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6	6	|(% colspan="2" style="text-align:center" %)**A4WD3 Wiring Diagrams**
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-RC.png"/}}|(% style="height:30px; vertical-align:middle" %)**Radio Controlled (RC) / Bridged**
8	8	|(% style="vertical-align:middle" %)(((
9		-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 onboard BEC powers the RC receiver.
	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	10
11	11	Not Connected
12	12
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17	17	)))
18	18	|(% 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**
19	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").
	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	21
22	22	Optional Connections
23	23
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27	27	)))
28	28	|(% 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**
29	29	|(% style="vertical-align:middle" %)(((
30		-Two dial channel Sabertooths are needed because 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 depend on the microcontroller chosen.
	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	31	)))
32	32
33	33	(% style="width:710px" %)
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40	40	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output / GND
41	41	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 1 Input (S1)
42	42	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 2 Input (S2)
43		-|(% 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.
44	44
	46	+Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
	47	+)))
	48	+
45	45	(% style="width:710px" %)
46	46	|(% colspan="3" style="text-align:center" %)**Gear Motor (36GP-555-27-EN)**
47	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:[email protected]||alt="SQUARE-Red.png"]]|Motor Positive