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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		-
5	5	(% style="width:710px" %)
6		-|(% colspan="2" style="text-align:center" %)**Radio Controlled (RC) / Bridged**
7		-|(% colspan="2" %)(((
8		-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		-
10		-Not Connected
11		-
12		-* 4x Encoders
13		-* Two of three XT30 connectors
14		-)))
15		-|(% 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"/}}
16		-|(% colspan="2" style="text-align:center" %)**Microcontroller / Bridged**
17		-|(% colspan="2" %)(((
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.
19		-
20		-Optional Connections
21		-
22		-* 4x Encoders
23		-* Second XT30 to power microcontroller
24		-* Third XT30 connector
25		-)))
26		-|(% 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"/}}
27		-|(% colspan="2" style="text-align:center" %)**Microcontroller / Independent**
28		-|(% colspan="2" %)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.
29		-|(% 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-Mecanum.png"/}}
30		-|(% colspan="2" %)
	4	+|(% colspan="2" style="text-align:center" %)**A4WD3 Wiring Diagrams**
31	31	|(% 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**
32		-|(((
33		-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.
34		-
35		-Not Connected
36		-
37		-* 4x Encoders
38		-* Two of three XT30 connectors
39		-)))
	6	+|(% style="vertical-align:middle" %)
40	40	|(% 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**
41		-|(((
42		-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.
43		-
44		-Optional Connections
45		-
46		-* 4x Encoders
47		-* Second XT30 to power microcontroller
48		-* Third XT30 connector
49		-)))
	8	+|(% style="vertical-align:middle" %)
50	50	|(% 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**
51		-|(((
52		-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.
53		-)))
	10	+|(% style="vertical-align:middle" %)
54	54
55	55	(% style="width:710px" %)
56	56	|(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A**
57	57	|(% 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)
58		-|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND
	15	+|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input
59	59	|[[image:[email protected]]]|(% style="vertical-align:middle" %)M1A / M2A Outputs
60	60	|[[image:[email protected]]]|(% style="vertical-align:middle" %)M1B / M2B Outputs
61	61	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Output 5V (Max 1A)
62		-|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output / GND
	19	+|[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output
63	63	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 1 Input (S1)
64	64	|[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 2 Input (S2)
65		-|(% colspan="3" style="width:350px" %)(((
66		-Details regarding the DIP switches can be found on the next page.
	22	+|(% colspan="3" style="width:350px" %)Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
67	67
68		-Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]]
69		-)))
	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]]
70	70
71	71	(% style="width:710px" %)
72	72	|(% colspan="3" style="text-align:center" %)**Gear Motor (36GP-555-27-EN)**
73	73	|(% 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
74	74	|[[image:[email protected]||alt="SQUARE-Black.png"]]|Motor Negative
75		-|[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative / GND
	40	+|[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative
76	76	|[[image:[email protected]||alt="SQUARE-White.png"]]|Encoder Positive (5V)
77	77	|[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect)
78	78	|[[image:[email protected]||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect)
79		-|(% colspan="3" style="width:350px" %)
80	80
81	81	(% style="width:710px" %)
82	82	|(% colspan="3" style="text-align:center" %)**RC Receiver (RadioLink R8EF)**
83	83	|(% 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)
84		-|(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND & Distribution
	48	+|(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input & Distribution
85	85	|(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Channel #1 (SBUS Optional)
86	86	|(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-White.png"]]|(% style="vertical-align:middle" %)Channel #2 (PPM Optional)
87	87	|(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|(% style="vertical-align:middle" %)Channel #3