Robot X- Sub Electrical
RobotX 2026 > Sub Electrical
Graey utilizes an Orin Nano as the onboard computer. To enable autonomous movement, Graey uses an Orange Cube as the flight controller. The external sensors communicate with systems in the main electronics enclosure via connectors that are sealed from the inside and the outside of the main end cap, rather than simple penetrators that can fail with weak epoxy.
Overview
We've redesigned Graey's electrical system so that every component is now fully secured with 3D-printed mounts and bolted connections. Previously, the electrical plates were held in place with a slip fit, which caused poor positional repeatability after the enclosure was opened and closed for maintenance.
System Diagrams
![[PUBLIC] Graey_Electrical_Schematic_2026.drawio (1).png](https://images.squarespace-cdn.com/content/v1/62d312a3f70ea76c81021b3a/431c9f4e-38c0-4b31-a322-5419bb3d950a/%5BPUBLIC%5D+Graey_Electrical_Schematic_2026.drawio+%281%29.png)
Standardized Kill Switch System
RoboBoat Safety harness with remote and onboard trigger systems
RoboBoat Safety harness in context with the fuse board and regulators
Safety harness with reed switch for Graey
The team pivoted away from the previous kill switch system to enable longer endurance. The implemented design isolates our noisy ESC line from our sensitive payload and sensor line. We built off competition success inspired by the team’s 2024 RoboBoat kill switch system, implementing IRhapsody relay with a ground trigger. Instead of an external red button utilized in RoboBoat, we utilize a reed switch to detect a magnetic latch accessible by the divers external to the payload enclosure.
Custom Fuse PCB
The payloads receive power from a 12VDC regulator and are distributed through a custom fuse board. This fuse board ensures the electrical integrity of the system, just in case of a short in an individual component.