copilot

Mermaid
graph LR
    subgraph Raspberry Pi node_4B
    end

    subgraph Arduino Mega
    end

    Raspberry_Pi_4B[Raspberry Pi node_4B] --> |"Control & I/O"| Arduino_Mega[Arduino Mega]
    Arduino_Mega -->|PWM| Servos
    Arduino_Mega -->|I2C| IMU_1[IMU 1]
    Arduino_Mega -->|DATA +, DATA -| Raspberry_Pi_4B
    Arduino_Mega -->|Power| UBEC[UBEC]

    subgraph Power_System
        ON_OFF_Switch[ON/OFF switch] -->|Power Control| UBEC
        Battery[LiPo Battery BT] -->|Source| ON_OFF_Switch
        UBEC -->|5V Power Out| Arduino_Mega
        UBEC -->|5V Power Out| Servos
    end

    subgraph LED_System
        Arduino_Mega -->|GPIO Control| LEDs[LEDs 1 to 5]
        Resistors -->|Current Limiting| LEDs
    end

    subgraph Servos
        S1 -->|Leg 1| Leg_1["Leg 1 (S1, S2, S3)"]
        S2 -->|Leg 1| Leg_1
        S3 -->|Leg 1| Leg_1
        S4 -->|Leg 2| Leg_2["Leg 2 (S4, S5, S6)"]
        S5 -->|Leg 2| Leg_2
        S6 -->|Leg 2| Leg_2
        S7 -->|Leg 3| Leg_3["Leg 3 (S7, S8, S9)"]
        S8 -->|Leg 3| Leg_3
        S9 -->|Leg 3| Leg_3
        S10 -->|Leg 4| Leg_4["Leg 4 (S10, S11, S12)"]
        S11 -->|Leg 4| Leg_4
        S12 -->|Leg 4| Leg_4
    end

    subgraph Resistors
        R1$500\Omega R1$
        R2$500\Omega R2$
        R3$500\Omega R3$
        R4$Vishay 500\Omega R4$
        R5$500\Omega R5$
        R6$500\Omega R6$
        R7$Vishay 500\Omega R7$
    end

    %% Connection Lines for clarity
    Raspberry_Pi_4B --> Power_System
    Raspberry_Pi_4B --> LED_System

    %% Implicit Connections (not explicitly shown due to complexity and high level nature of diagram)
    %% All servos S1 to S12 are assumed to connect to the UBEC for power and the Arduino Mega for control signals (PWM).

    %% Legends for clarification (Mermaid does not support legends natively, this is for informational purposes only)
    %% S1 to S12: Servos
    %% R1 to R7: Resistors, with R4 and R7 having specific Vishay manufacturer part numbers provided for reference.