Hardware & topology
The current system includes the conveyor and robot arm, not just the Pi and accelerators.
OUR OBSERVATIONLast verified: 2026-09-27 · Build 1.9.37
Current hardware
| Component | Current lab state |
|---|---|
| Host | Raspberry Pi 5 · Bookworm 64-bit · Debian 12 · Python 3.11 · kernel 6.12 |
| Accelerators | 4 × AKD1500 · PCIe · 16 MB host-DDR window/card · 32 neural processors/card · akida 2.19.3 · firmware BC.A1.003.009 |
| Cameras | 2 × Camera Module 3 · IMX708 · operated at 2304 × 1296 · named by position: 1. Cam left / 2. Cam right |
| Conveyor | 12 V motor · relay module on GPIO 18 (pin 12), jumper H = high-trigger, NO contact, 3–5 A fuse, 1N4007 flyback diode · on/off · one direction |
| Arm | 3-axis stepper arm · RAMPS 1.4 / Arduino Mega 2560 · VORSA-ARM 1.0 · USB · 115200 baud |
Two cameras, not two fixed top views
Each zone can choose a camera. The optional second-view mode points both cameras at the delivery zone and fuses the two angles.
CAM 1→delivery zone←CAM 2 / second view→fused verdict
PCIe reality
The cards sit behind a PCIe switch on bus 0001:xx. A card can hang while the link remains up; the 20 September incident led directly to the card watchdog.