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Instructions for the NXP Mobile Robotics Buggy 3 Rev B design.
As of Jan1/2024 these kits are considered pre-production versions and will change to accommodate improvements before production. Production versions are expected to be released on nxp.com later in 2024. You may encounter components that need to be updated or replaced. Contact your original source for the kit if you suspect you are missing an upgraded part.
Alternatively you may also fill out this form: https://forms.office.com/e/kxRHainXDR
The following pages describe the mechanical assembly of the MR-B3RB-M pre-production version. The -M version of MR-B3RB includes the -MUK mechanical upgrade kit consisting of:
side skirts (note: this is moving to the base version to avoid needing to swap the plastic side clips)
front and rear plastics (for LED covers and angles front and rear covers)
lidar arch plate metal and metal top cover.
To install the -MUK (Mechanical Upgrade kit) you will need to first:
remove the plastic clips that hold the top metal plate in place and
replace them with the side skirt plastic.
Then install the front and rear plastics as shown in the following assembly videos.
(This will change in production version. Side skirts will already be present in base version)
You may have a -S version of the kit which doesn't include these extra components, in that case just mount the NavQPlus and MR-CANHUBK344 in a similar way as shown in the assembly videos.
There is a plastic bracket included with the NavQPlus kit that can be used to mount the camera in the correct location at the front.
In some instances it may be that the motor to gear meshing needs to be adjusted.
Check that when you gently rotate the wheels, the gears sound like they are engaging well.
<TODO - describe how to diagnose this issue in a more precise way>
The gear meshing is adjusted by loosening the two screws in the front of the motor mounting bracket. You can push the motor closer with mild pressure to ensure the teeth are well engaged. <TODO - add photos of how to adjust motor>
The MR B3RB car should look like this in the pre-production unit after opening the box.
Proceed to install the LED lights. Follow the image sequence for assembling the front part of the car pieces:
Do NOT overtighten the screws and nuts holding the LED light assembly together. Just snug them up to the point that the lens and bumper assembly doesn't move easily.
UPDATING: Production units will not include the notch in the clear lenses
This is a pre-production prototype. We have found that it is better to install the lenses so the notch cutout does NOT clear the connector and instead sits on TOP of the connectors. This helps prevent over tightening.
The clear lenses generally have brown protective paper film that must be removed before use.
Find the 13mm long screws in the kit of black screws included in the kit. Reuse the lock nuts that were originally installed.
See this link for clarification on the correct screws to use: https://app.gitbook.com/o/-L9GLsni4p7csCR7QCJ8/s/U93yDWZcgjXGgsC1Duqv/~/changes/153/whats-in-the-box/witb-mr-b3rb-bmf#fastener-screw-m3-x-0.5-x-5.0mm-hex-drive-button-head-s.no.-16-fastener-screw-m3-x-0.5-x-10mm-hex-dr
Note: the polycarbonate lens has a cutout, due to assembly changes, it no longer matters if this is facing upward or downward.
The front part of the car should appear as follows:
Repeat the same assembly process for the rear of the car. Note that the back piece is identical to the front one but slightly longer.
UPDATING: The panel mount part is no longer used in the Pre-production B3RB and has been replaced with the Rotating battery plug mount The production unit will replace the mount shown here. Please use the rotating mount if it has been provided.
This step needs this 3D printed part:
And this cable:
Please make sure you can find them. It will also need two screws of 1cm and M2.5 size. You can find them on this box#m2-m2.5-m3-screw-fastener-kit-for-wltoys-144001-1-14-rc-s.no.-25
Attach the two screws in this position:
Now you need to take out the bottom metal frame where the PDB (Power Distribution Board) is attached, make sure to detach the cables connected to the PDB. To take out the metal frame, quit the highlighted screws in the following image:
Now use two M3*6mm screws and two M3 nuts from this box:
And securely attach the XT60 panel mount and the cable adapter in this position:
The MR B3RB car should look like this in the pre-production unit after opening the box.
Proceed with attaching the side parts of the car.
Re-use the screws and locknuts that held the top plate to the side metal, that you took out previously
UPDATING: The production units will include the larger side plastic skirts instead of the small plastic clips shown below. It will no longer be required to remove the top plate screws and clips.
Once attached, the side components should look like this. To better illustrate the process, one side is shown attached while the other remains detached.
The MR B3RB car should look like this in the pre-production unit after opening the box.
UPDATING: The production units will instead include the larger side plastic skirts. The small plastic clips shown below will not be used. It will no longer be required to replace the top plate screws and clips.
Use a hex screwdriver or Allen Key and remove all top and side screws securing the top plate to the metal frame and carefully set them aside. These screws are important for later steps when you'll need to reattach the metal frame.
After removing the screws, carefully detach the eight plastic holders from the side. Remember to keep the screws and nuts in a safe place, as they will be needed later.
We will now mount the NavQPlus and The MR-CANHUBK344 to the metal top plate. Follow the steps in the next two sections. The final setup will look something like this:
The mount for the camera must be removed for MR-B3RB-M use, It is kept only when using the MR-B3RB-S KEEP the nut and screw that is in this original camera mount!
UPDATING: Production units will include a mount with the backside cut out. This allows the flex cable to not be captive and the mount and camera can be easily separated.
Unless you REALLY want to keep the Camera mount, the easiest and quickest way to remove the mount is to use some side cutters and break the plastic base. Be careful and wear safety glasses as this plastic may be brittle and fly up. Alternatively you could cut this with a hacksaw or rotary tool. Be careful of any dust. While doing either method, be very careful not to damage the camera flex cable
First, unscrew and remove the screws located at the corners of the board.
Then take out the white case, you should have something that look like this:
Then use the smallest hex key from the provided set to unscrew the screws on the corners of the blue case. This should allow you to detach the white case from the bottom. Note you don't have to remove the screws completely, just enough to detach them from the back plate.
The camera's flat ribbon cables is connected to a vertical connector situated in centre-right of the board.
To properly detach the camera, first, open the clip at the backside of the connector to release the ribbon cable. Once freed, you can remove it from the camera mount. To reconnect, carefully insert the flat ribbon cable back into the connector on the NavQPlus board. Ensure a secure connection.
Reassemble the board into the white casing using the previously removed screws. Note you should screw in the heatsink screws first while simultaneously pressing to ensure the case is fully closed. Then in a second step install the outer four screws.
Next, use the provided M3 screws to securely attach the board's corners to the following position in the metal frame:
Screw them in from the bottom side. It should look like this:
The following images illustrate the method for securing the cables to the metal frame using zip ties. This ensures a neat and organized setup.
After successfully attaching the NavQPlus, the next step is to install the MR-CANHUBK344 evaluation board.
UPDATING: Production units will include DUAL LOCK type mounting eliminating the need for the procedure below and screw fastening. This will also elevate the NAVQPLUS boards slightly so that Ethernet and USB will have better clearance. We strongly recommend you just use some DUAL LOCK Velcro instead of screwing the NavQPlus to the metal frame.
MR-CANHUBK344 is the real time controller board for the robot. After successfully attaching the NavQPlus, the next step is to install the MR-CANHUBK344 evaluation board.
The materials needed for this tutorial are the MR-CANHUBK344, MR-CANHUBK344 ADAP board and the plastic covers of the boards:
Assemble the MR-CANHUBK344 on the bottom plastic then add the top cover. Use included screws to screw from the bottom side up into the top cover. The plastic top and bottom cover and board assembly should not be loose when properly assembled.
NOTE the MR-CANHUB-ADAP must have the extra board edges snapped off at the break lines. Gently break off the edges of the MR-CANHUB-ADAP board.
Attach the MR-CANHUBK344 assembly to the top plate which already contains the NavQPlus board. The final setup should look like this:
The MR-CANHUBK344 board should be attached in the highlighted holes of the following image. M3x5mm screws should be used to screw in from the bottom side.
Upon completion, the entire assembly should appear as follows:
Snap off the edges of the MR-CANHUB-ADAP board with your fingers
NOT all kits include the GPS module. Notably the NXP-CUP car kit will not. Instead use the PX4ARMINGBOARD BOARD and stick it down in a convenient location.
The arming board will provide the same beeper and arming buttons. It doesn not (currently) include a compass component.
If provided in your kit, please install the GPS and GPS post mounting, The the pieces needed are listed in the WITB GPS Module page.
Important notes: 1) Install the base plate with the clamping screw pointing either forward-right or forward-left. This will allow you to loosen/tighten even when the plastic rear piece is installed.
2) install the GPS so that the arrow is pointing forward on the B3RB
3) Zip tie the cable so that it stays tight against the carbon fiber mounting tube. This is to minimize interference with the LIDAR beam
4) Don't tighten down the mast clamping scews, you will need to remove the GPS top or the GPS and the MAST in future steps. Tighten them only enough so the parts can still wiggle and be removed.
There is a set of screws that comes with the GPS unit. Use the 4 longer screws and Nylock Lock Nuts to attach the base mount.
It should be placed in this furthest back position:
Attach the mounting mast rod and fasten it with one of the smaller two screws left. Only loosly tighten these screws. Attach the top mount with the remaining screw. Keep it only loosely tighened as well. It should look like this when completed:
Locate the M10 GPS and the 3M double tape.
Attach the double tape in the center of the top mount.
Carefully align the GPS in the center of this tape. Ensure the arrow on the GPS module is facing forward. The cable of the GPS should be zip tied so it stays very close to the GPS mast in order to not obstruct the LIDAR sensor.
<<TODO - show image of fully connected GPS. Final Picture>>
The camera housing included with the NavQPlus mounts to the front "GoPro" style mount on the front plastic:
The camera flex cable should come out the back of the NavQPlus and loop over top of it. Then route under the lower edge of the front bracket. and up into the camera module. The final setup should look like this:
You must reuse the screw and bolt that was part of the original camera mount. Follow earlier instructions to if necessary.
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 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-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.
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
Wire color | Signal | Alternative Color |
---|---|---|
White
PWM
Yellow
Red
+ 5V
Red
Black
(-) GND
Brown
UPDATING: Production units will instead include a 3d printed plastic standoff post which also acts to protect the cable. The file will also be provided in 3D Printed parts page See image below
Next install this standoff which gives stability for later steps in the mounting of the robot. The screws are the ones that come with the purple standoff and the nut are size M3:
And install it in this position:
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
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:
Please attach the plastic shield with the camera housing to the robot's front using 1cm M2.5 screws, which are located in this box provided:#m2-m2.5-m3-screw-fastener-kit-for-wltoys-144001-1-14-rc-s.no.-25.
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>>>
The mounting must look like these pictures:
And the attach the back plastic shield of the robot with the same screws:
<<<<TODO - update the pictures below. The orientation of the LIDAR is backward!!!>>>
Attach the arch metal upper plate and the Lidar with 4 of the screws M3 X 0.5 X 10MM with socket head, labelled with the number six in the following picture:
It should look like this:
And the connection to the NavQPlus, as explained in #lidar-connection is depicted in this image:
METAL UPPER
LIDAR,
FINAL TOUCHES AND STICKERS
Please see assembly video at this time.
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.
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.
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
Wire color | Signal | Alternative Color |
---|---|---|
White
PWM
Yellow
Red
+ 5V
Red
Black
(-) GND
Brown
The screws below and nylon locking nuts are included in the LIDAR box. Use these to attach the LIDAR to the LIDAR Arch.
Attach the arch metal upper plate and the Lidar with 4 of the screws M3 X 0.5 X 10MM with socket head, labelled with (6) in the following picture:
The connection to the NavQPlus is shown above, and also explained in #lidar-connection
<<<TODO - move the lidar connection link details to this single page. Delete the other references>>
(DRAFT)
The MR-B3RB-PDB (Power Distribution board) sits on the lower chassis and provides the following functions:
3S power input from LiPO battery or power supply with XT60 type power connector.
Regulated 5V supply for boards and servos
JST-GH Power cable connections for the NavQPlus and MR-CANHUBK344
Filtering on the power supply connectors
Optional 5V power source and termination for a CAN bus.
3-pin Dupont style PWM connector to MR-CANHUBK344 and ESC cable connector. The PWM signals connect through to the two signals (Enable and PWM) on the ESC (motor controller) integrated into the BLDC motor on the B3RB Buggy Chassis.
3-Pin Dupont style PWM connectors also provide 5V "up" to the "servo rail/PWM rail" on the MR-CANHUBK344 in order to provide power to the Steering Servo or any other RC-PWM connected devices.
2 pins for use in providing 5V to the RGB-LEDS (TBD, this is optional and power presently is supplied via a 4 pint JST-GH on the MR-CANHUBK344)
Quadrature Encoder in (custom) and out (JST-GH) connectors. In from B3RB motor, out via JST-GH to MR-CANHUBK344.
During manufacturing test, there may be a jumper on the PDB connecting + and S of the 3 pin servo header as shown below. It is very important to remove this jumper, It will NOT be used
(DRAFT)
Please see assmebly video for placement on the Upper Plate
Several connections will be made tot he MR-CANHUBK344 when used with MR-B3RB:
MR-CAN-ADAP board with IMU and additional connectors
Power connection
T1 Ethernet connection
Quadrature Encoder connection
PWM connection for Steering servo and motor
RGB LED connection
(optional) INA226 based power monitor
GPS with arming switch and Magnetometer
(DRAFT)
Please see assembly video for installation .
There are several connections to be made to the NavQPlus when used with MR-B3RB
Power connection
T1 Ethernet connection
Wifi Antenna
or Optional rubber duck Antenna
Lidar connection
Camera connection
CAN cables (not used at this point, but cabling should be installed during B3RB assembly)
(DRAFT)
Please see the assembly video for installation location.
This board connects on top of the MR-CANHUBK344. It should be relatively obvious how it pushes on top . Additional detail will be provided here at a later date.
Installation
Locate as shown in the video. At the rear of the top plate, just in front of the GPS mount.
Use double sided adhesive tape supplied, or at least two M3 screws attaching it from the bottom to the top plate.
Compass orientation
Arrow on silkscreen indicates the forward orientation of the onboard magnetometer/compass. Please attach the assembled MR-CANHUBK344 + CAN-ADAP so that the arrow is pointing to the front.
(DRAFT)
The camera included with NavQPlus is from Innowave and uses the following sensor with a fixed focus lens: OV5645
This camera board needs to be carefully assembled into a plastic housing provided. The housing includes a Go-Pro style mount on the back.
On MR-B3RB-M with MR-B3RB-MUK (mechanical upgrade kit) this mount is attached to the the matching mount on the front angled cover. the cable should be routed as shown on the assembly video.
On kits without the -MUK, there will be a plastic mount to attach to the top plate to hold the camera in a similar location.
This is for the MR-B3RB pre-production version
These instructions were written for the pre-production vesion of MR-B3RB where the lidar is in the middle. For production version It is likely that the position of the lidar will change slightly and move closer toward the front.
There are only three screws that hold the LIDAR in place. The side without screws has the wiring conneection. On the metalwork there will be an oval cutout on that side.
Use 3x M2.5 screws and nuts to attach the Lidar to the top lidar brace as shown below.
Remember to remove the plastic protective film from the lidar
Note the small arrow on top of the LIDAR unit. It needs to face the forward direction which is the short flat side of the Top Lidar Brace. (You may need to flip the metal over to match the orientation shown.)
An extra 35mm purple standoff and screws is provided in the kit. Screw this into one of the extra middle holes in order to provide upward pressure to the lidar brace / arch.
Use the extra screw in the top of the post to unwind until it touches the brace to provide support.
During assembly there will also be a post added with adjustable screw that will push on the underside of this brace. This is to remove any flex in the brace at the middle where the lidar is mounts. the post simply pushes up on the underside, it is not connected. Adjusting the screw in and out will adjust how much the screw pushes up.
In the default setup with MR-B3RB, the STL-27L lidar will connect to UART3 on the NavQPlus the cable provided is configured with the pins correctly arranged for this port.
Color code for Lidar to NavQPlus UART3 is as follows:
Note that the LIDAR does not come with a cable from the factory. In Pre-production the adapter cable has been hand made. Some images may show a variety of colors for the LIDAR cable. The drawing should be the final cable colors, but will be validated upon receiving them. (Yellow may have changed to White)
The top cover doubles as a work stand. This will keep the wheels up of the gound and can be useful while testing. You may want to put some soft tape or foam on the underside of the buggy chassis in order to avoid possible scratches on the top cover.
STL-27L Lidar Signal | Lidar wire color | UART3 pin | UART name |
---|---|---|---|
(3)GND
Black
Pin 6
GND
(2)PWM/RPM
*Splice to black/GND)
(1)DATA TX
White?(TBD)
Pin 3
UART3_RXD_3V3
(4)PWR
Red
Pin 1
5VP
The following items are known issues with the first pre-production units shipped November 15th. We are working to resolve them. Some resolutions will involved shipping replacement parts.
The improvements and errata listed here are a subset of all that have been gathered.
Please use this form to report something wrong, you have missing, or something you need: https://forms.office.com/e/kxRHainXDR
LED cables have incorrect JST-SH/STEMMAQT cables. While they do have a 1mm JST like cable our supplier seems to have used a similar but incompatible connector. We are working to manually make replacement cables. We will work to send out replacements to the original list of people. Please report if you need one.
Note that ADAFRUIT does sell the cables with the right type of connectors here: https://www.adafruit.com/product/4397
The Plastic XT60 mount is a bit too flexible. This will not be updated for the Pre-production units. We are looking at improving the overall mounting and wiring for the battery compartment. One suggestion is a pivoting piece that would be mounted to the forward most standoff. A 3d printable part file can be provided of you want to print something locally.
>> Later kits ship with the XT60 pivoting mount
Some metal has a sharp edge, also the side skirts come to a relatively sharp point, this will be rounded more in production. The metal manufacturer will also be asked to double check the deburring of the metal edges themselves.
An improved battery cable extension holder is available to allow the battery to plug in easier. This mount swivels on the front standoff. https://airy.cognipilot.org/reference_systems/b3rb/printable/
(DRAFT)
Consists of the following added components to provide a more complete finished look to the MR-B3RB. This is included with the MR-B3RB-M kit version.
Plastic side skirts. These also provide a replacement mounting for the PCB top plate
Front and rear LED covers
Front and rear angled plastic, with cutouts for antennas, and GoPro type mount
Top "arch" for Lidar mount
Decorative top cover
Side skirts
Thumscrews and other screw/nut hardware