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Author

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

Content

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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	6	|(% style="vertical-align:middle" %)(((
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.
	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.
8	8
9	9	Not Connected
10	10
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15	15	)))
16	16	|(% 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**
17	17	|(% style="vertical-align:middle" %)(((
18		-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.
	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").
19	19
20	20	Optional Connections
21	21
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25	25	)))
26	26	|(% 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**
27	27	|(% style="vertical-align:middle" %)(((
28		-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.
	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.
29	29	)))
30	30
31	31	(% style="width:710px" %)
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38	38	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output / GND
39	39	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 1 Input (S1)
40	40	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 2 Input (S2)
41		-|(% colspan="3" style="width:350px" %)(((
42		-Details regarding the DIP switches can be found on the next page.
	43	+|(% colspan="3" style="width:350px" %)Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
43	43
44		-Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
45		-)))
46		-
47	47	(% style="width:710px" %)
48	48	|(% colspan="3" style="text-align:center" %)**Gear Motor (36GP-555-27-EN)**
49	49	|(% 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
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52	52	|[[image:[email protected]||alt="SQUARE-White.png"]]|Encoder Positive (5V)
53	53	|[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect)
54	54	|[[image:[email protected]||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect)
55		-|(% colspan="3" style="width:350px" %)
56	56
57	57	(% style="width:710px" %)
58	58	|(% colspan="3" style="text-align:center" %)**RC Receiver (RadioLink R8EF)**