Wiki source code of 03 - Wiring
Version 44.5 by Coleman Benson on 2021/11/08 15:10
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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"/}} |
| 2 | |
| 3 | |
| 4 | |
| 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" %)((( |
| 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 | |
| 11 | Not Connected |
| 12 | |
| 13 | * 4x Encoders |
| 14 | * Two of three XT30 connectors |
| 15 | |
| 16 | |
| 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" %)((( |
| 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 | |
| 22 | Optional Connections |
| 23 | |
| 24 | * 4x Encoders |
| 25 | * Second XT30 to power microcontroller |
| 26 | * Third XT30 connector |
| 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 the Sabertooth controller and encoders depend on the microcontroller chosen. |
| 31 | ))) |
| 32 | |
| 33 | (% style="width:710px" %) |
| 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) |
| 36 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND |
| 37 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1A / M2A Outputs |
| 38 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)M1B / M2B Outputs |
| 39 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Positive Output 5V (Max 1A) |
| 40 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Output / GND |
| 41 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 1 Input (S1) |
| 42 | |[[image:[email protected]]]|(% style="vertical-align:middle" %)Signal 2 Input (S2) |
| 43 | |(% colspan="3" style="width:350px" %)((( |
| 44 | Details regarding the DIP switches can be found on the next page. |
| 45 | |
| 46 | Complete information available [[HERE>>https://www.dimensionengineering.com/products/sabertooth2x12]] |
| 47 | ))) |
| 48 | |
| 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 |
| 52 | |[[image:[email protected]||alt="SQUARE-Black.png"]]|Motor Negative |
| 53 | |[[image:[email protected]||alt="SQUARE-Yellow.png"]]|Encoder Negative / GND |
| 54 | |[[image:[email protected]||alt="SQUARE-White.png"]]|Encoder Positive (5V) |
| 55 | |[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|Encoder Output 1 (Hall Effect) |
| 56 | |[[image:[email protected]||alt="SQUARE-Gray.png"]]|Encoder Output 2 (Hall Effect) |
| 57 | |
| 58 | (% style="width:710px" %) |
| 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) |
| 61 | |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Negative Input / GND & Distribution |
| 62 | |(% style="vertical-align:middle" %)[[image:[email protected]]]|(% style="vertical-align:middle" %)Channel #1 (SBUS Optional) |
| 63 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-White.png"]]|(% style="vertical-align:middle" %)Channel #2 (PPM Optional) |
| 64 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Red-Soft.png"]]|(% style="vertical-align:middle" %)Channel #3 |
| 65 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Gray.png"]]|(% style="vertical-align:middle" %)Channel #4 |
| 66 | |(% style="vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Green.png"]]|(% style="vertical-align:middle" %)Channel #5 |
| 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"/}} |