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How can a 3S4P battery reliably power a Raspberry Pi 5?

A developer is building a robot consisting of a Raspberry Pi 5, an ESP32, and 2 RS390 6V motors, powered by a 3S4P pack of 12 18650 cells (2,200mAh each), a 40A BMS, nominal 11.1V (12.6V fully charged). The core question is how to provide the Pi 5 with a 5.1V supply that has sufficient current under load: whether to choose a high-current step-down converter or whether there is a better solution, and the developer hopes for specific module recommendations.

Part of the event: Developer seeks help: How can a 3S4P battery provide stable power to a Raspberry Pi 5

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