Drive System

Driving Motors (CubeMars) 
 Each of the 6 driving motors requires power and data (CAN and UART) routed from inside the chassis of the rover. 
 Power 
 Power is delivered over a black (–) and a red (+) wire. These wires run through the interior of the aluminum extrusions and terminate in a female XT-60 connector at each of the wheels. 
 Each motor connects to this system via a short power cable with: 
 Male XT-30 on one end — plugs into the motor Male XT-60 on the other end — plugs into the rover's female XT-60 connector 
 Data 
 Data is carried over Ethernet cables and connectors, wired to the T568B standard. 
 Each wheel has one Ethernet-in and one Ethernet-out connector, except the back wheels, which have an Ethernet-in and a terminator (a 120Ω resistor) in place of Ethernet-out. 
 Motor numbering: 
 Position Motor ID Front wheels M1 Middle wheels M2 Back wheels M3 
 Cable layout (per side, 3 cables total): 
 Cable Run Cable 1 Chassis → Front wheel Cable 2 Front wheel → Middle wheel Cable 3 Middle wheel → Back wheel 
 
 Ethernet Connector Pinouts 
 Each wheel has two female Ethernet connectors: one in , one out . Pin assignments below follow T568B pairing (pins grouped by pair: 1–2, 3–6, 4–5, 7–8 in standard Ethernet), but here shown per the rover's female connectors labeling. 
 M1 – In 
 Pin + – 1 RX M1 out 1– 2 M1 out 2+ TX 3 M1 out 3+ M1 out 3– 4 CAN HIGH 1 CAN LOW 1 
 M1 – Out 
 Pin + – 1 — M1 in 1– 2 M1 in 2+ — 3 M1 in 3+ M1 in 3– 4 CAN HIGH 2 CAN LOW 2 
 M2 – In 
 Pin + – 1 M2 out 1+ M2 out 1– 2 RX M2 out 2– 3 M2 out 3+ TX 4 CAN HIGH 2 CAN LOW 2 
 M2 – Out 
 Pin + – 1 M2 in 1+ M2 in 1– 2 — M2 in 2– 3 M2 in 3+ — 4 CAN HIGH 3 CAN LOW 3 
 M3 – In 
 Pin + – 1 — TX 2 — — 3 RX — 4 CAN HIGH 3 CAN LOW 3 
 Motor-Side Connection 
 The female Ethernet connector cables connect to the motors via GH connectors . 
 Warning: The GH-side connector should never be disconnected from the motor. This connector sits inside the motor driver and is physically flimsy — one driver has already been bricked from being connected/disconnected too many times. 
 Steering motors 
 The steering motors are connected through 5-way wire (with one of the channels cut off) to the motor drivers.