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1	1	{{stepNavigation previousStepURL="https://www.robotshop.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-tracked/a4wd3-tracked-quickstart/a4wd3-tracked-electronics/" nextStepURL="https://www.robotshop.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-tracked/a4wd3-tracked-quickstart/a4wd3-tracked-frame-lid/" pageTitle="A4WD3 Tracked - Wiring"/}}
2	2
	3	+
3	3	(% style="width:710px" %)
4	4	|(% colspan="2" style="text-align:center" %)**Radio Controlled (RC) / Bridged**
5	5	|(% colspan="2" %)(((
6	6	Both motors on the left side are wired to one channel of the Sabertooth motor controller, and both motors on the right side are wired to the other. This ensures motors on the same side receive the same signal ("skid steering"). The Sabertooth's onboard BEC powers the RC receiver.
7	7
8		-Not Connected
	9	+__Not Connected__
9	9
10	10	* 4x Encoders
11	11	* Two of three XT30 connectors
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15	15	|(% colspan="2" %)(((
16	16	Both motors on the left side are wired to one channel of the Sabertooth motor controller, while both motors on the right side are wired to the other. This ensures motors on the same side receive the same signal ("skid steering"). The Sabertooth's BEC can be used to power a microcontroller up to ~~1A. If additional current is needed, consider using a spare XT30 split off from  the main battery to power the microcontroller and disconnect the 5V (red) cable from the BEC.
17	17
18		-Optional Connections
	19	+__Optional Connections__
19	19
20	20	* 4x Encoders
21	21	* Second XT30 to power microcontroller
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22	22	* Third XT30 connector
23	23	)))
24	24	|(% colspan="2" %){{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/ROVER-A4WD3-Wiring-Diagrams-Autonomuous.png"/}}
25		-|(% colspan="2" style="text-align:center" %)**Microcontroller / Independent**
26		-|(% 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.
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	27	+{{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.
	28	+"/}}
	29	+
28	28	(% style="width:710px" %)
29	29	|(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A**
30	30	|(% colspan="1" rowspan="8" style="width:350px" %){{lightbox image="https://www.robotshop.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)