SENTRY V4 Roadmap
This page documents planned work and design direction. It does not describe a completed or deployed system. The deployed platform is SENTRY V3.
Overview
SENTRY V4 represents a major architectural redesign of the SENTRY platform. Rather than iterating on the previous PCB, the system is being re-architected from first principles to improve reliability, safety, and educational usability.
Goals
The goal of V4 is to transform SENTRY from a prototype control stack into a robust robotics platform that cleanly separates perception, orchestration, control, and safety:
- Linux cannot directly control actuators
- student firmware cannot bypass safety enforcement
- perception and real-time control operate independently
The intent is for SENTRY V4 to function as a fully documented open robotics control platform — architecture diagrams, safety model, communication protocol, schematic, and PCB files — that others can study, modify, and build upon.
Lessons carried forward from V3
The V3 lessons learned directly shape this roadmap: separating high-level control from real-time actuation, using instrumentation (current monitoring, logic analysis) from the first bring-up, and designing boards with spare interfaces for expansion. V4 extends that separation principle into dedicated hardware domains.
Proposed architecture
The first step is defining the complete system architecture before beginning schematic or PCB work.
- Vision Layer — Oak-D stereo camera performing onboard depth and neural inference
- Compute Layer — Raspberry Pi Compute Module 5 orchestrating perception and student code
- Control Layer — RP-series MCU (RP2040/RP2350 class) performing deterministic real-time control
- Safety Layer — dedicated safety supervisor MCU enforcing hardware-level safety constraints
This layered architecture significantly improves fault containment and system reliability.
Planned hardware changes
Independent safety supervisor
A new hardware safety supervisor will be added — a small microcontroller (ATtiny-class device) whose only responsibility is safety enforcement. It will monitor the E-stop input, pan and tilt limit switches, RP controller heartbeat, actuator runtime limits, system power brownout, and main input overcurrent.
The safety controller implements a three-level fault model:
- Level 2 — Warning: status LED / telemetry, no immediate shutdown
- Level 1 — Motion Inhibit: actuator driver enables disabled; system remains powered for debugging
- Level 0 — Hard Shutdown: safety relay opens, actuator power rail disconnected, manual reset required
Power architecture
The V4 board will introduce a clear separation between logic and actuation power domains: protected system power input, relay-controlled actuator rail, 5 V compute rail for the CM5, and a 3.3 V logic rail. Planned protection features include input overcurrent detection, brownout detection, power sequencing, and relay-based motion power cutoff.
PCB floorplan and stackup
Before schematic entry, the physical layout will be planned around four functional zones — Compute, Control, Safety & Power Supervision, and Actuation — to simplify routing and minimize interference between high-current motor systems and digital compute hardware. Because the system integrates high-speed compute and power electronics, the board will likely use a 6-layer stackup (signal/ground/signal/power/ground/signal) for solid return paths and isolation of actuator switching currents.
Schematic capture
Once the architecture, power topology, and floorplan are finalized, schematic development will begin: compute-module carrier circuitry, MCU control subsystem, safety supervisor logic, power distribution and protection, motor driver interfaces, and sensor expansion headers — with strong emphasis on clear domain boundaries and debuggability.
Planned software and controls changes
Communication paths will be explicitly defined between system layers:
- UART between CM5 and RP MCU — structured command protocol, heartbeat monitoring, telemetry reporting
- USB device interface to the MCU for beginner firmware development
- USB gadget or network access to the CM5 for advanced Linux-based control
- USB host connection between CM5 and the Oak-D camera
These pathways allow the system to support both introductory embedded learning and advanced robotics experimentation.
Open questions
- Final choice within the RP-series controller family (RP2040 vs RP2350 class)
- Final PCB stackup (6-layer is the working assumption, not yet committed)
- Schematic and layout work has not yet begun; details above describe direction, not finished design
Current status
Concept / planning. Architecture definition is the active work; no hardware has been fabricated for V4. No delivery dates are committed.
Long-term vision
While originally developed for the SENTRY turret system, the V4 architecture is designed to be reusable as a general robotics control motherboard combining onboard perception, deterministic motion control, layered safety supervision, and clean power and interface architecture — scaling beyond a single application while remaining approachable for students and makers.
Project Status: Concept