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BAE Systems C2C SWAT Project

BAE Systems C2C SWAT Project. Tutorial 4, Final. Mar 2014. Tutorial 4, Final describes how to correctly setup the ESC, servo, Digital Compass and GPS to your unit, including how to establish a connection to the SWAT Controller. This section is not compulsory .

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BAE Systems C2C SWAT Project

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  1. BAE Systems C2C SWAT Project Tutorial 4, Final Mar 2014

  2. Tutorial 4, Final describes how to correctly setup the ESC, servo, Digital Compass and GPS to your unit, including how to establish a connection to the SWAT Controller. This section is not compulsory. To add / remove components, you may modifythe “SWAT_pin.cfg” and “SWATctrl.cfg” files on your SD Card respectively, after following the Set Up on the following slide. The Digital Compass used in this tutorial is the LSM303DLHC 3D Compass and Accelerometer Carrier with Voltage Regulator, and the GPS is the GP-635T, both of which you will be required to purchase. If you have purchased the Venus Logger GPS, please follow Steps 10 – 13 of Tutorial 3, instead of the GP-635T section in this tutorial. Scope

  3. Tutorial 4 > Set Up • Insert the SD Card into your computer and open the SD Card Library. • Open the folder “Tutorial 4, Final” 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 4, Final” folder.

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

  5. Tutorial 4 > 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 4 > 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 4 > Step 4 • On the WF32 board, ensure that jumper JP4 and JP5 are in the I2C position. I2C position WF32 Board JP4 JP5

  8. Tutorial 4 > Step 5 • 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

  9. Tutorial 4 > Step 6 • 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

  10. Tutorial 4 > Step 7 • 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

  11. Tutorial 4 > Step 8 • 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

  12. Tutorial 4 > Step 9 • 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

  13. Tutorial 4 > Step 10 • Connect the ESC to the splitter cable. ESC To ESC Splitter Cable To Splitter Cable

  14. Tutorial 4 > 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 11. • If you would not like to connect any motors/pumps, please go to Step 12.

  15. Tutorial 4 > Step 11 • 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

  16. Tutorial 4 > Step 12 Tip: Use different coloured wires between the digital compass and the motor shield to distinguish connections easily. • To connect the digital compass to the motor shield, use a breadboard and wires. • When mounting the compass, have x-axis forward, y-axis right and z-axis down. • The compass is heavily affected by the magnetic field of the motor. Mount it as far away as possible. Digital Compass Breadboard

  17. Tutorial 4 > Step 13 • Connect “SDA” (digital compass) to “A4” on the motor shield. Note: The “A4” label on the motor shield cannot be seen, it is the forth from the left on P2(motor shield). Digital Compass Motor Shield SDA P2 A4

  18. Tutorial 4 > Step 14 • Connect “SCL” (digital compass) to “A5” on the motor shield. Note: The “A5” label on the motor shield cannot be seen, it is the third from the left on P2(motor shield). Digital Compass Motor Shield SCL P2 A5

  19. Tutorial 4 > Step 15 • Connect “GND” (digital compass) to either the second or third pins on the single pin row of P3, on the motor shield (illustrated in the diagram below). Note: This pin correlates to the GND pins in J3 of the WF32 board. Digital Compass Motor Shield GND P3 GND

  20. Tutorial 4 > Step 16 • Connect “VIN” (digital compass) to the fifth pin on the single pin row of P3, on the motor shield (illustrated in the diagram below). Note: This pin correlates to the 3V3 (3.3V) pin in J3 of the WF32 board. Digital Compass Motor Shield VIN P3 3V3

  21. Tutorial 4 > Step 17 • To connect the GPS (GP-635T), connect Pin 1 (GP-635T) to GND (motor shield). Note: For the GND (motor shield), use either the second or third pins on the single pin row of P3, on the motor shield (illustrated in the diagram below). Motor Shield Pin 1 P3 GP-635T GND

  22. Tutorial 4 > Step 18 • Connect Pin 3 (GP-635T) to Digital I/O Pin 39, second from top, on connector P1 (motor shield). Motor Shield Pin 3 Pin 39 GP-635T P1

  23. Tutorial 4 > Step 19 • Connect Pin 4 (GP-635T) to Digital I/O Pin 40, first from top, on connector P1 (motor shield). Motor Shield Pin 40 Pin 4 GP-635T P1

  24. Tutorial 4 > Step 20 • Connect Pins 2, 5 and 6 (GP-635T) to a 3.3V source (motor shield). Note: The 3.3V source on the motor shield is the fifth pin on the single pin row of P3, on the motor shield (illustrated in the diagram below). Motor Shield Pins 6, 5 and 2 P3 3V3 GP-635T

  25. Tutorial 4 > Step 21 • 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

  26. Tutorial 4 > Step 22 • Turn on your Wi-Fi unit and connect your computer to this. • Open the “SWAT Controller” on your computer (previously installed). SWAT Controller

  27. Tutorial 4 > Step 23 • 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

  28. Tutorial 4 > Step 24 • Slider 2 controls the servo, the direction of the fan. • Slider 2 will always begin at the middle, i.e. 90º. Slider 2: Servo

  29. Tutorial 4 > Step 25 • 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

  30. Tutorial 4 > Step 26 • 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

  31. Tutorial 4 > Step 27 • Once the “SWAT Controller” has established a connection to the WF32, feedback can be seen for the Digital Compass (Bearing, Pitch and Roll). Digital Compass feedback SWAT Controller

  32. Tutorial 4 > Step 28 • Once the “SWAT Controller” has established a connection, select the View GPS Data button. • A new window will open, with various tabs, in which your Position will be displayed in the GPRMC tab. • You may also view the GPGSV tab, in which the current satellites can be seen. View GPS Data

  33. Tutorial 4 > Step 29 • 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

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