Changes for page 03 - Wiring

Last modified by Eric Nantel on 2024/03/29 07:17
From version < 43.1 >
edited by Eric Nantel
on 2021/11/08 13:32
To version < 44.6 >
edited by Coleman Benson
on 2021/11/08 15:15
< >
Change comment: There is no comment for this version

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1 1  {{stepNavigation previousStepURL="https://www.robotshop.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-electronics/" nextStepURL="https://www.robotshop.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-frame-lid/" pageTitle="A4WD3 Wheeled - Wiring"/}}
2 2  
3 +
4 +
3 3  (% style="width:710px" %)
4 4  |(% colspan="2" style="text-align:center" %)**A4WD3 Wiring Diagrams**
5 5  |(% colspan="1" rowspan="2" style="width:350px" %){{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"/}}|(% style="height:30px; vertical-align:middle" %)**Radio Controlled (RC) / Bridged**
6 -|(% style="vertical-align:middle" %)
8 +|(% style="vertical-align:middle" %)(((
9 +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.
10 +
11 +Not Connected
12 +
13 +* 4x Encoders
14 +* Two of three XT30 connectors
15 +
16 +
17 +)))
7 7  |(% colspan="1" rowspan="2" style="width:350px" %){{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"/}}|(% style="height:35px; vertical-align:middle" %)**Microcontroller / Bridged**
8 -|(% style="vertical-align:middle" %)
19 +|(% style="vertical-align:middle" %)(((
20 +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.
21 +
22 +Optional Connections
23 +
24 +* 4x Encoders
25 +* Second XT30 to power microcontroller
26 +* Third XT30 connector
27 +)))
9 9  |(% colspan="1" rowspan="2" style="width:350px" %){{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-Mecanum.png"/}}|(% style="height:35px; vertical-align:middle" %)**Microcontroller / Independent**
10 -|(% style="vertical-align:middle" %)
29 +|(% style="vertical-align:middle" %)(((
30 +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.
31 +)))
11 11  
12 12  (% style="width:710px" %)
13 13  |(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A**
14 14  |(% 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)
15 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input
36 +|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND
16 16  |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1A / M2A Outputs
17 17  |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1B / M2B Outputs
18 18  |[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Output 5V (Max 1A)
19 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output
40 +|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output / GND
20 20  |[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 1 Input (S1)
21 21  |[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 2 Input (S2)
22 -|(% colspan="3" style="width:350px" %)Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
43 +|(% colspan="3" style="width:350px" %)(((
44 +Details regarding the DIP switches can be found on the next page.
23 23  
24 -(% style="width:710px" %)
25 -|(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A Radio Control (RC)**
26 -|(% 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-RC-PinOut.png"/}}|(% style="width:35px" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Input (6-24V / 30V Absolute Max)
27 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input
28 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)M1A / M2A Outputs
29 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)M1B / M2B Outputs
30 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Output 5V (Max 1A)
31 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output
32 -|[[image:[email protected]||alt="SQUARE-Green.png"]]|(% style="vertical-align:middle" %)RC Input #1 or Forward (PWM)
33 -|[[image:[email protected]]]|(% style="vertical-align:middle" %)RC Input #2 or Turn (PWM)
34 -|(% colspan="3" style="width:350px" %)Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
46 +Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
47 +)))
35 35  
36 36  (% style="width:710px" %)
37 37  |(% colspan="3" style="text-align:center" %)**Gear Motor (36GP-555-27-EN)**
38 38  |(% 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:[email protected]||alt="SQUARE-Red.png"]]|Motor Positive
39 39  |[[image:[email protected]||alt="SQUARE-Black.png"]]|Motor Negative
40 -|[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative
53 +|[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative / GND
41 41  |[[image:[email protected]||alt="SQUARE-White.png"]]|Encoder Positive (5V)
42 42  |[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect)
43 43  |[[image:[email protected]||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect)
... ... @@ -45,7 +45,7 @@
45 45  (% style="width:710px" %)
46 46  |(% colspan="3" style="text-align:center" %)**RC Receiver (RadioLink R8EF)**
47 47  |(% 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:[email protected]]]|(% style="vertical-align:middle" %)Positive Input & Distribution (5-6V)
48 -|(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input & Distribution
61 +|(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND & Distribution
49 49  |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Channel #1 (SBUS Optional)
50 50  |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-White.png"]]|(% style="vertical-align:middle" %)Channel #2 (PPM Optional)
51 51  |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|(% style="vertical-align:middle" %)Channel #3

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