Ricbot hardware - Revision history

Jca: /* Cabling */

2026-07-30T05:12:45Z

Cabling

← Older revision		Revision as of 07:12, 30 July 2026
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	[[file: ric-hw-interface-ann.png \| 500px]]		[[file: ric-hw-interface-ann.png \| 500px]]

			The Regbot 6.3, power distribution and motor drivers are mounted on a common 3D print. This includes a fan.

	=== Interface board (Regbor 6.3) ===		=== Interface board (Regbor 6.3) ===

2026-07-30T05:08:25Z

Cabling

← Older revision		Revision as of 07:08, 30 July 2026
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	[[file: ric_cabling.png \| 500px]]		[[file: ric_cabling.png \| 500px]]

	DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042		* The battery can be replaced by a power supply using the XT60 input plug. 15 to 29V and 2-4A will do.
			* The power board includes 3 MOS switch transistors, two for the motors, and one for the remaining electronics. The board further holds temperature interface (for power board and motor driver).
			* Motor driver DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042
			* Regbot 6.3 is a version of the Regbot that can control the motors and take input from wheel encoders. It further controls the power board and interface the IMU (MPU9250).
			* The Raspberry Pi 1 controls the drive system through the USB interface to the Teensy 4.1. All data are made available on MQTT.
			* The gamepad is for driving the vehicle.
			* The GNSS is for recording the actual position (not RTK).
			* The Raspberry Pi 3 (aux) is (pt) used as a wifi hotspot.
			* The Net switch is used to connect the two Raspberry Pis and the sensor box on a cabled network.

	[[file: ric-hw-interface-ann.png \| 500px]]		[[file: ric-hw-interface-ann.png \| 500px]]

2026-07-29T05:08:23Z

2026-04-25T16:07:54Z

On-Off

← Older revision		Revision as of 18:07, 25 April 2026
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	Power off is via the Teensy and the other set of contacts of the on-switch. This set goes to IDC-pin 5 and 10. When this set is not connected, the Teensy will set the power management pin to low (power off). It then takes about 10 seconds to turn off.		Power off is via the Teensy and the other set of contacts of the on-switch. This set goes to IDC-pin 5 and 10. When this set is not connected, the Teensy will set the power management pin to low (power off). It then takes about 10 seconds to turn off.

			==== Encoder ====

			The encoder connection connects one type of plug (5 pins) from the encoder to another (4 pins) on the HW-interface board.

			==== Temperature sensors ====

			The on-board temperature sensor is not mounted.
			The others are of type MCP9700A, extended with a cable to the 3-pin plug.

	=== Teensy interface ===		=== Teensy interface ===

2026-04-25T16:03:18Z

Power distribution

← Older revision		Revision as of 18:03, 25 April 2026
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	3 (white) 8 LS_5 (A11) Temp power distribute (T1)		3 (white) 8 LS_5 (A11) Temp power distribute (T1)
	4 (yellow) 9 LS_6 (A9) Temp motor driver Left		4 (yellow) 9 LS_6 (A9) Temp motor driver Left

			==== On-Off ====

			Power on is the mechanical on switch; connect the pins to ON.

			Power off is via the Teensy and the other set of contacts of the on-switch. This set goes to IDC-pin 5 and 10. When this set is not connected, the Teensy will set the power management pin to low (power off). It then takes about 10 seconds to turn off.

	=== Teensy interface ===		=== Teensy interface ===

2026-04-25T15:56:54Z

Power distribution

← Older revision		Revision as of 17:56, 25 April 2026
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	[[file: ric-power-distribute-ann.png \| 500px]]		[[file: ric-power-distribute-ann.png \| 500px]]

			==== Power management ====
	Pin IDC10-pin Software Function		Pin IDC10-pin Software Function
	1 (black) 1 -- GND		1 (black) 1 -- GND
Line 72:		Line 73:
	3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)		3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)
	4 (yellow) 6 LS_4 (pin 26) Alive LED		4 (yellow) 6 LS_4 (pin 26) Alive LED

			==== Temperature ====

			Pin IDC10 Software Function
			1 black (nc) -- --
			2 (red) 7 LS_4 (A8) Temp on board (not mounted)
			3 (white) 8 LS_5 (A11) Temp power distribute (T1)
			4 (yellow) 9 LS_6 (A9) Temp motor driver Left

	=== Teensy interface ===		=== Teensy interface ===

2026-04-25T15:15:02Z

Cabling

← Older revision		Revision as of 17:15, 25 April 2026
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	DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042		DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042

			[[file: ric-hw-interface-ann.png \| 500px]]

			=== Interface board (Regbor 6.3) ===

	Regbot 6.3: [[Regbot hardware board]]		Regbot 6.3: [[Regbot hardware board]]

	[[~~RICBOT~~ Power on-~~off board]] PCB~~		[[file: ric-regbot-6.3-ann.png \| 500px]]

			* a) Power management split into 3 cables
			** 1) To j17: (b1, r1, h1, y1) on power distribution board
			** 2) To j11: (r2, h2, y2) on power management board (temp sensors)
			** 3) To on/off switch
			* b) Motor driver PWM and direction, 3 pins
			* c) Encoder (optical) 4 pins on original 6-pin motor connector.
			* d) IMU (I2C connection)
			* e) Serial (LED-band) Rx8, TX8 (not working with LED-band (not DMA?))

	==== DRI0042 to Regbot 4-pin PWM ====		==== DRI0042 to Regbot 4-pin PWM ====
Line 48:		Line 61:
	0 1 PWM Reverse at PWM speed		0 1 PWM Reverse at PWM speed

	==== Power ~~control =~~===		=== Power distribution ===

			[[RICBOT Power on-off board]] PCB

			[[file: ric-power-distribute-ann.png \| 500px]]

	Pin IDC10-pin Software Function		Pin IDC10-pin Software Function
Line 55:		Line 72:
	3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)		3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)
	4 (yellow) 6 LS_4 (pin 26) Alive LED		4 (yellow) 6 LS_4 (pin 26) Alive LED



	=== Teensy interface ===		=== Teensy interface ===

2026-04-20T10:26:15Z

2026-04-20T10:22:42Z

← Older revision		Revision as of 12:22, 20 April 2026
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	See more details here [[Regbot firmware]].		See more details here [[Regbot firmware]].

	~~=== Intel Librealsense ===~~

	~~Installing support for Intel librealsense.~~

	~~sudo apt install libssl-dev~~
	~~sudo apt-get install freeglut3-dev~~
	~~sudo apt-get install xorg-dev~~
	~~cd git~~
	~~git clone https://github.com/IntelRealSense/librealsense.git~~
	~~cd librealsense~~
	~~mkdir build~~
	~~cd build~~
	~~cmake ..~~

	~~I also needed to install libusb-1.0-0-dev~~
	~~sudo apt install libusb-1.0-0-dev~~
	~~This path was not included in the CMakeLists.txt, so I added this line at the beginning of the CMakeLists.txt:~~

	~~cd librealsense~~
	~~nano CMakeLists.txt~~
	~~add~~
	~~include_directories( /usr/include/libusb-1.0/ )~~
	~~like here:~~
	~~cmake_minimum_required(VERSION 3.10)~~

	~~set( LRS_TARGET realsense2 )~~
	~~project( ${LRS_TARGET} LANGUAGES CXX C )~~

	~~# Allow librealsense2 and all of the nested project to include the main repo folder~~
	~~set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})~~
	~~include_directories(${REPO_ROOT})~~
	~~'''include_directories( /usr/include/libusb-1.0/ )'''~~

	~~include(CMake/lrs_options.cmake)~~
	~~include(CMake/connectivity_check.cmake)~~
	~~...~~

	== ROS2 ==		== ROS2 ==

2026-04-20T10:16:11Z

@@ Line 1: / Line 1: @@
-== Ricbot hardware ==
 Tentative layout:
@@ Line 54: / Line 56: @@
 (yellow) 6              LS_4  (pin 26) Alive LED
 === Teensy interface ===