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ros-mobile-robots / remo_description

ROS URDF description package of REMO robot (Research Education Mobile/Modular robot)
https://ros-mobile-robots.com/packages/remo_description/
BSD 3-Clause "New" or "Revised" License
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Motor wiring #4

Open Kindlabs opened 7 months ago

Kindlabs commented 7 months ago

sparkfun’s hobby motor’s wire color is backwards from what you show in wiring diagram. This took me way too long to figure out but hopefully I can help others. Theirs has blue on top and brown on bottom

fjp commented 3 months ago

Hi @Kindlabs thanks for the hint. Can you please point me to their wiring diagram and the one in the ros-mobile-robots documentation that has an issue? The one I found on their website is this:

image

This seems to show the same (correct) wiring as the one in Remo diagrams:

image https://ros-mobile-robots.com/hardware_setup/electronics/

and the one shown here:

image

I agree the following text is a bit misleading:

The pins on the product are as follows, when looking at the connector on the housing, motor down/connector up, from right to left. The colors correspond to the included cable when plugged in to the connection slot.

G (Blue): hall power negative H1 (Green): hall H1 output signal, square wave H2 (Yellow): hall H2 output signal, square wave V (Orange): hall power positive M+ (Red): motor positive pole M- (Brown): motor negative pole

Would be great if you could clarify the confusing part, so that we can update it in the documentation. Feel free to open a PR yourself as well.

fjp commented 3 months ago

Would it help if the text was changed to:

The pins on the product are as follows, when looking at the connector on the housing, motor right/connector left, from top to bottom. The colors correspond to the included cable when plugged in to the connection slot.

M- (Brown): motor negative pole M+ (Red): motor positive pole V (Orange): hall power positive H2 (Yellow): hall H2 output signal, square wave H1 (Green): hall H1 output signal, square wave G (Blue): hall power negative

Or is there some image that needs to be fixed? I think with the original connector, which can only be plugged in one direction, the colors should match to what is shown in the wiring diagram:

image https://ros-mobile-robots.com/hardware_setup/electronics/

Routing the Brown and Red cables of the plugged in connector cable to the motor driver and the rest of it (Orange, Yellow, Green, Blue pins) to the micro controller (teensy) for reading the encoder values has worked so far for me.