Drive-By-Wire

Version 5 of the Drive-by-Wire Printed Circuit Board holds five external modules.

1) Arduino Due - underneath the PCB

2} Arduino Motor Shield - on top

3) Real Time Clock - upper right

4) SD card - lower right

5) RC receiver - Lower right corner

A buck converter steps the 24V used for the brakes down to 12V, and passes the 12V (along with CAN HI, CAN LO and ground) to the Navigation computer.

The Drive By Wire PCB with buck converter.

There are three RJ-45 connectors on the right edge for steering, motor control, and operator input. The bottom edge has other connectors. J13 has power connectors: Ground (black), 0/12/24V output for brakes (green), 24V (purple), 12 V (orange), and a 0/12V output.

J12 contains CAN HI, CAN LO, Ground, Connection signal from docking couple, and emergency stop button.

J10 has the once per wheel revolution pulse, Ground, output to an LED, and steering on/off.

J11 has output to show the state color on an LED with Red, Green, Ground and Blue.

J9 is a serial line with 5V, Tx2, Rx2, CTS, RTS and ground.

The screw terminals on the motor shield provide Ground, 12V power, two lines for Motor A (steering} and two lines for Motor B (gate raise for decoupling). Signals sent to the motor shield will put 12V or ground on the two lines to make the motor move in one direction or the other. With ground on both lines the motor does not move.