Systems and Wiring Diagram

Cable connections and colors

How to read this table: This table summarizes the left and right motor connections, and how they map to motor colors and code defines.

• Pin#: The pin number on the board for each of the 7-pin connectors (pin 1 is closest to the board edge)
• MKR Wifi Pin: Describes what pin on the MKR Wifi this connector pin is routed to by the mainboard PCB.
• Code define: The symbolic name given to this pin in the software.
• Connector: Which connector (L1, L2, R1, R2) the pin is part of. There is one 4-pin connector and one 3-pin connector for each motor.
• Wire color: We supply one 4-wire and one 3-wire prefabricated cable for each motor. This column refers to the color on that cable. The idea is that you solder the prefabricated cables to the motor wires.
• Motor wire color: The wire on the motor that you should solder the corresponding color wire on the pre-fabricated cables to.
• Motor connection: What connection this pin goes to finally in the motor, or motor driver, and what purpose it serves.

Mot1 (left motor - wires on right front)

Pin#   MKR Wifi Pin  Code define  Connector  Wire color  Motor wire color  Motor connection
1      VCC           N/A          L1         Red         Blue              Pololu L VCC
2      GND           N/A          L1         Black       Green	           Pololu L GND
3      A1/D16(I)     MOT1_ENCA    L1         White       Yellow            Pololu L ENCA
4      A2/D17(I)     MOT1_ENCB    L1         Blue        White             Pololu L ENCB
5      A0/D15        MOT1_EN      L2         White       - (to DRV8871)    DRV8871 L GND 
6      A3/D18~       MOT1_PWMA    L2         Black       - (to DRV8871)    DRV8871 L IN1
7      A4/D19~       MOT1_PWMB    L2         Red         - (to DRV8871)    DRV8871 L IN2

Mot2 (right motor - wires on left back)

Pin#   MKR Wifi Pin  Code define  Connector  Wire color  Motor wire color  Motor connection
1      VCC           N/A          R1         Red         Blue              Pololu R VCC
2      GND           N/A          R1         Black       Green	           Pololu R GND
3      D7~(I)        MOT2_ENCA    R1         White       Yellow            Pololu R ENCA
4      D6~(I)        MOT2_ENCB    R1         Blue        White             Pololu R ENCB
5      D20           MOT2_EN      R2         White       - (to DRV8871)    DRV8871 R GND
6      D2~           MOT2_PWMA    R2         Red         - (to DRV8871)    DRV8871 R IN1
7      D3~           MOT2_PWMB    R2         Black       - (to DRV8871)    DRV8871 R IN2

10-Pin Neck Connector

Neck conn pin   Goes to
Pin 1		STEMMA GND (Black) / Dynamixel GND (Black)
Pin 2		STEMMA V+ (Red)
Pin 3		STEMMA SDA (Blue)
Pin 4		STEMMA SCL (Yellow)
Pin 5		Dynamixel TTL 
Pin 6		Dynamixel VCC
Pin 7-10	Unused (Neopixel?)

Amplifier and Speakers

D-Ov2Evo uses a dual 15W amp based on the TPA3110D2 amplifier chip and CQRobot 5W 8Ohm speakers. Please connect as follows:

• Loudspeakers get connected to the two output pin pairs
• VCC/GND gets connected to the main power supply board using a XT30 cable
• On the 3-prong input connector (L/GND/R), the GND pin is not strictly needed since we already have GND through the supply board, but it helps reduce noise. If you want to connect it, it goes to pin 2 of the 5-pin amp connector as shown in the image.
• The L and R of the input connector go to either the top or bottom two pins of the speaker connector.