Swerve Drive Electronics Board .pdf

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Original filename: Swerve-Drive-Electronics-Board.pdf

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SABERTOOTH MOTOR CONTROLLER 1
Signal

M1

Signal Ground

M1DRIVE MOTOR 1

Battery

M2

Battery-

M2-

M

SABERTOOTH MOTOR CONTROLLER 2
Signal
FUSE

TURNING MOTOR 1

M1

Signal Ground

ROTARY ENCODER 1

ROTARY ENCODER 2

M
POTENTIOMETER 1

M

M1-

DRIVE MOTOR 2

TURNING MOTOR 2

POTENTIOMETER 2

M

SWITCH
Battery

M2

Battery-

M2-

DRIVE MOTOR 3

BATTERY
TALON SR MOTOR CONTROLLER 1

11.1V

Battery
Battery-

M

M

M
TALON SR MOTOR CONTROLLER 2
Battery

M
M-

PWM

TALON SR MOTOR CONTROLLER 3
Battery
Battery-

M
M-

PWM

TALON SR MOTOR CONTROLLER 4
Battery
Battery-

M
M-

PWM

Digital I/O Board
PWM1

PWM2

PWM3

PWM4

Battery
Data
BatteryDigital 1

Digital 2

Digital 3

Digital 4

CRIO Digital I/O Module

CRIO
Module Slot 1

Slot Connector

Data

Module Slot 2
Module Slot 3

CRIO Analog Input Module

Module Slot 4

Analog 1

Module Slot 5

Slot Connector

Module Slot 6

RS232 Serial Port

12V

24V

12V to 5V DC/DC Converter
12V

5V

Analog 3
5V Pins

Module Slot 8

24V

Analog 2
Analog 4

Module Slot 7

12V to 24V DC/DC Converter

GND

MAX232 Chip
RS232 Serial
5V

DRIVE MOTOR 4

ROTARY ENCODER 4

M

M-

PWM

TURNING MOTOR 3

Battery-

ROTARY ENCODER 3

TTL Data

POTENTIOMETER 3

TURNING MOTOR 4

M

POTENTIOMETER 4


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