Wiki source code of 06 - Setup

Last modified by Eric Nantel on 2022/09/12 14:08
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Eric Nantel 12.1 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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Eric Nantel 13.1 5 {{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.
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Eric Nantel 13.1 7 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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Eric Nantel 1.1 11 (% style="width:710px" %)
Eric Nantel 14.1 12 |(% 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.
13 |(% colspan="3" %)**1. Set the Sabertooth DIP Switches**
14 |(% style="text-align:center; width:250px" %)Sabertooth 2 x 12A Standard|(% style="width:35px" %) |(% style="text-align:center" %)**Typical Setup**
Eric Nantel 24.1 15 |(% colspan="1" rowspan="6" style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:left; vertical-align:middle" %)OFF (Enable RC Mode)
Eric Nantel 14.1 16 |(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:left; vertical-align:middle" %)ON (Enable RC Mode)
17 |(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:left; vertical-align:middle" %)OFF (Lithium Battery Mode)
Eric Nantel 26.1 18 |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:left; vertical-align:middle" %)OFF (Enable Mixing Mode)
Eric Nantel 14.1 19 |(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:left; vertical-align:middle" %)ON (Disable Exponential)
20 |(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:left; vertical-align:middle" %)OFF (Disable Timeout)
21 |(% colspan="3" rowspan="1" style="vertical-align:middle" %)(((
22 More Info:
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24 * [[Sabertooth 2x12 - Dip Switch Wizard>>https://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm]]
25 * [[Sabertooth 2x12 - User Guide>>https://www.dimensionengineering.com/datasheets/Sabertooth2x12.pdf]]
26 )))
27 |(% colspan="3" %)**2. Connect the Sabertooth to your Microcontroller**
Eric Nantel 15.1 28 |(% 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
29 |(% 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
Eric Nantel 14.1 30 |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Blue.png"]]|(% style="text-align:left; vertical-align:middle" %)Ground or 0V
31 |(% 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
32 |(% 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
Eric Nantel 15.1 33 |(% 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
34 |(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|(% style="text-align:left; vertical-align:middle" %)D9 To S2 on Sabertooth #2
Eric Nantel 14.1 35 |(% 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
36 |(% 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
37 |(% colspan="3" rowspan="1" style="text-align:left; vertical-align:middle" %)More Info: [[BotBoarduino User Manual>>http://www.lynxmotion.com/images/html/build185.htm]]
Eric Nantel 18.1 38 |(% 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.**
Eric Nantel 17.1 39 |(% colspan="3" style="text-align:left; vertical-align:middle" %)(((
40 **4. Connect the main battery (required to power the BotBoarduino)**
41 )))
Eric Nantel 14.1 42 |(% colspan="3" %)(((
Eric Nantel 23.1 43 **5. Upload your code**
Eric Nantel 14.1 44
Eric Nantel 17.1 45 * [[Lynxmotion GitHub - A4WD3 Mecanum RC>>https://github.com/Lynxmotion/Rovers/tree/master/A4WD3/A4WD3_MECANUM_RC]]
Eric Nantel 14.1 46 )))
Eric Nantel 22.1 47 |(% colspan="3" %)(((
48 **5.1 Regarding the BotBoarduino**
49
50 * Please read through the BotBoarduino user guide [[HERE>>http://www.lynxmotion.com/images/html/build185.htm]].
51 * If you are new to Arduino, please visit their guides [[HERE>>https://www.arduino.cc/en/Guide ]].
52 * You are free to create your own code, or try an example
53 )))
Eric Nantel 14.1 54 |(% colspan="3" rowspan="1" style="vertical-align:middle" %)(((
Eric Nantel 20.1 55 **6. Calibration**
Eric Nantel 14.1 56 )))
Eric Nantel 17.1 57 |(% colspan="2" %)[[image:[email protected]]]|(((
58 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.
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Eric Nantel 17.1 60 * Up/Down: Forward and Backward motion
61 * Left/Right: Turn Left and Right
62 )))
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