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25	25	|(% colspan="2" style="text-align:center" %)**Microcontroller / Independent**
26	26	|(% 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.
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	28	+{{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.
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28	28	(% style="width:710px" %)
29	29	|(% colspan="3" style="text-align:center" %)**Sabertooth 2 x 12A**
30	30	|(% 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)