Wiring QDEC cable

Introduction

The Quadrature decoder (QDEC) cable connects from PDB to MR-CANHUBK344. The actual quadrature signals are coming from the encoder on the motor itself. The PDB is used to interface between the different cable types. This signal provides information on how many revolutions, and therefore how far, the robot has travelled and is used in the control system as an input.

Pre-production MR-B3RB must use the special QDEC cable with the orange markings. There will be an updated PDB V2 which corrects this issue and allows for a standard cable to be used.

QDEC (Quadrature Decoder) Cable

This cable is crucial for calculating the odometry, speed and direction of the robot car. 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: