Boards and accessories
The BASEMENT.
At the second level there are the Quadsonar controller (to the left) and the IMU (to the right).
The GROUND FLOOR.
At the principal level, starting from the front (top of the picture) there are,
to the LEFT: Left Front H-bridge, Master dsNav, Power Controller, Low Level Supervisor, Left Rear H-bridge.
to the RIGHT:
Right Front H-bridge, High Level Supervisor, Power Controller, Slave dsNav, Right Rear H-bridge.