensors: 4 Lite-On proximity sensors
• Each motor has an encoder, it is unknown where these come from
• The gearboxes and motors are custom
  • The motors are a standard size, but Anki had a custom winding
  • Replacements might work, but maybe not as well
• Distance sensor: STMicroelectonics VL530LX
• Battery: FullRiver 320MaH
  • TODO: replacement battery links