Hardware
Table of contents
Wire harness
![Wiring schema](/cambridge-robomaster/imgs/instructions/raspi/wiring/wiring_schema_raspi.jpg)
In the configuration with the Jetson Orin, the 12V is directly fed to the D131 carrier, interruptible with a power switch.
![Wiring components overview](/cambridge-robomaster/imgs/instructions/raspi/wiring/components.jpeg)
Overview of the wires and components used in the UI assembly.
![Cable isolation removed](/cambridge-robomaster/imgs/instructions/raspi/wiring/plain_cables_cut.jpeg)
Remove the cable isolation on one end to prepare for crimping.
![Cable crimping](/cambridge-robomaster/imgs/instructions/raspi/wiring/plain_cables_crimped.jpeg)
Crimp the four cables according.
![Cable housing insertion black](/cambridge-robomaster/imgs/instructions/raspi/wiring/negative_housing.jpeg)
Insert the cables into the 2x2 housing. Start with the black cable at pin 1, indicated by the arrow. It is important to inser the cable with the correct orientation.
![Cable housing insertion remaining](/cambridge-robomaster/imgs/instructions/raspi/wiring/all_housing.jpeg)
Insert the remaining cables.
![Red cable crimping](/cambridge-robomaster/imgs/instructions/raspi/wiring/positive_cut.jpeg)
Isolate the end of the red cable and crimp the switch contact.
![Cable weaving](/cambridge-robomaster/imgs/instructions/raspi/wiring/all_weaved.jpeg)
Weave the black, yellow and green cable.
![Power supply cable](/cambridge-robomaster/imgs/instructions/raspi/wiring/dcdc_out_cables_housing.jpeg)
Take the two short black and red cables. Isolate and crimp both and insert them into the 2x1 housing.
![Positve cable](/cambridge-robomaster/imgs/instructions/raspi/wiring/positive.jpeg)
Take the short red cable and crimp one end to the power switch connector.
![DC/DC converter](/cambridge-robomaster/imgs/instructions/raspi/wiring/dcdc_plain.jpeg)
Take the DC/DC converter and connect the bridge on the right right, as well as the resistor, as indicated in the picture.
![Camponents arranged](/cambridge-robomaster/imgs/instructions/raspi/wiring/dcdc_cables_layouted.jpeg)
Arrange all components as indicated.
![DC/DC soldering](/cambridge-robomaster/imgs/instructions/raspi/wiring/dcdc_shrink_before.jpeg)
Cut all wires to the appropriate length and isolate the endings. Solder the 12V lines coming in from the RoboMaster to the left side of the DC/DC converter, and the 5V lines going out to the right side. Apply a large piece of heat shrink tubing to the converter.
![CAN signal housing](/cambridge-robomaster/imgs/instructions/raspi/wiring/can_signal_housing.jpeg)
Cut the yellow and green cable to a similar length, crimp the endings and insert them into the 2x1 housing.
![Wiring connected](/cambridge-robomaster/imgs/instructions/raspi/wiring/all_connected.jpeg)
This is what the harness looks like after soldering and connecting all wires.
![Heat shrink applied](/cambridge-robomaster/imgs/instructions/raspi/wiring/dcdc_shrink_after.jpeg)
Pull the heat shrink over the DC/DC converter and apply heat with a hot air gun.
Robot
Robot base common, UI
![Component overview](/cambridge-robomaster/imgs/instructions/common/base/standoffs.jpeg)
Overview of components needed.
![Turret unscrewed](/cambridge-robomaster/imgs/instructions/common/base/turret_unscrewed.jpeg)
Unscrew the four turret screws and set them aside.
![Turrte removed](/cambridge-robomaster/imgs/instructions/common/base/turret_removed.jpeg)
Remove the turret by disconnecting its two cables from the controller.
![Standoffs attached](/cambridge-robomaster/imgs/instructions/common/base/standoffs_attached.jpeg)
Screw in the four standoffs in place of the turret.
![Thread wires through](/cambridge-robomaster/imgs/instructions/common/base/wiring_threading.jpeg)
Take the assembled wire harness and thread through the 2x2 connector through the base to the controller.
![Connect wires](/cambridge-robomaster/imgs/instructions/common/base/wiring_close_up.jpeg)
Connect the wires to the controller. It is essential that the wire is plugged in correctly, with black and red facing towards the center of the robot. It is possible to plug in the wires four ways, and plugging them in wrong will break the computer.
![Connected wire](/cambridge-robomaster/imgs/instructions/common/base/wiring_connected.jpeg)
Overview of the base, with four standoffs and wire harness mounted.
![Cable](/cambridge-robomaster/imgs/instructions/common/ui/wiring_new.jpeg)
Find the cable supplied with the display unit.
![Cable cut](/cambridge-robomaster/imgs/instructions/common/ui/wiring_cut.jpeg)
Cut off one end of the connector and prepare the cut off end of the cable for crimping.
![Cable crimped](/cambridge-robomaster/imgs/instructions/common/ui/wiring_crimped.jpeg)
Crimp all four wires and find the crimp housing (1x 2, 2x 1).
![Cable in housing](/cambridge-robomaster/imgs/instructions/common/ui/wiring_crimped_housing.jpeg)
Connect the white and yellow cable to the 2x housing, and the black and red cable to the 1x housing.
![Parts overview](/cambridge-robomaster/imgs/instructions/common/ui/parts_overview.jpeg)
Overview of the parts used in the UI assembly.
![Wires overview](/cambridge-robomaster/imgs/instructions/common/ui/button_wires_cut.jpeg)
Overview of the wires used in the UI assembly.
![Switch in front plate](/cambridge-robomaster/imgs/instructions/common/ui/plate_switch.jpeg)
Align the front plate so that the rectangular hole is on the left, and the circular hole is on the bottom. Align the switch so that the off-position is on the bottom. Remove protective screen around the switch if necessary. Press the switch into the rectangular hole. Re-attach protective screen on top of the switch (optional).
![Button in front plate.](/cambridge-robomaster/imgs/instructions/common/ui/plate_button.jpeg)
Turn the front plate on its back. Remove protective screen around the switch if necessary. Unscrew the nut from the button if not already done, and insert it through the front. Then screw the nut back on.
![Insert display standoffs](/cambridge-robomaster/imgs/instructions/common/ui/plate_display_standoffs.jpeg)
Take two screws and two distance bolts. Remove protective screen around the screw holes if necessary. Mount the distance bolts as indicated with two screws.
![Mount display](/cambridge-robomaster/imgs/instructions/common/ui/plate_display.jpeg)
Attach the display cable to the display. Mount the display to the front plate on the standoffs.
![Solder wires to button](/cambridge-robomaster/imgs/instructions/common/ui/button_wires_soldered.jpeg)
Take the wires and remove isolation from one side for soldering. Solder two colored wires to the top pin of the button so that the shorter wire is facing the display, and the longer wire facing upwards. Solder the black wire to the bottom pin.
![Mound pullup and cut wire](/cambridge-robomaster/imgs/instructions/common/ui/button_pullup_aligned.jpeg)
Take the pullup and cut one end to about 0.5cm length. Solder it to the second pin of the display (counted from top, pin corresponding to the red wire on the display). Cut the shorter cable of the button facing the display so that there is some overlap with the resistor, remove isolation and apply solder it.
![Add heat shrink](/cambridge-robomaster/imgs/instructions/common/ui/button_shrink.jpeg)
Cut three pieces of heat shrink and put them on both wires of the button and the resistor. Cut the resistor to the appropriate length so that the cable can be soldered on it.
![Crimp button wires](/cambridge-robomaster/imgs/instructions/common/ui/button_wires_crimped.jpeg)
Apply heated air to all heat shrinks. Cut the wires of the button to a similar length and crimp the endings. Prepare a 2x housing.
![Insert into housing](/cambridge-robomaster/imgs/instructions/common/ui/button_wires_housing.jpeg)
Insert the button wires into the housing.
![Wire harness](/cambridge-robomaster/imgs/instructions/raspi/base/wire_harness.jpeg)
Start by laying out the wire harness. The two red wires should be together between the two topmost distance bolts. The power supplt and CAN connectors should both be between the opposite distance bolts. If the cables are too long, tuck them into the hole of the base unit as appropriate.
![Component overview](/cambridge-robomaster/imgs/instructions/raspi/base/components_overview.jpeg)
Overview of components used in the base assembly.
![Bolt mounting](/cambridge-robomaster/imgs/instructions/raspi/base/bolts_mounted.jpeg)
Mount the four 17mm and four 10mm bolts to the base plate, as indicated, using M3 screws to fixate them.
![Close up of bolt mounting](/cambridge-robomaster/imgs/instructions/raspi/base/bolts_mounted_closeup.jpeg)
The four shorter bolts serve mounting the Raspberry Pi, the four longer bolts serve mounting the UI unit.
![Raspberry Pi mounted](/cambridge-robomaster/imgs/instructions/raspi/base/raspi_mounted.jpeg)
Mount the Raspberry Pi on top of the four 10mm bolts using M3 screws. The holes of the Raspberry Pi might have to be drilled out to fit the M3 screws.
![Raspberry Pi mounted on base](/cambridge-robomaster/imgs/instructions/raspi/base/base_raspi_mounted.jpeg)
Use the four M4 screws originally used to mount the turret on the RoboMaster to fixate the base plate. Make sure the cables are aligned as indicated. Attach the CAN hat.
![Wiring schema](/cambridge-robomaster/imgs/instructions/raspi/wiring/wiring_schema_raspi.jpg)
To recall, this is the wiring schema for the Raspberry Pi.
![CAN hat wiring](/cambridge-robomaster/imgs/instructions/raspi/base/can_hat_wiring.jpeg)
Attach the power supply line and CAN line to the CAN hat as indicated.
![UI unit components](/cambridge-robomaster/imgs/instructions/raspi/base/ui_unit_overview.jpeg)
Overview of components used in the UI unit assembly.
![Long distance bolts](/cambridge-robomaster/imgs/instructions/raspi/base/base_raspi_bolts.jpeg)
Attach the four 35mm distance bolts to the distance bolts on the base.
![UI unit wiring](/cambridge-robomaster/imgs/instructions/raspi/base/can_hat_wiring_ui.jpeg)
Connect all UI unit wires as indicated.
![Switch wiring](/cambridge-robomaster/imgs/instructions/raspi/base/ui_switch_wiring.jpeg)
Tightly press the switch wires into the switch connectors. Make sure the connectors are flush with the switch.
![Finished assembly](/cambridge-robomaster/imgs/instructions/raspi/base/finished.jpeg)
The finished assembly should look like this.