Wiring QDEC cable

Introduction

The Quadrature decoder (QDEC) cable connects from PDB to MR-CANHUBK344. Quadrature signals are coming from the encoder on the motor itself. The PDB is then used to interface between the two different cable types. QDEC signal provides measured information on how many revolutions the motor has made, and therefore how far the robot has travelled. This can then be used in the control system as an input. See here for more information about Quadrature encoding.

Note Pre-production MR-B3RB used a special QDEC cable with orange band markings. if you happen to have one or are upgrading a pre-production kit, do not use this cable as the signals are reversed.

QDEC (Quadrature Decoder) Cable

This cable is crucial for calculating the odometry, speed and direction of the robot car. There are six black wires and one red wire in it. The cable should look like this:

One end of the cable must be attached to the QDEC out pin on the PDB:

And the other end must be attached to the following pin on the MR-CANHUBK344: