Tag: wiring

The Drive Unit (DU) is the key element that connects the onboard Raspberry Pi4 with all the actuators of the rover. The DU can be considered as both a hardware and software element. Speaking of hardware, the DU is composed of 4 motor drivers (L298N): each of which can control up to 2 outputs at either 5 V or 12 V DC. Motor speed can also per controlled, even if for this project, speed regulation was not used. In the Drive Unit, 1 motor driver is used to control the Remote Sensing Mast azimuth rotation (pan) actuator (stepper motor); and 3 motor drivers are used for the six rover's wheels (respectively connected as follows: LF-RF, LM-RM, LR-RR). All wires go from the interior of a small box to the exterior passing through a cable subdivision structure.

• [Hours of work: 5]
• [People involved: Giorgio]

Due to the high amount of cables that connect the motors with the motor drivers, the Raspberry Pi and the sensors, making custom wire connectors became a point of major concern. Without well-done cable management, working on the final phases of the assembly might result unreasonably difficult. Some cables have to go from the outside to the inside of the rover: to avoid dust and debris going into the WEB or interfering with the electrical connections, all cables have been shielded and custom connectors were attached, obtaining a delicate but well-functioning modular network of wire connections. The wiring process is planned to be a 2-week process.

• [Hours of work: 3]
• [People involved: Giorgio]