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Step 2 - Soldering - Part 1

Circuit Pinout

hotgluekit_pinout2
The figure above shows the pinout of the circuitry in the actuation module box. A protoboard is distributing the power to the logic circuits. All the Vin and GND of the logic circuits are connected to the corresponding pins on the protoboard. As the motor can drive high current, its power route is separated from the logic circuit. Motor gets the positive voltage from the step up regulator and its negative voltage (GNDM) is connected to GNDM on the protoboard. M1 and M2 pins are directly soldered to the motor's own positive and negative pins when the encoder is placed on the extended shaft behind the motor.

Step 1

1. Make sure that Arduino's programming pins are desoldered after uploading the code.

2. Solder Tx0 pin of Arduino to Din pin of XBee ( wire length: 3cm )

3. Solder RXI pin of Arduino to DOut pin of XBee ( wire length: 3cm )

 hotgluekit_fxbee

4. Make sure that the unused pins of XBee is either insulated or cut off. In our implementation we cut the unused pins to avoid unwanted shorts between open pins.

5. Place a plastic tape on the metal surface behind the XBee to avoid short circuits.

 hotgluekit_fxbeeback

Step 2

1. Solder PWMA pin of motor driver to Pin 6 of Arduino (wire length: 4 cm)

2. Solder AIN2 pin of motor driver to Pin 7 of Arduino (wire length: 4 cm)

3. Solder AIN1 pin of motor driver to Pin 8 of Arduino (wire length: 4 cm)

4. Solder STBY pin of motor driver to Pin 9 of Arduino (wire length: 4 cm)

5. Solder AO1 pin of motor driver to a 3cm length cable

6. Solder AO2 pin of motor driver to a 3cm length cable

 hotgluekit_fdriver

Step 3

1. Carefully place the encoder to extended shaft of the motor.

2. Solder M1 and M2 pins of the encoder to the motor pin headers.

3. Place the magnetic disk on the extended shaft until a small gap between the sensors on the encoder.

4. Solder Out B of encoder to Pin 2 of Arduino (wire length: 5 cm)

5. Solder Out A of encoder to Pin 3 of Arduino (wire length: 5 cm)

 hotgluekit_fencoder

Step 4

1. Cut a 4x2 slot from the prototyping board.

2. Make a triple branch with wire lengths 3,4.5 and 4.5 cm for logic Vin. Solder it to a breakaway pin and to (1,1) of proto-board.

3. Make a double branch with wire lengths 4 and 4.5 cm for logic Vin. Solder it to a breakaway pin and to (2,1) of proto-board.

4. Make a triple branch with wire lengths 4, 4.5 and 4.5 cm for logic GND. Solder it to a breakaway pin and to (1,2) of proto-board.

5. Make a double branch with wire lengths 4 and 4.5 cm for logic GND. Solder it to a breakaway pin and to (2,2) of proto-board.

 hotgluekit_fproto

Step 5

1. Cut out the middle pin of the molex connector and the leftmost pin of the switch.

2. Solder the pin on the flat edge of molex to rightmost pin of the switch (wire length: 3cm)

3. Solder a 5cm length wire to the pin on slope edge of molex.

4. Solder a 5 cm length wire to the middle pin of the switch.

 hotgluekit_molex_switch