Wiring
Figure 1. Wiring overview of the Fenrir robot.
Note: Sensor and motor numbering follows a left-to-right convention:
- Ultrasounds 1 - left, Ultrasound 2 - center, Ultrasound 3 - right
- Line sensors: 1 - left, Line sensor 2 - right
- Motors: 1 - left, Motor 2 - right
- Encoders: 1 - left, Encoder 2 - right
| Module A | Pin | Module B | Pin | Type | Length | Note |
|---|---|---|---|---|---|---|
| Battery 1 | - | PD Module | - | USB-C - USB-C | 15cm | - |
| Battery 2 | - | Raspberry Pi | - | USB-C - USB-C | 15cm | - |
| Raspberry Pi | - | Camera | - | CSI Cable | 10cm | - |
| Raspberry Pi | 3v3 | GPS | VCC | wire (blue) | 10cm | 3V3 |
| Raspberry Pi | GND | GPS | GND | wire (black) | 10cm | GND |
| Raspberry Pi | Rx | GPS | TxD | wire (purple) | 10cm | UART |
| Raspberry Pi | 5V | I2C Board | 5V | wire (red) | 8cm | 5V |
| Raspberry Pi | GND | I2C Board | GND | wire (black) | 8cm | GND |
| Raspberry Pi | SCL | I2C Board | SCL | wire (yellow) | 8cm | SCL |
| Raspberry Pi | SDA | I2C Board | SDA | wire (green) | 8cm | SDA |
| Raspberry Pi | - | LIDAR | - | USB-A - microUSB | 10cm | - |
| I2C Board | 5V | LCD | VCC | wire (red) | 8cm | 5V |
| I2C Board | GND | LCD | GND | wire (black) | 8cm | GND |
| I2C Board | SCL | LCD | SCL | wire (yellow) | 8cm | SCL |
| I2C Board | SDA | LCD | SDA | wire (green) | 8cm | SDA |
| I2C Board | 5V | Arduino | VCC | wire (red) | 15cm | 5V |
| I2C Board | GND | Arduino | GND | wire (black) | 15cm | GND |
| I2C Board | SCL | Arduino | SCL | wire (yellow) | 15cm | SCL |
| I2C Board | SDA | Arduino | SDA | wire (green) | 15cm | SDA |
| Arduino | US1 | Ultrasound 1 | Vcc | wire (red) | 10cm | 5V |
| Arduino | US1 | Ultrasound 1 | GND | wire (black) | 10cm | GND |
| Arduino | US1 | Ultrasound 1 | Echo/Trig | wire (blue) | 10cm | signal |
| Arduino | US2 | Ultrasound 2 | Vcc | wire (red) | 10cm | 5V |
| Arduino | US2 | Ultrasound 2 | GND | wire (black) | 10cm | GND |
| Arduino | US2 | Ultrasound 2 | Echo/Trig | wire (blue) | 10cm | signal |
| Arduino | US3 | Ultrasound 3 | Vcc | wire (red) | 15cm | 5V |
| Arduino | US3 | Ultrasound 3 | GND | wire (black) | 15cm | GND |
| Arduino | US3 | Ultrasound 3 | Echo/Trig | wire (blue) | 15cm | signal |
| Arduino | Line1 | Line Sens. 1 | VCC | wire (red) | 15cm | 5V |
| Arduino | Line1 | Line Sens. 1 | GND | wire (black) | 15cm | GND |
| Arduino | Line1 | Line Sens. 1 | A0 | wire (blue) | 15cm | signal |
| Arduino | Line2 | Line Sens. 2 | VCC | wire (red) | 15cm | 5V |
| Arduino | Line2 | Line Sens. 2 | GND | wire (black) | 15cm | GND |
| Arduino | Line2 | Line Sens. 2 | A0 | wire (blue) | 15cm | signal |
| Arduino | 5V | Encoder 1 | - | wire (yellow) | 20cm | 5V |
| Arduino | GND | Encoder 1 | - | wire (brown) | 20cm | GND |
| Arduino | EN1A | Encoder 1 | - | wire (red) | 20cm | A |
| Arduino | EN1B | Encoder 1 | - | wire (orange) | 20cm | B |
| Arduino | 5V | Encoder 2 | - | wire (yellow) | 20cm | 5V |
| Arduino | GND | Encoder 2 | - | wire (brown) | 20cm | GND |
| Arduino | EN2A | Encoder 2 | - | wire (red) | 20cm | A |
| Arduino | EN2B | Encoder 2 | - | wire (orange) | 20cm | B |
| Arduino | GND | PD Module | OUT- | wire (black) | - | - |
| Arduino | M1A | H-Bridge | IN3 | wire (yellow) | 20cm | PWM A+ |
| Arduino | M1B | H-Bridge | IN4 | wire (green) | 20cm | PWM A- |
| Arduino | M2A | H-Bridge | IN1 | wire (yellow) | 20cm | PWM B+ |
| Arduino | M2B | H-Bridge | IN2 | wire (green) | 20cm | PWM B- |
| PD Module | + | H-Bridge | +12V | wire (orange) | 15cm | 12V |
| PD Module | - | H-Bridge | GND | wire (black) | 15cm | GND |
| H-Bridge | OUT1+ | Motor 1 | - | wire (green) | 20cm | + |
| H-Bridge | OUT1- | Motor 1 | - | wire (blue) | 20cm | - |
| H-Bridge | OUT2+ | Motor 2 | - | wire (green) | 20cm | + |
| H-Bridge | OUT2- | Motor 2 | - | wire (blue) | 20cm | - |