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Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

Content

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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		-
4	4	(% style="width:710px" %)
5	5	|(% colspan="2" style="text-align:center" %)**Radio Controlled (RC) / Bridged**
6	6	|(% colspan="2" %)(((
7	7	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.
8	8
9		-__Not Connected__
	8	+Not Connected
10	10
11	11	* 4x Encoders
12	12	* Two of three XT30 connectors
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16	16	|(% colspan="2" %)(((
17	17	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.
18	18
19		-__Optional Connections__
	18	+Optional Connections
20	20
21	21	* 4x Encoders
22	22	* Second XT30 to power microcontroller
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24	24	)))
25	25	|(% 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"/}}
26	26	|(% colspan="2" style="text-align:center" %)**Microcontroller / Independent**
27		-|(% colspan="2" %)Only one dual channel Sabertooth motor controller is needed because both motors on each side operate together to rotate the track. 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.
	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.
28	28
29	29	(% style="width:710px" %)
30	30	|(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A**