# Step 5: Attach upper chassis

(optional) Tie wrap wires



After connecting all the cables, proceed to attach the metal board frame to the robot car using the screws you removed at the beginning of this tutorial:

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FlRUW3iX5c3RCnY8TtGhw%2Fzub4pk2a.png?alt=media&#x26;token=c6edd69e-0e79-49d4-8d86-26699fd221d8" alt="" width="563"><figcaption></figcaption></figure>

### Front Plastic Shield with Mount for Camera

Please attach the plastic shield with the camera housing to the robot's front using M2.5 pan head Philips Self-Tapping screws, which are located in this box provided:[#m2-m2.5-m3-screw-fastener-kit-for-wltoys-144001-1-14-rc-s.no.-25](../../../archive/whats-in-the-box-pre-production-version/witb-mr-b3rb-bmf#m2-m2.5-m3-screw-fastener-kit-for-wltoys-144001-1-14-rc-s.no.-25 "mention").&#x20;

&#x20;For reference, a picture of the screws is displayed here:\
\
<<\<TODO - these are not the correct screws. They should be flat head (tapered head> screws. Take picture and add here>>>

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FEZX3LlmZwiX8HqTAMFLm%2F85g2ta14.png?alt=media&#x26;token=fc578fbb-8eb8-4483-8832-309d8b7f69d4" alt="" width="375"><figcaption></figcaption></figure>

The mounting must look like these pictures:

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FN8CtLh3wq22PsbAZtPtg%2F1bct91ki.png?alt=media&#x26;token=199ecf74-7c49-439d-bb50-45f8437a978c" alt="" width="375"><figcaption></figcaption></figure>

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2F96j8g2JHHQ2WagVL8Pip%2Fvqg284gn.png?alt=media&#x26;token=62f517aa-3459-450b-be98-87f1deb6b21f" alt="" width="375"><figcaption></figcaption></figure>

### Back Plastic Shield

And the attach the back plastic shield of the robot with the same screws:

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2Fwvv6M31dTw3wQ9FbRgbA%2F59omxu5v.png?alt=media&#x26;token=d5a61386-8fe0-4132-8f02-5c5b883236ed" alt="" width="563"><figcaption></figcaption></figure>

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FjiaxJ4WsO8APOEMEUUqt%2Fimage.png?alt=media&#x26;token=fe07e681-7e56-4d83-90d6-fb353d9c7953" alt="" width="375"><figcaption></figcaption></figure>

The antenna depicted in the image must be handled with utmost caution and preserved within the protective plastic enclosure.

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FleUM8vczO4rmTwYkboH2%2F7n3zu7ed.png?alt=media&#x26;token=d2a28397-6218-46d7-9c81-71c721c7b604" alt="" width="375"><figcaption></figcaption></figure>

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FnzZtQWUdUpl8Ke8GkFGK%2Fccgtazn9.png?alt=media&#x26;token=80162452-e23e-4d60-a7b0-211397a4f535" alt="" width="375"><figcaption></figcaption></figure>

## CAN Termination network

CAN Networks typically requre proper termination at both ends of the bus in order to function correctly.\
Many of the boards used will include this termination optionally on board. \
Additionally many of the NXP boards use CANSIC (Signal Improvement Can Phy) which is more resiliant to mis-matched or incorrect termination.\
\
Included in the kit is also a CAN termination board.  By plugging in the can termination to the second connector on the MR-CANHUBK344 or NAvQPlus it will add  termination network to that end of the circuit. This board also includes a USB input and solder pads for instances where power is to be supplied into the CAN bus using this device. In the MR-B3RB this power injection is NOT needed as 5V power is already supplied.

{% hint style="info" %}
Note by default there are NO can devices running on the MR-B3RB. You may experiment with MR-BMS771, RDDRONE-BMS772, UCANS32K1SIC, CAN GPS modules, CAN motor controllers etc. Or Experiment with a CAN Bus connection between the MR-CANHUBK344 and NavQPlus. Software suppoert in Linux and Zephyr RTOS is already present.
{% endhint %}

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FdUScLPfuOBLRciYPMNEh%2Fs4y247f9.png?alt=media&#x26;token=1c830856-4ab2-4706-ab66-47fee0a2729f" alt="" width="375"><figcaption></figcaption></figure>
