Electrical System

All of Katrina's electrical components are housed inside the waterproof electrical box, keeping non-waterproof components and wiring secure and protected from water. The system is powered by two 12V 14Ah batteries. It includes an ESP32 microcontroller, a Raspberry Pi 4, and a Jetson Orin Nano, each dedicated to a specific subsystem. Additionally, an emergency stop system is in place, featuring two onboard emergency stop buttons and an onshore switch, ensuring safe operation by cutting power to kill power when necessary.