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1	1	{{stepNavigation nextStepName="Return" previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/a4wd3-mecanum-wheels/" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/" pageTitle="A4WD3 Mecanum - Setup"/}}
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3	3	{{warningBox warningText="CAUTION: Before powering the motors, ensure they rotate in the same direction on each side. If the wiring between the motors and the Sabertooth was done correctly, the motors on each side of the robot should rotate in the same direction.
4	4
5	5	If you are at all uncertain, it is safest to remove the sprockets and test the motors. If they rotate in opposite directions, the wiring to the Sabertooth needs to be corrected."/}}
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	8	+
7	7	(% style="width:710px" %)
8		-|(% colspan="4" %)**1. Set the Sabertooth DIP Switches for your needs**
9		-|(% style="width:35px" %) |(% style="text-align:center; width:350px" %)Sabertooth 2 x 12A Standard|(% style="width:35px" %) |(% style="text-align:center" %)Typical Setup
10		-| |(% colspan="1" rowspan="6" style="text-align:center; vertical-align:middle" %)[[image:Sabertooth-2x12-DIP-Mecanum.png]]|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:left; vertical-align:middle" %)OFF (Enable RC Mode)
11		-| |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:left; vertical-align:middle" %)ON (Enable RC Mode)
12		-| |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:left; vertical-align:middle" %)OFF (Lithium Battery Mode)
13		-| |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:left; vertical-align:middle" %)OFF ( Enable Independent Mode)
14		-| |(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:left; vertical-align:middle" %)ON (Disable Exponential)
15		-| |(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:left; vertical-align:middle" %)OFF (Disable Timeout)
16		-| |(% colspan="3" rowspan="1" style="vertical-align:middle" %)[[Sabertooth 2x12 - Dip Switch Wizard>>https://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm]]
17		-| |(% colspan="3" rowspan="1" style="vertical-align:middle" %)[[Sabertooth 2x12 - User Guide>>https://www.dimensionengineering.com/datasheets/Sabertooth2x12.pdf]]
18		-|(% colspan="4" %)**2. Connect the Sabertooth to your Microcontroller**
19		-| |(% colspan="1" rowspan="9" style="text-align:center; vertical-align:middle" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-setup/WebHome/BBU-01-to-Sabertooth.png"/}}|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png" height="18" width="18"]]|(% style="text-align:left; vertical-align:middle" %)__Jumper on "VS"__ to use the Sabertooth as the power source for the BotBoarduino
20		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)__No Jumper__ to isolate the middle row and avoid conflicts
21		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)Ground or 0V
22		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)D3 To S1 on Sabertooth #1
23		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)D5 To S2 on Sabertooth #1
24		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)D6 To S1 on Sabertooth #2
25		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|(% style="text-align:left; vertical-align:middle" %)D9 To S2 on Sabertooth #2
26		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)__Jumper on "Ext"__ to power the BotBoarduino from the Sabertooth 5V regulator
27		-| |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)__Jumper on "VL = VS"__ to link the two together
28		-|(% colspan="4" %)**3. Load the microcontroller with Code**
29		-| |(% colspan="3" rowspan="1" style="vertical-align:middle" %)[[Lynxmotion GitHub - Arduino A4WD3 Examples>>https://github.com/Lynxmotion/Rovers/tree/master/A4WD3]]
30		-|(% colspan="4" %)**4. Connect the battery**
31		-|(% colspan="4" %)**5. Enjoy**
	10	+|(% colspan="3" %)The following steps are described for the Lynxmotion BotBoarduino microcontroller and Dimension Engineering Sabertooth 2x12A DC motor controller. Note that the DIP switch setup for other Sabertooth motor controllers may not be the same. Should you have selected a different microcontroller, FPGA or single board computer, or a different motor controller, it is your responsibility to read the user guide and understand the electronic setup, connections and power requirements.
	11	+|(% colspan="3" %)**1. Set the Sabertooth DIP Switches**
	12	+|(% style="text-align:center; width:250px" %)Sabertooth 2 x 12A Standard|(% style="width:35px" %) |(% style="text-align:center" %)**Typical Setup**
	13	+|(% colspan="1" rowspan="6" style="text-align:center; vertical-align:middle" %)[[image:Sabertooth-2x12-DIP-Mecanum.png]]|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:left; vertical-align:middle" %)OFF (Enable RC Mode)
	14	+|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:left; vertical-align:middle" %)ON (Enable RC Mode)
	15	+|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:left; vertical-align:middle" %)OFF (Lithium Battery Mode)
	16	+|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:left; vertical-align:middle" %)ON (Enable Mixing Mode)
	17	+|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:left; vertical-align:middle" %)ON (Disable Exponential)
	18	+|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:left; vertical-align:middle" %)OFF (Disable Timeout)
	19	+|(% colspan="3" rowspan="1" style="vertical-align:middle" %)(((
	20	+More Info:
32	32
	22	+* [[Sabertooth 2x12 - Dip Switch Wizard>>https://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm]]
	23	+* [[Sabertooth 2x12 - User Guide>>https://www.dimensionengineering.com/datasheets/Sabertooth2x12.pdf]]
	24	+)))
	25	+|(% colspan="3" %)**2. Connect the Sabertooth to your Microcontroller**
	26	+|(% colspan="1" rowspan="9" style="text-align:center; vertical-align:middle" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/WebHome/BBU-01-to-Sabertooth.png"/}}|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png" height="18" width="18"]]|(% style="text-align:left; vertical-align:middle" %)__Jumper on "VS"__ to use the Sabertooth as the power source for the BotBoarduino
	27	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)__No Jumper__ to isolate the middle row and avoid conflicts
	28	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)Ground or 0V
	29	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)To "S1" on Sabertooth #1
	30	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)To "S2" on Sabertooth #1
	31	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)D6 To S1 on Sabertooth #2
	32	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|(% style="text-align:left; vertical-align:middle" %)D9 To S2 on Sabertooth #2
	33	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)__Jumper on "Ext"__ to power the BotBoarduino from the Sabertooth 5V regulator
	34	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)__Jumper on "VL = VS"__ to link the two together
	35	+|(% colspan="3" rowspan="1" style="text-align:left; vertical-align:middle" %)More Info: [[BotBoarduino User Manual>>http://www.lynxmotion.com/images/html/build185.htm]]
	36	+|(% colspan="3" style="text-align:left; vertical-align:middle" %)**3. Lift the rover on something to avoid the wheels / tracks to touch the ground. Connecting the batterie will likely have it spin.**
	37	+|(% colspan="3" style="text-align:left; vertical-align:middle" %)(((
	38	+**4. Connect the main battery (required to power the BotBoarduino)**
	39	+)))
	40	+|(% colspan="3" %)(((
	41	+**5. Upload your code or the following example**
	42	+
	43	+* [[Lynxmotion GitHub - A4WD3 Mecanum RC>>https://github.com/Lynxmotion/Rovers/tree/master/A4WD3/A4WD3_MECANUM_RC]]
	44	+)))
	45	+|(% colspan="3" rowspan="1" style="vertical-align:middle" %)(((
	46	+**6.Calibration**
	47	+)))
	48	+|(% colspan="2" %)[[image:[email protected]]]|(((
	49	+The throttle stick may need to be zeroed, or the mixing modified so the rover moves in a straight line rather than a gentle arc. To understand the changes needed and how to proceed, please refer to the user manual of your remote control.
	50	+
	51	+* Up/Down: Forward and Backward motion
	52	+* Left/Right: Turn Left and Right
	53	+)))
	54	+
33	33	{{stepNavigation nextStepName="Return" previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/a4wd3-mecanum-wheels/" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/" pageTitle="A4WD3 Mecanum - Setup"/}}