BAE Systems C2C SWAT Project - WF32 Shield V2.0 Only
Tutorial 4, Final V2
Sep 2015
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Scope
• 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.
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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.
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Tutorial 4 > Step 1
• Eject the SD Card from your
computer and insert the SD Card
into the WF32 board.
WF32 Board
SD Card
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Tutorial 2 > Step 2
• 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.
Note: “J1” is written next to the
terminal on the motor shield
To Motor Shield
Terminal J1
Splitter Cable
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Motor Shield
5
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
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6
Tutorial 4 > Step 4
• On the WF32 board, ensure that jumper JP4 and JP5 are in the I2C
position.
WF32 Board
I2C position
JP4
JP5
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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
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Tutorial 4 > Step 6
• Attach the power plug from the Splitter to the motor shield J1.
• Attach the ESC connector to 27 (Note Brown/Black pin towards GND)
• Note: The following
should be illuminated.
•
•
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LED D37 (11V Indicator)
LED D36 (5V Indicator)
9
Tutorial 4
• DISCONNECT THE BATTERY BEFORE CONTINUING
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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
To Motor
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Servo
11
Tutorial 4 > Step 8
• Connect the ESC to the motor shield P2 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
ESC
P2
Pin 27
Motor Shield
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Tutorial 4 > Step 9
• Connect the servo to the motor shield P2 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)
Motor
P2
Servo
To Motor
Shield
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Pin 26
Motor Shield
13
Tutorial 4 > Step 10
• Connect the ESC to the splitter cable.
ESC
To ESC
Splitter Cable
To Splitter
Cable
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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.
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15
Tutorial 4 > Step 11
• 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.
P3
P1
Motor Shield
Pin 31
Pin 30
Pin 29
Pin 28
GND
+5V
+11.1V
Positive wire
Negative wire
Motor
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Tutorial 4 > Step 12
• 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
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.
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Tutorial 4 > Step 13
• Connect “SDA” Orange Wire(digital compass) to “A4” on the motor shield.
Digital
Compass
Motor Shield
SDA
P5
A4
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Tutorial 4 > Step 14
• Connect “SCL” Blue Wire(digital compass) to “A5” on the motor shield.
Digital
Compass
Motor Shield
SCL
P5
A5
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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
GND
GND
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Motor Shield
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
VIN
3V3
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Motor Shield
21
Tutorial 4 > Step 17 (Section A: GP-635T)
• Connect Pin 1 (GP-635T) to GND (motor shield).
(This may not be the differently coloured wire.)
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
Pin 1
GND
GP-635T
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Tutorial 4 > Step 18 (Section A: GP-635T)
• Connect Pin 3 (GP-635T) to Digital I/O Pin RX1, fourth from top, on
connector P3 (motor shield).
Motor Shield
P3
Pin RX1
Pin 3
GP-635T
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Tutorial 4 > Step 19 (Section A: GP-635T)
• Connect Pin 4 (GP-635T) to Digital I/O Pin TX1, third from top, on
connector P3 (motor shield).
Motor Shield
P3
Pin TX1
Pin 4
GP-635T
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Tutorial 4 > Step 20 (Section A: GP-635T)
• 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 fourth pin on the single pin
column on the motor shield (illustrated in the diagram below).
Motor Shield
Pins 6, 5 and 2
3V3
GP-635T
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Tutorial 4
• ENSURE ALL CONNECTIONS ARE COMPLETE BEFORE
CONTINUING
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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
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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
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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.
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Slider 1: ESC
and Arm button
29
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
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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
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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 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.
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Pump
Controls
D31
D32
D33
D34
Motor Shield
D35
32
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).
SWAT
Controller
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Digital
Compass
feedback
33
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.
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View GPS Data
34
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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35