CLEARPATH Turtlebot4 - Page 93

Power Budget
The total power made available by the Create 3 output power adapter is 28.8W. This supplies
the USB-C connector mated to Raspberry Pi, and the two pin auxiliary VBAT connector
combined. Since the two connectors share this power amongst them, a rise in consumption of
one will lead to reduction of available power for the other. Thus, although maximum theoretical
power consumption of individual components is mentioned in Table 2, the true limiting factor is
the remaining power available to the whole system.
Table 1: Nominal power consumption
Source
TurtleBot 4 Lite (W)
TurtleBot 4 (W)
Raspberry Pi 4B
4
4
OAK-D-Pro
-
5
OAK-D-Lite
3.5
-
RPLIDAR A1M8
2.3
2.3
Fan
0.8
1.3
UI Board
-
2.4
User Power
-
*Limited By Remaining Power
USB-C Ports
-
*Limited By Remaining Power
Total Power Draw
10.6
15
Total Available Power
28.8
28.8
*Remaining Power
18.2
13.8