BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project - WF32 Shield

BAE SYSTEMS PROPRIETARY – Internal Use OnlyUnpublished Work Copyright 2014 BAE Systems. All rights reserved.

BAE Systems C2C SWAT Project - WF32 Shield V2.0 OnlyTutorial 4, Final V2Sep 2015


• 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 modify the “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.

2

Scope


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”.

3

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.


Tutorial 4 > Step 1

• Eject the SD Card from your computer and insert the SD Card into the WF32 board.

4

WF32 Board

SD Card


• Attach the battery connector to the motor shield terminal J1. It is recommended to use a splitter cable to enable the battery to provide power to the shield and the ESC.

5

Splitter Cable

To Motor Shield Terminal J1

Motor Shield

Note: “J1” is written next to the terminal on the motor shield

Tutorial 2 > Step 2


• On the WF32 board, ensure that jumper J15 is in the external (EXT) position to receive power from the battery.

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Note: The UART position on jumper J15 is used when the WF32 board is connected to your computer

WF32 Board

EXT

UART

J15

Tutorial 4 > Step 3


• On the WF32 board, ensure that jumper JP4 and JP5 are in the I2C position.

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WF32 Board

JP4JP5

I2C position

Tutorial 4 > Step 4


• Physically attach the WF32 board underneath the motor shield using the connecting pins.

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Tutorial 4 > Step 5

Note: Be careful not to bend any of the connecting pins.

Motor Shield

WF32


• Attach the power plug from the Splitter to the motor shield J1.• Attach the ESC connector to 27 (Note Brown/Black pin towards GND)

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Tutorial 4 > Step 6

• Note: The following should be illuminated.• LED D37 (11V Indicator)• LED D36 (5V Indicator)


• DISCONNECT THE BATTERY BEFORE CONTINUING

10

Tutorial 4


• Connect the 3 cables between the ESC and the motor (the colours do not need to match).

11

ESC

Motor

Servo

Note: If the fan spins in the wrong direction, switch any two of the three cables

between the ESC and the motor.

Tutorial 4 > Step 7

To Motor

To ESC


• Connect the ESC to the motor shield P2 pin 27.

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ESC

Motor Shield

P2

Pin 27

Ground (GND)

Note: Ensure the ground wire (usually brown) is on the pin closest to the edge of the motor shield, labelled GND.

Tutorial 4 > Step 8

To Motor Shield


Motor

Servo

• Connect the servo to the motor shield P2 pin 26.

13

Note: Ensure the ground wire (usually brown) is on the pin closest to the edge of the motor shield, labelled GND.

To Motor Shield

Tutorial 4 > Step 9

P2

Pin 26

Ground (GND)

Motor Shield


• Connect the ESC to the splitter cable.

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ESC

To Splitter Cable

Splitter Cable

To ESC

Tutorial 4 > Step 10


• 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.

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Tutorial 4 > Pumps


Positive wire

Negative wire

• Connect the positive wire (motor) to the 11.1V terminal on P1 (motor shield) and connect the negative wire (motor) to Digital I/O Pin 28, 29, 30 or 31 on P3 (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.

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Motor

P3

P1

Motor ShieldPin 31Pin 30Pin 29Pin 28

GND+5V+11.1V

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Digital Compass

Breadboard

Tip: Use different coloured wires between the digital compass and the motor

shield to distinguish connections easily.

Red for Vin, Black for GND, Blue for SCL, Orange for SDA.

• 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.


• Connect “SDA” Orange Wire(digital compass) to “A4” on the motor shield.

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Digital Compass

Motor Shield

A4

P5SDA


• Connect “SCL” Blue Wire(digital compass) to “A5” on the motor shield.

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Digital Compass

Motor Shield

A5

P5SCL


• 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).

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Digital Compass

Note: This pin correlates to the GND pins in J3 of the WF32 board.

Motor Shield

GND

GND


• Connect “VIN” (digital compass) to the fifth pin on the single pin row of P3, on the motor shield (illustrated in the diagram below).

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Digital Compass

Note: This pin correlates to the 3V3 (3.3V) pin in J3 of the WF32 board.

Motor Shield

VIN

3V3


• Connect Pin 1 (GP-635T) to GND (motor shield).(This may not be the differently coloured wire.)

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Tutorial 4 > Step 17 (Section A: GP-635T)

Note: For the GND (motor shield), use either the sixth or seventh pins from top on the single pin column, on the motor shield (illustrated in the diagram below).

Motor Shield

GND

GP-635T

Pin 1


• Connect Pin 3 (GP-635T) to Digital I/O Pin RX1, fourth from top, on connector P3 (motor shield).

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GP-635T

Pin 3

Motor Shield

P3

Pin RX1


• Connect Pin 4 (GP-635T) to Digital I/O Pin TX1, third from top, on connector P3 (motor shield).

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GP-635T

Pin 4

Motor ShieldP3

Pin TX1


• Connect Pins 2, 5 and 6 (GP-635T) to a 3.3V source (motor shield).

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GP-635T

Pins 6, 5 and 2

Note: The 3.3V source on the motor shield is the fourth pin on the single pin column on the motor shield (illustrated in the diagram below).

Motor Shield

3V3


• ENSURE ALL CONNECTIONS ARE COMPLETE BEFORE CONTINUING

26

Tutorial 4


• Attach the motor shield, using the splitter cable, to the battery, to power up the board.

27

Splitter Cable

To Battery

To Splitter Cable

Battery

Note: The battery is always the last component to connect.



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

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SWAT Controller



• 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.

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Slider 1: ESC and Arm button


• Slider 2 controls the servo, the direction of the fan.

• Slider 2 will always begin at the middle, i.e. 90º.

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Slider 2: Servo


• 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.

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Slider 3

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Pump Controls

• If you connected a motor/pump, you will be able to test it using the buttons, switching them ON and OFF.

• The LEDS on D31 – D34, will also correspond to what motor/pump is operating.

• If an LED is placed on D35, this will correspond to any motor/pump operating.

Motor ShieldD31D32D33D34

D35


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

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SWAT Controller

Digital Compass feedback


• 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.

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View GPS Data


• Once testing is complete, disconnect the battery first from the splitter cable.

35

Note: The battery is always the first component to disconnect.

Splitter Cable

From Battery

From Splitter Cable

Battery


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BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project - WF32 Shield