Drive System

Driving Motors (cubemars)

Each of the 6 driving motors need to power and data (CAN and UART) from inside the chassis of the rover.

Power

Power is done over a black and a red wire. It runs through the inside of the aluminum extrusions and terminates in a female xt-60 connector. The motor is connected to the system with a shorter power cable which has male xt-30 (which plugs into the motor) to male xt-60 (which plugs into the rover).

Data

Data is done over Ethernet cables and connectors. We are following the standard T568B. Each wheel has one ethernet-in and one ethernet-out, with the exception of the back wheels which have ehternet-in and a terminator (a resistor). There is a total of 3 ethernet cables on each side: cable 1 goes from the front wheel to the chassis, cable 2 goes from the front wheel to the middle wheel, and cable 3 goes from the middle wheel to the back wheel.

Each of the wheels has two female ethernet connectors, one for in and another for out. The front wheels motors are M1, middle ones M2 and the back ones M3. The wiring for the female ethernet connectors is as follows:

M1 in

	+	-
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

	+	-
1		M1 in 1-
2	M1 in 2+
3	M1 in 3+	M1 in 3-
4	CAN HIGH 2	CAN LOW 2

M2 in

	+	-
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

	+	-
1	M2 in 1+	M2 in 1-
2		M2 in 2-
3	M2 in 3+
4	CAN HIGH 3	CAN LOW 3

M3 in

	+	-
1		TX
2
3	RX
4	CAN HIGH 3	CAN LOW 3

The female ethernet connector cables are connector to the motors through gh-connectors.

The gh side should never be disconnected from the motor because the connector is in the driver and quite flimsy, one of the drivers was already bricked from connecting it and disconnecting it too much

Steering motors

The steering motors are connected through 5-way wire (with one of the channels cut off) to the motor drivers.