Wiki source code of 03 - Wiring
Version 1.2 by Coleman Benson on 2021/11/16 13:45
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1.1 | 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"/}} |
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1.2 | 3 | |
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1.1 | 4 | (% style="width:710px" %) |
| 5 | |(% colspan="2" style="text-align:center" %)**Radio Controlled (RC) / Bridged** | ||
| 6 | |(% colspan="2" %)((( | ||
| 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. | ||
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1.2 | 9 | __Not Connected__ |
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1.1 | 10 | |
| 11 | * 4x Encoders | ||
| 12 | * Two of three XT30 connectors | ||
| 13 | ))) | ||
| 14 | |(% 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-RC.png"/}} | ||
| 15 | |(% colspan="2" style="text-align:center" %)**Microcontroller / Bridged** | ||
| 16 | |(% colspan="2" %)((( | ||
| 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. | ||
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1.2 | 19 | __Optional Connections__ |
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1.1 | 20 | |
| 21 | * 4x Encoders | ||
| 22 | * Second XT30 to power microcontroller | ||
| 23 | * Third XT30 connector | ||
| 24 | ))) | ||
| 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 | |(% colspan="2" style="text-align:center" %)**Microcontroller / Independent** | ||
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1.2 | 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. |
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1.1 | 28 | |
| 29 | (% style="width:710px" %) | ||
| 30 | |(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A** | ||
| 31 | |(% 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:lynxmotion-wiki-attachments.WebHome@SQUARE-Red.png]]|(% style="vertical-align:middle" %)Positive Input (6-24V / 30V Absolute Max) | ||
| 32 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Black.png]]|(% style="vertical-align:middle" %)Negative Input / GND | ||
| 33 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Yellow.png]]|(% style="vertical-align:middle" %)M1A / M2A Outputs | ||
| 34 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-White.png]]|(% style="vertical-align:middle" %)M1B / M2B Outputs | ||
| 35 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Red-Soft.png]]|(% style="vertical-align:middle" %)Positive Output 5V (Max 1A) | ||
| 36 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Gray.png]]|(% style="vertical-align:middle" %)Negative Output / GND | ||
| 37 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Green.png]]|(% style="vertical-align:middle" %)Signal 1 Input (S1) | ||
| 38 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Blue.png]]|(% style="vertical-align:middle" %)Signal 2 Input (S2) | ||
| 39 | |(% colspan="3" style="width:350px" %)((( | ||
| 40 | Details regarding the DIP switches can be found on the next page. | ||
| 41 | |||
| 42 | Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]] | ||
| 43 | ))) | ||
| 44 | |||
| 45 | (% style="width:710px" %) | ||
| 46 | |(% colspan="3" style="text-align:center" %)**Gear Motor (36GP-555-27-EN)** | ||
| 47 | |(% colspan="1" rowspan="6" style="width:350px" %){{lightbox image="https://www.robotshop.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:lynxmotion-wiki-attachments.WebHome@SQUARE-Yellow.png||alt="SQUARE-Red.png"]]|Motor Positive | ||
| 48 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-White.png||alt="SQUARE-Black.png"]]|Motor Negative | ||
| 49 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Black.png||alt="SQUARE-Yellow.png"]]|Encoder Negative / GND | ||
| 50 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Red.png||alt="SQUARE-White.png"]]|Encoder Positive (5V) | ||
| 51 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Blue.png||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect) | ||
| 52 | |[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Green.png||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect) | ||
| 53 | |(% colspan="3" style="width:350px" %) | ||
| 54 | |||
| 55 | (% style="width:710px" %) | ||
| 56 | |(% colspan="3" style="text-align:center" %)**RC Receiver (RadioLink R8EF)** | ||
| 57 | |(% colspan="1" rowspan="7" style="width:350px" %){{lightbox image="https://www.robotshop.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:lynxmotion-wiki-attachments.WebHome@SQUARE-Red.png]]|(% style="vertical-align:middle" %)Positive Input & Distribution (5-6V) | ||
| 58 | |(% style="vertical-align:middle" %)[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Black.png]]|(% style="vertical-align:middle" %)Negative Input / GND & Distribution | ||
| 59 | |(% style="vertical-align:middle" %)[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Yellow.png]]|(% style="vertical-align:middle" %)Channel #1 (SBUS Optional) | ||
| 60 | |(% style="vertical-align:middle" %)[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Green.png||alt="SQUARE-White.png"]]|(% style="vertical-align:middle" %)Channel #2 (PPM Optional) | ||
| 61 | |(% style="vertical-align:middle" %)[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Blue.png||alt="SQUARE-Red-Soft.png"]]|(% style="vertical-align:middle" %)Channel #3 | ||
| 62 | |(% style="vertical-align:middle" %)[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-White.png||alt="SQUARE-Gray.png"]]|(% style="vertical-align:middle" %)Channel #4 | ||
| 63 | |(% style="vertical-align:middle" %)[[image:lynxmotion-wiki-attachments.WebHome@SQUARE-Gray.png||alt="SQUARE-Green.png"]]|(% style="vertical-align:middle" %)Channel #5 | ||
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| 65 | {{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"/}} |