1. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project - WF32 Shield V2.0 Only Tutorial 4, Final V2 Sep 2015

2. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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

3. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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.

4. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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

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 BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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 J1. 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 J1 Motor Shield Note:“J1” is written next to the terminal on the motor shield Tutorial 2 > 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 BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems.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 4 > Step 3

7. 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

8. 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

9. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the power plug from the Splitter to the motor shield J1. Attach the ESC connector to 27 (Note Brown/Black pin towards GND) 9 Tutorial 4 > Step 6 Note: The following should be illuminated. LED D37 (11V Indicator) LED D36 (5V Indicator)

10. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. DISCONNECT THE BATTERY BEFORE CONTINUING 10 Tutorial 4

11. 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). 11 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

12. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the motor shield P2 pin 27. 12 ESC Motor Shield P2 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

13. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Motor Servo Connect the servo to the motor shield P2 pin 26. 13 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 P2 Pin 26 Ground (GND) Motor Shield

14. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the splitter cable. 14 ESC To Splitter Cable Splitter Cable To ESC Tutorial 4 > Step 10

15. 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 12. 15 Tutorial 4 > Pumps

16. 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 P1 (motor shield) and connect the negative wire (motor) to Digital I/O Pin 28, 29, 30 or 31 on P3 (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. 16 Tutorial 4 > Step 11 Motor P3 P1 Motor Shield Pin 31 Pin 30 Pin 29 Pin 28 Pin 31 Pin 30 Pin 29 Pin 28 GND +5V +11.1V GND +5V +11.1V

17. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 17 Tutorial 4 > Step 12 Digital Compass Breadboard Tip:Use different coloured wires between the digital compass and the motor shield to distinguish connections easily. Red for Vin, Black for GND, Blue for SCL, Orange for SDA. 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.

18. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “SDA” Orange Wire(digital compass) to “A4” on the motor shield. 18 Tutorial 4 > Step 13 Digital Compass Motor Shield A4 P5 SDA

19. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “SCL” Blue Wire(digital compass) to “A5” on the motor shield. 19 Tutorial 4 > Step 14 Digital Compass Motor Shield A5 P5 SCL

20. 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). 20 Tutorial 4 > Step 15 Digital Compass Note:This pin correlates to the GND pins in J3 of the WF32 board. Motor Shield GND

21. 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). 21 Tutorial 4 > Step 16 Digital Compass Note:This pin correlates to the 3V3 (3.3V) pin in J3 of the WF32 board. Motor Shield VIN 3V3

22. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect Pin 1 (GP-635T) to GND (motor shield). (This may not be the differently coloured wire.) 22 Tutorial 4 > Step 17 (Section A: GP-635T) Note:For the GND (motor shield), use either the sixth or seventh pins from top on the single pin column, on the motor shield (illustrated in the diagram below). Motor Shield GND GP-635T Pin 1

23. 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 RX1, fourth from top, on connector P3 (motor shield). 23 Tutorial 4 > Step 18 (Section A: GP-635T) GP-635T Pin 3 Motor Shield P3 Pin RX1

24. 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 TX1, third from top, on connector P3 (motor shield). 24 Tutorial 4 > Step 19 (Section A: GP-635T) GP-635T Pin 4 Motor Shield P3 Pin TX1

25. 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). 25 Tutorial 4 > Step 20 (Section A: GP-635T) GP-635T Pins 6, 5 and 2 Note:The 3.3V source on the motor shield is the fourth pin on the single pin column on the motor shield (illustrated in the diagram below). Motor Shield 3V3

26. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. ENSURE ALL CONNECTIONS ARE COMPLETE BEFORE CONTINUING 26 Tutorial 4

27. 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. 27 Splitter Cable To Battery To Splitter Cable Battery Note:The battery is always the last component to connect. Tutorial 4 > Step 21

28. 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). 28 SWAT Controller Tutorial 4 > Step 22

29. 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. 29 Tutorial 4 > Step 23 Slider 1: ESC and Arm button

30. 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. 30 Tutorial 4 > Step 24 Slider 2: Servo

31. 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. 31 Tutorial 4 > Step 25 Slider 3

32. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 32 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 D31 – D34, will also correspond to what motor/pump is operating. If an LED is placed on D35, this will correspond to any motor/pump operating. Motor Shield D31 D32 D33 D34 D31 D32 D33 D34 D35

33. 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). 33 Tutorial 4 > Step 27 SWAT Controller Digital Compass feedback

34. 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. 34 Tutorial 4 > Step 28 View GPS Data

35. 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. 35 Note:The battery is always the first component to disconnect. Splitter Cable From Battery From Splitter Cable Battery Tutorial 4 > Step 29