1. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project Tutorial 1, ESC and Servo Mar 2014

2. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 1, ESC and Servo describes how to correctly setup the ESC and servo to your unit, including how to establish a connection to the SWAT Controller. ESC: Electronic Speed Controller 2 Scope

3. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 1 > Set Up Insert the SD Card into your computer and open the SD Card Library. Open the folder “Tutorial 1, ESC and Servo” 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 1, ESC and Servo” folder.

4. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 1 > Step 1 Eject the SD Card from your computer and insert the SD Card into the WF32 board. 4 WF32 Board SD Card

5. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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 1 > Step 2

6. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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 1 > Step 3

7. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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. 7 Tutorial 1 > Step 4 Note:Be careful not to bend any of the connecting pins. Motor Shield WF32

8. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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. 8 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 1 > Step 5

9. 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). 9 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 1 > Step 6 To Motor To ESC

10. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the motor shield P4 pin 27. 10 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 1 > Step 7 To Motor Shield

11. 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 26. 11 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 1 > Step 8

12. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the splitter cable. 12 ESC To Splitter Cable Splitter Cable To ESC Tutorial 1 > Step 9

13. 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 10. If you would not like to connect any motors/pumps, please go to Step 11. 13 Tutorial 1 > Pumps

14. 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. 14 Tutorial 1 > Step 10 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

15. 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. 15 Splitter Cable To Battery To Splitter Cable Battery Note:The battery is always the last component to connect. Tutorial 1 > Step 11

16. 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). 16 SWAT Controller Tutorial 1 > Step 12

17. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once the “SWAT Controller” has established a connection, you will see a display similar to the image below. 17 Tutorial 1 > Step 13

18. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. The Input Displays from the Test and Diagnostics (apart from Fakesen2) are still presented here, but you won’t be able to reach the controls. 18 Tutorial 1 > Step 14 Input displays

19. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 19 Tutorial 1 > Step 15 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

20. 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. 20 Tutorial 1 > Step 16 Slider 1: ESC and Arm button

21. 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. 21 Tutorial 1 > Step 17 Slider 2: Servo

22. 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. 22 Tutorial 1 > Step 18 Slider 3

23. 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. 23 Note:The battery is always the first component to disconnect. Splitter Cable From Battery From Splitter Cable Battery Tutorial 1 > Step 19

24. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Next Modules Please continue to: Tutorial 2, Digital Compass.pptx (not compulsory) or Tutorial 3, GPS.pptx (not compulsory) 24