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BAE Systems C2C SWAT Project

BAE Systems C2C SWAT Project. Tutorial 1, ESC and Servo. Mar 2014. Tutorial 1, ESC and Servo describes how to correctly setup the ESC and servo to your unit, including how to establish a connection to the SWAT Controller. ESC: Electronic Speed Controller. Scope. Tutorial 1 > Set Up.

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BAE Systems C2C SWAT Project

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  1. BAE Systems C2C SWAT Project Tutorial 1, ESC and Servo Mar 2014

  2. Tutorial 1, ESC and Servo describes how to correctly setup the ESC and servo to your unit, including how to establish a connection to the SWAT Controller. ESC: Electronic Speed Controller Scope

  3. Tutorial 1 > Set Up • Insert the SD Card into your computer and open the SD Card Library. • Open the folder “Tutorial 1, ESC and Servo” and run the file titled “setup”. Note: Running the “setup” file updates the “SWAT_pin.cfg” and “SWATctrl.cfg” files in the SD Card Library, using the files from the “Tutorial 1, ESC and Servo” folder.

  4. Tutorial 1 > Step 1 • Eject the SD Card from your computer and insert the SD Card into the WF32 board. WF32 Board SD Card

  5. Tutorial 1 > Step 2 • Attach the battery connector to the motor shield terminal P6. It is recommended to use a splitter cable to enable the battery to provide power to the shield and the ESC. Note: “P6” is written below the terminal on the motor shield Terminal P6 From Splitter Cable GND (negative) +11.1V (positive) To Motor Shield Terminal P6 Motor Shield Splitter Cable

  6. Tutorial 1 > Step 3 • On the WF32 board, ensure that jumper J15 is in the external (EXT) position to receive power from the battery. Note: The UART position on jumper J15 is used when the WF32 board is connected to your computer WF32 Board J15 UART EXT

  7. Tutorial 1 > Step 4 • Physically attach the WF32 board underneath the motor shield using the connecting pins. Note: Be careful not to bend any of the connecting pins. Motor Shield WF32

  8. Tutorial 1 > Step 5 • Attach the power plug from the motor shield terminal P7 to the WF32 board J17. Note: “P7” and “J17” is written below the terminals on the motor shield and WF32 board. WF32 Board (top view) Terminal P7 From WF32 Board GND (negative) +11.1V (positive) To WF32 Power Connection WF32 Board (side view) Motor Shield

  9. Tutorial 1 > Step 6 • Connect the 3 cables between the ESC and the motor (the colours do not need to match). Note: If the fan spins in the wrong direction, switch any two of the three cables between the ESC and the motor. ESC To ESC Motor Servo To Motor

  10. Tutorial 1 > Step 7 • Connect the ESC to the motor shield P4 pin 27. Note: Ensure the ground wire (usually brown) is on the pin closest to the edge of the motor shield, labelled GND. Ground (GND) To Motor Shield Pin 27 ESC P4 Motor Shield

  11. Tutorial 1 > Step 8 • Connect the servo to the motor shield P4 pin 26. Note: Ensure the ground wire (usually brown) is on the pin closest to the edge of the motor shield, labelled GND. Ground (GND) Pin 26 Motor P4 Servo To Motor Shield Motor Shield

  12. Tutorial 1 > Step 9 • Connect the ESC to the splitter cable. ESC To ESC Splitter Cable To Splitter Cable

  13. Tutorial 1 > Pumps • Up to four motors/pumps can be run from the 11.1V source (motor shield). • If you would like to connect motors/pumps, please go to Step 10. • If you would not like to connect any motors/pumps, please go to Step 11.

  14. Tutorial 1 > Step 10 • Connect the positive wire (motor) to the 11.1V terminal on P8 (motor shield) and connect the negative wire (motor) to Digital I/O Pin 28, 29, 30 or 31 on P1 (motor shield). • If you would like the motor to rotate in the opposite direction, switch the positive and negative wires. • The mapping to Pins 28 – 31 is already included in the *.cfg files on the SD Card. Motor Shield Pin 31 Pin 30 Pin 29 Pin 28 P1 GND +11.1V +5V P8 Positive wire Negative wire Motor

  15. Tutorial 1 > Step 11 • Attach the motor shield, using the splitter cable, to the battery, to power up the board. Note: The battery is always the last component to connect. Splitter Cable Battery To Splitter Cable To Battery

  16. Tutorial 1 > Step 12 • Turn on your Wi-Fi unit and connect your computer to this. • Open the “SWAT Controller” on your computer (previously installed). SWAT Controller

  17. Tutorial 1 > Step 13 • Once the “SWAT Controller” has established a connection, you will see a display similar to the image below.

  18. Tutorial 1 > Step 14 • The Input Displays from the Test and Diagnostics (apart from Fakesen2) are still presented here, but you won’t be able to reach the controls. Input displays

  19. Tutorial 1 > Step 15 • If you connected a motor/pump, you will be able to test it using the buttons, switching them ON and OFF. • The LEDS on D14 – D17, will also correspond to what motor/pump is operating. • If an LED is placed on D9, this will correspond to any motor/pump operating. Pump Controls Motor Shield D17 D16 D15 D14 D9

  20. Tutorial 1 > Step 16 • Slider 1 controls the ESC. • Slider 1 will always begin at 0 (at the bottom). • Warning, please ensure the ESC is secured on your prototype and is clear from any foreign objects. This includes you! • For the ESC to respond, you must first select the Arm button. Slider 1: ESC and Arm button

  21. Tutorial 1 > Step 17 • Slider 2 controls the servo, the direction of the fan. • Slider 2 will always begin at the middle, i.e. 90º. Slider 2: Servo

  22. Tutorial 1 > Step 18 • Note that Slider 3 is not set in the default code. • You may modify these yourself in the “SWAT_pin.cfg” and “SWATctrl.cfg” files on the SD Card. Slider 3

  23. Tutorial 1 > Step 19 • Once testing is complete, disconnect the battery first from the splitter cable. Note: The battery is always the first component to disconnect. Splitter Cable Battery From Splitter Cable From Battery

  24. Next Modules • Please continue to: Tutorial 2, Digital Compass.pptx (not compulsory) or Tutorial 3, GPS.pptx (not compulsory)

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