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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