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:

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

And in the NavQPlus:

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

Introduction

The GPS module is primarily used to provide the Magnetometer, sound and SAFETY button for the system. Not all systems will use the GPS localization functionality. The software however is capable of using the use of GPS position data for navigation outdoors.

M10 GPS connection

The M10 GPS cable attaches to the MR-CANHUBK344 as shown below

Power Cable

Power cable from PDB to NavQPlus

It is a four-wire cable having two red and two black cables representing VCC and ground respectively. Firstly, connect one end of the cable to any of the pout terminal on the PDB.

Then connect the other end on the following connector of the NAVQPlus.

BaseT1 Ethernet wiring between NavQPlus and MR-CANHUBK344

This is also explained here:

Lidar connection

<TODO> refer to the mounting of the LIDAR base

The cable necessary for connect the NavQPus to the LIDAR-STL-27 is the number one in .

A closer view of this cable:

The Lidar used is the following:

You should connect the smaller end of the cable to the Lidar and the bigger end to the UART3 Serial port of the NavQPlus:

Thse are all the connections available for NavQPlus:

<TODO >

• note on CAN

• note on console

• note on Ethernet

(DRAFT)

Block Diagram of the NavQPlus

<todo> insert a block diagram and or photo of wiring. Image below may be helpful

<todo > add schematic block diagram of how everything is connected

Steering Servo PWM cable connection

The image illustrates how a servo motor is connected to the PDB (Power Distribution Board). It shows three distinct wires: the red wire is +5V positive voltage supply, the brown wire is the ground connection, and the yellow wire carries the control RC-PWM signal from the microcontroller (MR-CANHUBK344).

Power cable from PDB to MR-CANHUBK344

These cables connect to any of the 4 pin Pout connectors on the PDB. All Pout connectors are the same, but some may be closer and provide a better location. Choose one that makes your wiring tidy without overstretching the cable.

And the other end connects to the power input (AKA VBat) of the MR-CANHUBK344

Introduction

The MR-CANHUBK344 sends PWM signals to the Motor controller and also to the Servo. These are standard RC Model type PWM connections. In order to facilitate keeping the signals in the correct order they are routed and consolidated onto a single cable and small "XDHP" connector board. It is still quite important to get the XDHP connector positioned correctly on the PWM header of the MR-CANHUBK344

Thw PWM/XDHP wire connection should look like as depicted in the following picture:

PWM signals wiring to MR-CANHUBK344

The cable carrying PWM signals between the MR-CANHUBK344 board, and the Power Distribution Board should look like as shown in picture below. It is a seven wire interface which carries multiple PWM signals and has a VCC line and a ground.

There is a small "XDHP" adapter board to fit on the PWM pin-header of the MR-CANHUBK344 board. This is provided in the kit and show in the image above

XDHP connection on PDB side

The one end of the PWM cable is connected on the XHDP pins on the PDB:

The other end of the cables having the xHDP adapter on it is mounted on the first three columns(Three pairs of three pins) of PWM pins which represents PWM0, PWM1 and PWM2 positions of the MR-CANHUBK344 respectively:

XDHP (PWM) connection on MR-CANHUBK344 side

Installation of the XDHP adapter board and cable is most easily done when the cable and connector are conected together first. Then gently bend the wires at a 90 degree angle. Push the XDHP adapter onto the CANHUBK344 pin headers. The images show XHDP adapter is mounted on the first three columns (Three pairs of three pins) of PWM pins. This corresponds to PWM0, PWM1 and PWM2 positions of the MR-CANHUBK344 respectively.

Introduction

The NavQPlus and MR-CANHUBK344 communicate to each other using 100Base-T1 Two wire ethernet .

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 .

Introduction

The RGB LEDS communicate using a SPI-like communication which is modified in that it is unidirectional. The data and power for the LEDs is supplied by a STEMMAQT type connector the PDB, and the SCL SDA (SPI) lines have a second wire connector which attaches between the PDB and SPI port on MR-CANHUBK344

Introduction

There are two 5 pin JST-GH cables that provide battery power to the MR-CANHUBK344 and the NavQPlus. They are 5 pins, with no wire in the center position. Two wires are battery voltage+ and two wires are battery voltage-. Be sure to limit the voltage applied at the battery to <20V or the specified ratings for any boards plugged in.