You only need to unscrew (at most) 8 screws on the top of the robot. The ones connecting the top platform to the metal rods at the corners of the robot. (I also unscrewed the raspberryPi camera mount so I could fully detach the top plate).

There are many power/data cables you could measure.

• Battery --> Motor controller board (MCB)
• MCB --> Motor 1
• MCB --> Motor 2
• MCB --> Bluetooth
• MCB --> RaspberryPi
• RaspberryPi --> Lidar (power)
• RaspberryPi --> Lidar (data)
• MCB --> Motor (data - this does not work with these current sensors as it distorts the data signal causing the motors to not send/recieve data)

Once you've located which cables you want to log the energy from - cut & strip the wire and insert your INA219 current sensor inbetween - paying close attention to connecting the supply side to VIN+ and the load side to VIN- (otherwise you get a negative current).

Then, you can connect VCC, GND, SCL, and SDA to the relevant ports (to the TCA9548A).

Connect an external battery supply to power the INA219 boards and the TCA9548A - such that the battery on the robot is not getting used up by them (if you want to log where the power is being distributed throughout the robot - this step is important).