BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project Tutorial 4, Final Mar 2014

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the battery connector to the motor shield terminal P6. 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 P6 Motor Shield Note:“P6” is written below the terminal on the motor shield Terminal P6 From Splitter Cable GND (negative) +11.1V (positive) From Splitter Cable GND (negative) +11.1V (positive) Tutorial 4 > Step 2

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. On the WF32 board, ensure that jumper J15 is in the external (EXT) position to receive power from the battery. 6 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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. On the WF32 board, ensure that jumper JP4 and JP5 are in the I2C position. 7 WF32 Board JP4 JP5 JP4 JP5 I2C position Tutorial 4 > Step 4

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Physically attach the WF32 board underneath the motor shield using the connecting pins. 8 Tutorial 4 > Step 5 Note:Be careful not to bend any of the connecting pins. Motor Shield WF32

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the power plug from the motor shield terminal P7 to the WF32 board J17. 9 Terminal P7 From WF32 Board GND (negative) +11.1V (positive) From WF32 Board GND (negative) +11.1V (positive) Motor Shield Note:“P7” and “J17” is written below the terminals on the motor shield and WF32 board. WF32 Board (top view) WF32 Board (top view) Power Connection To WF32 WF32 Board (side view) WF32 Board (side view) Tutorial 4 > Step 6

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the 3 cables between the ESC and the motor (the colours do not need to match). 10 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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the motor shield P4 pin ESC Motor Shield P4 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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Motor Servo Connect the servo to the motor shield P4 pin Motor Shield P4 Pin 26 Ground (GND) 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

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the splitter cable. 13 ESC To Splitter Cable Splitter Cable To ESC Tutorial 4 > Step 10

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 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 Tutorial 4 > Pumps

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Positive wire Negative wire Positive wire Negative wire Connect the positive wire (motor) to the 11.1V terminal on P8 (motor shield) and connect the negative wire (motor) to Digital I/O Pin 28, 29, 30 or 31 on P1 (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. 15 Tutorial 4 > Step 11 Motor Shield Pin 31 Pin 30 Pin 29 Pin 28 Pin 31 Pin 30 Pin 29 Pin 28 GND +11.1V +5V GND +11.1V +5V P8 P1 Motor

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 16 Tutorial 4 > Step 12 Digital Compass Breadboard Tip:Use different coloured wires between the digital compass and the motor shield to distinguish connections easily. 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.

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “SDA” (digital compass) to “A4” on the motor shield. 17 Tutorial 4 > Step 13 Digital Compass Note:The “A4” label on the motor shield cannot be seen, it is the forth from the left on P2 (motor shield). Motor Shield A4 P2 SDA

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “SCL” (digital compass) to “A5” on the motor shield. 18 Tutorial 4 > Step 14 Digital Compass Note:The “A5” label on the motor shield cannot be seen, it is the third from the left on P2 (motor shield). Motor Shield A5 P2 SCL

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 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). 19 Tutorial 4 > Step 15 Digital Compass Note:This pin correlates to the GND pins in J3 of the WF32 board. Motor Shield P3 GND

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “VIN” (digital compass) to the fifth pin on the single pin row of P3, on the motor shield (illustrated in the diagram below). 20 Tutorial 4 > Step 16 Digital Compass Note:This pin correlates to the 3V3 (3.3V) pin in J3 of the WF32 board. Motor Shield P3 VIN 3V3

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. To connect the GPS (GP-635T), connect Pin 1 (GP-635T) to GND (motor shield). 21 Tutorial 4 > Step 17 Note:For the GND (motor shield), use either the second or third pins on the single pin row of P3, on the motor shield (illustrated in the diagram below). Motor Shield P3 GND GP-635T Pin 1

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect Pin 3 (GP-635T) to Digital I/O Pin 39, second from top, on connector P1 (motor shield). 22 Tutorial 4 > Step 18 GP-635T Pin 3 Motor Shield P1 Pin 39

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect Pin 4 (GP-635T) to Digital I/O Pin 40, first from top, on connector P1 (motor shield). 23 Tutorial 4 > Step 19 GP-635T Pin 4 Motor Shield P1 Pin 40

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect Pins 2, 5 and 6 (GP-635T) to a 3.3V source (motor shield). 24 Tutorial 4 > Step 20 GP-635T Pins 6, 5 and 2 Note:The 3.3V source on the motor shield is the fifth pin on the single pin row of P3, on the motor shield (illustrated in the diagram below). Motor Shield P3 3V3

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the motor shield, using the splitter cable, to the battery, to power up the board. 25 Splitter Cable To Battery To Splitter Cable Battery Note:The battery is always the last component to connect. Tutorial 4 > Step 21

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Turn on your Wi-Fi unit and connect your computer to this. Open the “SWAT Controller” on your computer (previously installed). 26 SWAT Controller Tutorial 4 > Step 22

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 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. 27 Tutorial 4 > Step 23 Slider 1: ESC and Arm button

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Slider 2 controls the servo, the direction of the fan. Slider 2 will always begin at the middle, i.e. 90º. 28 Tutorial 4 > Step 24 Slider 2: Servo

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 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. 29 Tutorial 4 > Step 25 Slider 3

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 30 Tutorial 4 > Step 26 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 D14 – D17, will also correspond to what motor/pump is operating. If an LED is placed on D9, this will correspond to any motor/pump operating. Motor Shield D17 D16 D15 D14 D17 D16 D15 D14 D9

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once the “SWAT Controller” has established a connection to the WF32, feedback can be seen for the Digital Compass (Bearing, Pitch and Roll). 31 Tutorial 4 > Step 27 SWAT Controller Digital Compass feedback

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 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. 32 Tutorial 4 > Step 28 View GPS Data

BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once testing is complete, disconnect the battery first from the splitter cable. 33 Note:The battery is always the first component to disconnect. Splitter Cable From Battery From Splitter Cable Battery Tutorial 4 > Step 29