## Introduction Because of power voltage requrieemnt is changed from 5V to 9v ~ 20v for [Jetson Orin Nano dev kit](https://www.amazon.com/-/ko/dp/B0BZJTQ5YP/ref=sr_1_1?crid=1R48KEKOH9617&keywords=jetson+orin+nano+dev&qid=1706826069&sprefix=jetson+orin+nano+d,aps,352&sr=8-1). One more 18650 battey need to be added to original PCB design. Below is orignal expansion board for Jetbot.  It come with Jetbot kit what you can buy from [Amazon link](https://www.amazon.com/waveshare-JetBot-Kit-Jetson-Nano/dp/B082FNZ96R)  Below is Jetbot with this PCB board. Jetson Orin can be used with origianl Jetbot body without any big difference because BMS board can be hided inside of robot chassis.  ## BMS part Every parts are same as original expansion board except BMS part is moved as external addon type.  You need to order BMS PCB seperately from this project because it was made from other person. Please order it from [this link](https://oshwlab.com/Ratti3/ablic-4s-18650-li-ion-battery-protection-system). ## The line connection bewteen each component  ## Parts that need to be ordered from outside of JLCPCB However, you still need to do soldering few parts even if you order the PCB with PCB assembly service from JLCPCB.  1. [4S 18650 battery holder](https://www.aliexpress.com/item/1005004507903283.html?src=google&src=google&albch=shopping&acnt=631-313-3945&slnk=&plac=&mtctp=&albbt=Google_7_shopping&albagn=888888&isSmbActive=false&isSmbAutoCall=false&needSmbHouyi=false&albcp=19224844013&albag=&trgt=&crea=ko1005004507903283&netw=x&device=c&albpg=&albpd=ko1005004507903283&gad_source=1&gclid=Cj0KCQiAn-2tBhDVARIsAGmStVltArm2qoOzAEaDpXzc3pCJQvlBOQvtI5fZSC_9R07LAzYuh5hlsTEaAsPDEALw_wcB&gclsrc=aw.ds&aff_fcid=312a4b7f6d194736ada296a857146350-1706823493946-07638-UneMJZVf&aff_fsk=UneMJZVf&aff_platform=aaf&sk=UneMJZVf&aff_trace_key=312a4b7f6d194736ada296a857146350-1706823493946-07638-UneMJZVf&terminal_id=a667e40f8f674f64930bdfd1ea15cd7d&afSmartRedirect=y) x 1pcs  2. [PCA9685](https://www.digikey.com/en/products/detail/nxp-usa-inc/PCA9685PW-112/2034324) x 1pcs  3. [5.5 x 2.1/2.5 mm Female DC Power Jack](https://www.aliexpress.com/item/1005003536388871.html?src=google&src=google&albch=shopping&acnt=631-313-3945&slnk=&plac=&mtctp=&albbt=Google_7_shopping&albagn=888888&isSmbActive=false&isSmbAutoCall=false&needSmbHouyi=false&albcp=19224801818&albag=&trgt=&crea=ko1005003536388871&netw=x&device=c&albpg=&albpd=ko1005003536388871&gad_source=1&gclid=Cj0KCQiAn-2tBhDVARIsAGmStVkK5hOJULQzi-97NDUFS58Ro09EX_dPj4iI8sH7g8JklQYog7SXb5waAhy3EALw_wcB&gclsrc=aw.ds&aff_fcid=599a2b7105604e4d952e7e7450019905-1706824179885-03555-UneMJZVf&aff_fsk=UneMJZVf&aff_platform=aaf&sk=UneMJZVf&aff_trace_key=599a2b7105604e4d952e7e7450019905-1706824179885-03555-UneMJZVf&terminal_id=a667e40f8f674f64930bdfd1ea15cd7d&afSmartRedirect=y) x 1pcs  4. [SS-12D06L5](https://www.google.com/url?sa=i&url=https://jlcpcb.com/partdetail/XkbConnectivity-SS12D06L5/C319015&psig=AOvVaw09EKB_ndmO1_bmFbnogaLW&ust=1706910761562000&source=images&cd=vfe&opi=89978449&ved=0CBUQjhxqFwoTCJipm7mQi4QDFQAAAAAdAAAAABAJ) x 1pcs  5. [5.5x2.5 DC Power Male Plug Welding Connector 90 Degree Right Angle](https://www.aliexpress.com/item/1005005429978517.html?spm=a2g0o.productlist.main.55.3b835c4en03FGs&algo_pvid=59e90702-1897-4190-a197-c2a32a372edd&aem_p4p_detail=202402011355461642481207454300000928477&algo_exp_id=59e90702-1897-4190-a197-c2a32a372edd-27&pdp_npi=4@dis!KRW!2223!1715!!!1.62!1.25!@2101fb0b17068245459696330e1129!12000033039140742!sea!KR!715028434!&curPageLogUid=jm26r3wdeksU&utparam-url=scene:search|query_from:&search_p4p_id=202402011355461642481207454300000928477_28) x 1pcs  6. [2Pin JST XH Cable](https://www.aliexpress.com/item/1005006125634331.html?spm=a2g0o.productlist.main.17.50a67011vYVLms&algo_pvid=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634&aem_p4p_detail=202402011402283469613926218420000934736&algo_exp_id=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634-8&pdp_npi=4@dis!KRW!956!956!!!5.01!5.01!@2101efac17068249476676841e16ee!12000035868167893!sea!KR!715028434!&curPageLogUid=WenIfFwJvnmr&utparam-url=scene:search|query_from:&search_p4p_id=202402011402283469613926218420000934736_9) x 10pcs, [3Pin JST PH Cable](https://www.aliexpress.com/item/1005006125634331.html?spm=a2g0o.productlist.main.17.50a67011vYVLms&algo_pvid=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634&aem_p4p_detail=202402011402283469613926218420000934736&algo_exp_id=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634-8&pdp_npi=4@dis!KRW!956!956!!!5.01!5.01!@2101efac17068249476676841e16ee!12000035868167893!sea!KR!715028434!&curPageLogUid=WenIfFwJvnmr&utparam-url=scene:search|query_from:&search_p4p_id=202402011402283469613926218420000934736_9) x 5pcs, [2Pin JST PH Cable](https://www.aliexpress.com/item/1005006125634331.html?spm=a2g0o.productlist.main.17.50a67011vYVLms&algo_pvid=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634&aem_p4p_detail=202402011402283469613926218420000934736&algo_exp_id=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634-8&pdp_npi=4@dis!KRW!956!956!!!5.01!5.01!@2101efac17068249476676841e16ee!12000035868167893!sea!KR!715028434!&curPageLogUid=WenIfFwJvnmr&utparam-url=scene:search|query_from:&search_p4p_id=202402011402283469613926218420000934736_9) x 10pcs  7. [DC 0-30V Voltmeter](https://www.aliexpress.com/item/1005004070918685.html?spm=a2g0o.order_list.order_list_main.34.5eb5585aMtR2G2) x 1pcs  8. [0.91 Inch 128x32 IIC I2C White/Blue OLED LCD Display](https://www.aliexpress.com/item/1005004723891153.html?spm=a2g0o.order_list.order_list_main.181.5eb5585aMtR2G2) x 1pcs  8. [2.54mm pin header(2x3PIN dual Line)](https://www.mouser.kr/ProductDetail/Wurth-Elektronik/62003221121?qs=7D1LtPJG0i0DsC53o08D7w==&gad_source=1&gclid=Cj0KCQiAn-2tBhDVARIsAGmStVlU4DeCgnJLs9BuansY4H2T_eMFW45s9KwPygFNzGzfvuhoT0PzhZIaAsJoEALw_wcB&_gl=1*1mv8blm*_ga*MzgyMjQ3NC4xNzA2ODQ4ODEy*_ga_15W4STQT4T*MTcwNjg0ODgxMi4xLjEuMTcwNjg0ODgxMi42MC4wLjA.*_ga_1KQLCYKRX3*MTcwNjg0ODgxMi4xLjEuMTcwNjg0ODgxMi4wLjAuMA..)  Every item are really easy to find and order because they are used commonly in many project. ## PCB assembly demo video [](https://www.youtube.com/watch?v=M8zb8pGe-KQ) ## Software You can use [the original jetbot](https://github.com/NVIDIA-AI-IOT/jetbot) code to run robot using this PCB. I also upload my own version code on [my Google Drive](https://drive.google.com/drive/folders/1JwqmzHr-FBgx_x3YtNwsc7I_E2JUowfr?usp=drive_link). ________________________________________________________________________________________

### 1. i2C bus However, I could not use the i2c bus 1 of Jetson Orin Nano like a original Jetbot.  Therefore, you should change the i2c bus below file manually from 1 to 7 **- sudo nano /home/[your user name]/.local/lib/python3.8/site-packages/sparkfun_qwiic_i2c-0.9.11-py3.8.egg/qwiic_i2c/linux_i2c.py**  ________________________________________________________________________________________

### 2. i2C address Additioanlly, I also check that Jetson Orin Nano allocathe the i2c address for PCA9685 as 112 instead of 96 which is orignal address of Jetbot.  The 60 is for OLED display. I am not sure what is 64 for. Just ignore it now. Therefore, you also need to change the i2c address of below files manually from 96 to 112. **- sudo nano /home/[your user name]/.local/lib/python3.8/site-packages/jetbot-0.4.3-py3.8.egg/jetbot/robot.py**  **- sudo nano /home/[your user name]/.local/lib/python3.8/site-packages/jetbot-0.4.3-py3.8.egg/jetbot/motor.py**  ________________________________________________________________________________________

Please make sure that you can control the robot motors using [basic_motion.ipynb](https://drive.google.com/file/d/1NXmCT2VPpTRmD4w_gLLfoO-oRnhpXSrw/view?usp=drive_link) file after above modification.