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src/pages/pan-tilt+gps_board.md

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+# Pan-Tilt & GPS PCB Documentation
+
+## Purpose of the PCB
+The PCB is designed to:
+- Read UART output from GPS.
+- Control two Pan-Tilt servo motors.
+
+## Functionality Description
+- **Inputs**: 
+  - Reads UART data from GPS.
+  - Reads the rover’s angle position data using a gyroscope.
+- **Outputs**: 
+  - Sends instructions to the servos.
+  - Communicates with the Jetson via USB.
+
+## Components Communication
+1. **Microcontroller**: A Teensy 4.0 is mounted on the PCB.
+2. **Servo Motors**: 
+   - Each servo’s PWM pin connects to a PWM pin on the Teensy for control.
+3. **GPS**:
+   - TX pin (GPS) → RX pin (Teensy).
+   - RX pin (GPS) → TX pin (Teensy).
+4. **Gyroscope**:
+   - SDA pin (Gyro) → SDA pin (Teensy).
+   - SCL pin (Gyro) → SCL pin (Teensy).
+
+## Components Connections (Routing)
+| Teensy Pin | Connected To         |
+|------------|----------------------|
+| 23         | Servo 1 PWM          |
+| 22         | Servo 2 PWM          |
+| 0          | GPS TX               |
+| 1          | GPS RX               |
+| 17         | Gyro SDA             |
+| 16         | Gyro SCL             |
+| 2          | LED1                 |
+
+## Power & Grounding
+- **Power Source**: All components are powered by an external 5V source, distributed to each component's VCC pin via internal PCB routing.
+- **Grounding**: Includes a net tie to separate the Teensy ground from the components ground.
+
+## Notes for Assembling
+1. On the back of the Teensy, locate the copper trace connecting the USB port to the Vin pin.
+2. Use an X-Acto knife to cut this copper trace. This ensures the Teensy is powered by the external 5V source instead of the USB connection.
+
+## Additional Resources
+- **How to Crimp Wires for Molex Connectors**: [YouTube Link](https://www.youtube.com/watch?v=WFvEeWHDt1E)
+- **Schematic**: [YouTube Link](https://www.youtube.com/watch?v=WFvEeWHDt1E)