Wiki source code of 03 - Wiring
Last modified by Eric Nantel on 2022/10/03 14:42
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| 1 | {{stepNavigation previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/a4wd3-mecanum-electronics/" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/a4wd3-mecanum-frame-lid/" pageTitle="A4WD3 Mecanum - Wiring"/}} |
| 2 | |
| 3 | (% style="width:710px" %) |
| 4 | |(% colspan="2" style="text-align:center" %)**Microcontroller / Independent** |
| 5 | |(% colspan="2" %)Two dual channel Sabertooth motor controllers are needed because each motor is connected to its own channel and can be controlled independently. Normally the encoders are connected to the microcontroller to measure angular speed and estimate distance traveled. Connections between microcontroller and the Sabertooth controller and encoders depend on the microcontroller chosen. |
| 6 | |(% colspan="2" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/ROVER-A4WD3-Wiring-Diagrams-Mecanum.png"/}} |
| 7 | |
| 8 | {{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.<br><br>If the front and rear motors rotate in opposite directions however, the track which connects them will cause them to stall and burn very quickly! 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. |
| 9 | "/}} |
| 10 | |
| 11 | (% style="width:710px" %) |
| 12 | |(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A** |
| 13 | |(% colspan="1" rowspan="8" style="width:350px" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/Sabertooth-2x12-PinOut.png"/}}|(% style="width:35px" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Input (6-24V / 30V Absolute Max) |
| 14 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND |
| 15 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1A / M2A Outputs |
| 16 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1B / M2B Outputs |
| 17 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Output 5V (Max 1A) |
| 18 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output / GND |
| 19 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 1 Input (S1) |
| 20 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 2 Input (S2) |
| 21 | |(% colspan="3" style="width:350px" %)((( |
| 22 | Details regarding the DIP switches can be found on the next page. |
| 23 | |
| 24 | Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]] |
| 25 | ))) |
| 26 | |
| 27 | (% style="width:710px" %) |
| 28 | |(% colspan="3" style="text-align:center" %)**Gear Motor (36GP 540-51-EN)** |
| 29 | |(% colspan="1" rowspan="6" style="width:350px" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/36GP-555-27-EN-Wiring.PNG"/}}|(% style="vertical-align:middle; width:35px" %)[[image:[email protected]||alt="SQUARE-Red.png"]]|Motor Positive |
| 30 | |[[image:[email protected]||alt="SQUARE-Black.png"]]|Motor Negative |
| 31 | |[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative / GND |
| 32 | |[[image:[email protected]||alt="SQUARE-White.png"]]|Encoder Positive (5V) |
| 33 | |[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect) |
| 34 | |[[image:[email protected]||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect) |
| 35 | |(% colspan="3" style="width:350px" %) |
| 36 | |
| 37 | (% style="width:710px" %) |
| 38 | |(% colspan="3" style="text-align:center" %)**RC Receiver (RadioLink R8EF)** |
| 39 | |(% colspan="1" rowspan="7" style="width:350px" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/R8EF-PinOut.PNG"/}}|(% style="vertical-align:middle; width:35px" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Input & Distribution (5-6V) |
| 40 | |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND & Distribution |
| 41 | |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Channel #1 (SBUS Optional) |
| 42 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-White.png"]]|(% style="vertical-align:middle" %)Channel #2 (PPM Optional) |
| 43 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|(% style="vertical-align:middle" %)Channel #3 |
| 44 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Gray.png"]]|(% style="vertical-align:middle" %)Channel #4 |
| 45 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Green.png"]]|(% style="vertical-align:middle" %)Channel #5 |
| 46 | |
| 47 | {{stepNavigation previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/a4wd3-mecanum-electronics/" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/a4wd3-mecanum-quickstart/a4wd3-mecanum-frame-lid/" pageTitle="A4WD3 Mecanum - Wiring"/}} |