Step 4: Wiring modules to each other

The MR-B3RB is versatile and can support several network wiring configurations. There are also several optional communication bus connections. This section will serve to show the BASELINE connections. We will also attach cables that may not be used, but should stay with the B3RB for future expansion or debugging.

Baseline B3RB wiring intent

• Provide power to the NavQPlus and MR-CANHUBK344

• Connect the NavQPlus and CANHUBK344 with T1 Two-wire Ethernet

• Attach the LIDAR to the NavQPlus

• Attach the SERVO and Motor Control PWM to the MR-CANHUBK344

• Quadrature encoding from the motor/PDB to the MR-CANHUBK344

• Connect the RGB LED lighting

• Have debuggers and consoles attached

• Optionally plug in unused RC-PWM input

• Optionally connect CAN-FD cables, which could be used for peripherals and attachments

• Optionally connect a serial console from the MR-CANHUBK344 to the NavQPlus <<TODO - add link to section that removes the jumper on the PDB. Add PDB wiring section>>>

The final setup with al the established connections should look like this:

The LIDAR is temporarily placed for visualizing the connection, not its final location.

A closer view on MR-CANHUBK344 after wiring is completed:

A closer view on the connection on MR-CANHUBK344

And in the NavQPlus:

Please follow the steps 4a and 4b for the detailed explanation on these connections.