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The MR-CANHUBK344 sends PWM signals to the Motor controller and also to the Servo. These are standard RC Model type PWM connections. It is important to get the positions correct on the header as the PWM signal timings are different between the motor and the steering servo. Also note that the steering servo gets powered from the +5V that is PROVIDED by the motor PWB connection on the PDB board.
There is a PDB V2 board that will replace these three individual cables with a single integrated cable and an adapter board. Please look for this upgrade in the near future.
The PWM cables that connect between the MR-CANHUBK344 board and the Power Distribution Board should look like this. Two of them are Female-Female and one is Male-Female.
Note that an extension cable is used for the servo PWM. The cable on the servo changes to the the alternative coloring as shown in the table below.
The cable color coding is as follows:
The PWM cable must be oriented so that the white signal wire is connection the pin labelled (S) on the MR-CANHUBK344.
Please be extra careful that the PWM cables are wired correctly and with the correct polarity. Damage to the board could result from incorrect connection.
The wite wire should be "inboard" on the PCB. The black ground wire will be closest to the outboard edge of the PCB.
The PWM cable that connects to the servo must be connected to PWM 0 of the MR-CANHUBK344. This is the PWM header CLOSEST to the side of the board with the CAN connectors.
This is depicted in the following GIF:
<<TODO>> make it more clear which cable is which. There is also a debug procedure that can be added. IF the motor starts running immediately on power up, then PWM 1 and PWM 2 need to be swapped. Confirm - This is when only ONE of the PWMs are connected.
The PWM cables that correspond to the motor throttle (PWM 1) and motor ENB (PWM2) must be connected on the following pins on the PDB:
The other end of the cables must be located in PWM 1 and PWM 2 positions of the MR-CANHUBK344:
The following GIF shows the connection of the three cables:
The last cable to connect is the EXTRA LONG power cable from the MR-CANHUBK344 to the Power Distribution Board which looks like this. The normal length power cable can be similarly connected to the NavQPlus
This is how it must be connected to the PDB:
And the other end must be connected to this pin on the MR-CANHUBK344
The following picture depicts the connections in an animated way.
You need to add first the M10 GPS mount to the metal frame. This is explained in this section: #install-m10-gps-module
This is the M10 GPS
And this is all the cable connections available for now.
| Wire color | Signal | Alternative Color |
|---|---|---|
White
PWM
Yellow
Red
+ 5V
Red
Black
(-) GND
Brown
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. The nominal battery voltage is expected to be ~12V,
NavQPlus and MR-CANHUBK344 will be soon updated to ship with longer power cables.
Connect is the EXTRA LONG power cable from the MR-CANHUBK344 to the Power Distribution Board.
The normal length power cable can be similarly connected to the NavQPlus
ZIP TIE the cables to the edge of the top plate and make them neat.
These cable connect to the 5 pin JST GH on the PDB. Either connector is ok. They are both the same.
And the other end must be connected to this pin on the MR-CANHUBK344
The following picture depicts the connections in an animated way.
You need to add first the M10 GPS mount to the metal frame. This is explained in this section: #install-m10-gps-module
This is the M10 GPS
And this is all the cable connections available for now.
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.
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:
The MR-B3RB is versatile and can support several network wiring configurations. There are also several optional 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
Provide power to the NavQPlus and MR-CANHUBK344
Connect the two with T1 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: <<<TODO UPDATE PHOTOS FROM HERE ON >>>
A closer view on the connection on MR-CANHUBK344:
And in the NavQPlus:
Please follow the steps 3a and 3b for the detailed explanation on these connections.
Wiring instructions will be demonstrated using images and GIFs for clearer visualization of the process.
The RGB LEDS communicate using a modified SPI type that is unidirectional. The power for the LEDs is supplied by the PDB, and the SCL SDA lines attach to a SPI port on the MR-CANHUBK344
You need to have mounted first the LED lights and covers. This step has been explained in this section: #assemble-led-light-and-covers
First, we'll show hot to connect the LEDs cables from the LEDs panels to the PDB and the MR-CANHUBK344.
Use the 4-pin cable with a protective covering to connect from the front to the rear LED assembly ends.
Connect the rear LED to the PDB (Power Distribution Board) and the MR-CANHUBK344.
The following image shows the LED lights setup with the left side representing the rear and the right side indicating the front of the car.
The following images show a zoomed vision of the wiring:
The remaining pin is this one:
That must be connected on the following pin of the MR-CANHUBK344:
If you have correctly followed these steps the wiring setup of the LEDs cables should be finished.
The NavQPlus and MR-CANHUBK344 communicate to each other using 100Base-T1 Two wire ethernet .
Connect the ethernet cable between the NavQPlus and the MR-CANHUBK344.
Zip Tie the cable at both ends, and tuck it under the top plate.
Note the specific side notches to use.
Use a piece of tape to hold it neatly out of the way under the plate
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 does injest the data and can be used for navigation outdoors.
An ARMING board is also included in the kit and can be used with alternative software. This can provide the safety button and sound functionality, but not the Magnetometer needed for robotics navigation using Cognipilot. An updated ARMING board is in progress that includes the magnetometer is in progress. The decision was made to use the GPS module in the meanwhile as it was cost effective.
You need to add first the M10 GPS mount to the metal frame. This is explained in the section Install M10 GPS Module
The M10 GPS cable attaches to the MR-CANHUBK344 as shown below
Make sure you have first installed the XT60 panel mount adapter to XT60 connector with cover before going through this step: Step 1b: Adding XT60 extension Mount
The cable shown below is NOT USED in B3RB. Instead connect the 5 pin power cable to the corresponding point on the PDB
Connect the l5 pin (4 wire) JST-GH power cable to the NavQPlus Power input:
This is also explained here: #baset1-ethernet-wiring-between-navqplus-and-mr-canhubk344
<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 WITB Cables and Screws.
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
Wiring instructions will be demonstrated using images and GIFs for clearer visualization of the process.
You need to have mounted first the LED lights and covers. This step has been explained in this section: #assemble-led-light-and-covers
First, we'll show hot to connect the LEDs cables from the LEDs panels to the PDB and the MR-CANHUBK344.
Use the 4-pin cable with a protective covering to connect from the front to the rear LED assembly ends.
Connect the rear LED to the PDB (Power Distribution Board) and the MR-CANHUBK344.
The following image shows the LED lights setup with the left side representing the rear and the right side indicating the front of the car.
The following images show a zoomed vision of the wiring:
The remaining pin is this one:
That must be connected on the following pin of the MR-CANHUBK344:
If you have correctly followed these steps the wiring setup of the LEDs cables should be finished.
This cable is crutial 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:
Second, we'll show how to connect the ethernet cable between the NavQPlus and the MR-CANHUBK344.
The PWM cables that come from the MR-CANHUBK344 board to the Power Distribution Board should look like this.
The cable color code is as follows:
Ensure the cable is oriented so that the white PWM signal is connection the port labelled (S) on the MR-CANHUBK344. This is "inboard" on the PCB. The black ground wire will be closest to the outboard edge of the PCB.
The PWM cable that connects to the servo must be connected to PWM0 of the MR-CANHUBK344 as depicted in the following GIF:
The PWM cables that correspond to the motor throttle (PWM 1) and motor ENB (PWM2) must be connected on the following pins on the PDB:
The other end of the cables must be located in this position of the MR-CANHUBK344:
The following GIF shows the connection of the three cables:
Note that an extension cable is used for the servo PWM. The cable on the servo is the alternative coloring as shown in the table above.
The last cable to connect is the EXTRA LONG power cable from the MR-CANHUBK344 to the Power Distribution Board which looks like this. The normal length power cable can be similarly connected to the NavQPlus
This is how it must be connected to the PDB:
And the other end must be connected to this pin on the MR-CANHUBK344
The following picture depicts the connections in an animated way.
You need to add first the M10 GPS mount to the metal frame. This is explained in this section: #install-m10-gps-module
This is the M10 GPS
And this is all the cable connections available for now.
| Wire color | Signal | Alternative Color |
|---|---|---|
White
PWM
Yellow
Red
+ 5V
Red
Black
(-) GND
Brown
