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Step 2 - Soldering - Part 2

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 6

1. Solder the 4.5cm long Vin wire from the triplet to the Vin pin of Arduino.

2. Solder the 4.5cm long GND wire from the triplet to the GND pin of Arduino.

3. Solder the 4.5cm long Vin wire from the triplet to the Vin pin of motor driver.

4. Solder the 4.5cm long GND wire from the triplet to the GND pin of motor driver.

 hotgluekit_power_arduino

Step 7

1. Solder the 4.5cm long Vin wire from the couple to the Vin pin of step up regulator.

2. Solder the 4.5cm long GND wire from the couple to the GND pin of step up regulator.

3. Solder VOut pin of step up regulator to VMOT pin of the motor driver (wire length: 3cm)

 hotgluekit_power_stepup

Step 8

1. Solder the 4cm long Vin wire from the couple to the Vin pin of encoder.

2. Solder the 4cm long GND wire from the couple to the GND pin of encoder.

3. Solder the 3cm long wire from the AO1 pin of motor driver to the M1in pin of encoder.

3. Solder the 3cm long wire from the AO2 pin of motor driver to the M2in pin of encoder.

 hotgluekit_powerMotor

Step 9

1. Solder the 5cm V+ wire from the power switch to (4,1) pin on the proto-board.

2. Solder the 5cm V- wire from the power switch to (4,2) pin on the proto-board.

3. Solder GNDM pin of motor driver to (3,2) pin on the proto-board (wire length: 3.5cm)

hotgluekit_powerSwitch

Step 10

1. Solder the 3cm long Vin wire from the triplet to the Vin pin of XBee.

2. Solder the 4cm long GND wire from the triplet to the GND pin of XBee.

 hotgluekit_powerxbee

Final

hotgluekit_finalC

Your circuit should look like this if this tutorial was clear enough !