Changes for page 03 - Wiring

Last modified by Eric Nantel on 2024/03/29 07:17
From version < 44.6 >
edited by Coleman Benson
on 2021/11/08 15:15
To version < 56.1 >
edited by Eric Nantel
on 2022/10/03 14:43
< >
Change comment: There is no comment for this version

Summary

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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
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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"/}}
1 +{{stepNavigation previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-electronics/" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-frame-lid/" pageTitle="A4WD3 Wheeled - Wiring"/}}
2 2  
3 -
4 -
5 5  (% style="width:710px" %)
6 -|(% colspan="2" style="text-align:center" %)**A4WD3 Wiring Diagrams**
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 -|(% style="vertical-align:middle" %)(((
4 +|(% colspan="2" style="text-align:center" %)**Radio Controlled (RC) / Bridged**
5 +|(% colspan="2" %)(((
9 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
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12 12  
13 13  * 4x Encoders
14 14  * Two of three XT30 connectors
15 -
16 -
17 17  )))
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 -|(% style="vertical-align:middle" %)(((
13 +|(% colspan="2" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/ROVER-A4WD3-Wiring-Diagrams-RC.png"/}}
14 +|(% colspan="2" style="text-align:center" %)**Microcontroller / Bridged**
15 +|(% colspan="2" %)(((
20 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
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25 25  * Second XT30 to power microcontroller
26 26  * Third XT30 connector
27 27  )))
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 -|(% 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 -)))
24 +|(% colspan="2" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/a4wd3-wheeled-quickstart/a4wd3-wheeled-wiring/WebHome/ROVER-A4WD3-Wiring-Diagrams-Autonomuous.png"/}}
32 32  
26 +{{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.
27 +"/}}
28 +
33 33  (% style="width:710px" %)
34 34  |(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A**
35 -|(% 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)
31 +|(% colspan="1" rowspan="8" style="width:350px" %){{lightbox image="https://wiki.lynxmotion.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)
36 36  |[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND
37 37  |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1A / M2A Outputs
38 38  |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1B / M2B Outputs
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47 47  )))
48 48  
49 49  (% style="width:710px" %)
50 -|(% colspan="3" style="text-align:center" %)**Gear Motor (36GP-555-27-EN)**
51 -|(% 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
46 +|(% colspan="3" style="text-align:center" %)**Gear Motor (36GP 540-51-EN)**
47 +|(% colspan="1" rowspan="6" style="width:350px" %){{lightbox image="https://wiki.lynxmotion.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
52 52  |[[image:[email protected]||alt="SQUARE-Black.png"]]|Motor Negative
53 53  |[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative / GND
54 54  |[[image:[email protected]||alt="SQUARE-White.png"]]|Encoder Positive (5V)
55 55  |[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect)
56 56  |[[image:[email protected]||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect)
53 +|(% colspan="3" style="width:350px" %)
57 57  
58 58  (% style="width:710px" %)
59 59  |(% colspan="3" style="text-align:center" %)**RC Receiver (RadioLink R8EF)**
60 -|(% 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)
57 +|(% colspan="1" rowspan="7" style="width:350px" %){{lightbox image="https://wiki.lynxmotion.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)
61 61  |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND & Distribution
62 62  |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Channel #1 (SBUS Optional)
63 63  |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-White.png"]]|(% style="vertical-align:middle" %)Channel #2 (PPM Optional)
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65 65  |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Gray.png"]]|(% style="vertical-align:middle" %)Channel #4
66 66  |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Green.png"]]|(% style="vertical-align:middle" %)Channel #5
67 67  
68 -{{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"/}}
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