Added WireViz wiring harness diagrams

electrical/wiring/README.md

@@ -5,6 +5,8 @@ The wiring is what connects each of the 10 motors to the motor board carrying po
 ![wiring diagram](images/wiring_diagram.png)
 Wiring diagram for one side of the rover. The other side is identical.
 
+Harness diagrams further below were generated with [WireViz](https://github.com/wireviz/WireViz/) and can be re-generated with the *generateHarness.bat/.sh* scripts.
+
 ## Overview
 
 We will be building several cables, all visualized in the above diagram. Make sure you have all wire types and connectors and understand the routing of the cabling as it will save you time down the line.
@@ -72,6 +74,8 @@ On the other side of the cable, you will attach 4 Dupont female crimps. You now
 
 Now we'll insert each crimped cable into the appropriate connectors. Start by writing the pinout on each of the connectors for easy troubleshooting using a sharpie: B, A, G, 5 for channel B, channel A, ground, and +5V respectively. Copy over the annotations from the images below to your connectors, paying close attention to the orientation of each connector.
 
+![Encoder Extension Harness Diagram](images/encoder_extension.jpg)
+
 | ![DuPont 4pin connector](images/4p-DuPont.jpg) | ![JST 4pin connector](images/4p-JST.jpg) |
 | ---------------------------------------------- | ------------------------------------------------- |
 | Dupont 4p connector. From top to bottom: VCC/5V (white) → GND (yellow) → enA (blue) → enB (green) | female 4p JST connector. From top to bottom: enB → enA → GND → VCC/5V |
@@ -88,6 +92,10 @@ This process is very similar to the steps we did in (1), except we'll use male D
 Grab the 2 pieces of **encoder wire** of 53cm and 2 pieces of 46cm and prepare the wire ends for crimping. Attach the crimps to each wire and repeat for each set of wires.
 As before, mark the connectors as in the images below, then insert the wires into the connectors. 
 
+![Front Encoder Harness Diagram](images/front_encoder.jpg)
+![Middle Encoder Harness Diagram](images/middle_encoder.jpg)
+![Back Encoder Harness Diagram](images/back_encoder.jpg)
+
 | ![Molex PCI-E connector top](images/pcie-top.jpg) | ![Molex PCI-E connector bottom](images/pcie-bottom.jpg) |
 | ------------------------------------------------- | ------------------------------------------------------- |
 | Top of PCI-E connector. 5V → enA → enB | bottom of PCI-E connector. M+/A → Mi/B → GND |
@@ -110,6 +118,9 @@ You now how all the wiring completed for the drive motors!
 
 ## Step (5) 4x: Dupont male 3pin ↔ DuPont female 3pin connectors
 
+![Front Servo Harness](images/front_servo.jpg)
+![Back Servo Harness](images/back_servo.jpg)
+
 All that's left are the servo ribbon cables. The red and black wires are (+) and (-) voltage to the motor and the white cable carries the PWM signal to command the on-board controller to command the motor to the desired angle, using the built-in absolute encoder. The PCB header pins for the servo motors are wired in the same order (PWM, (+), (-)) so we're essentially building an extension cord in this step. One one side you'll be using male DuPont crimps while on the other you'll use female DuPont crimps. The connectors for both sides are identical.
 
 You should now have 12 finished cable assemblies. Congratulations! Don't forget to make sure each connection is solid and tested before moving on.

electrical/wiring/back_encoder.yml

@@ -0,0 +1,37 @@
+connectors:
+  Molex-to-PCB:
+    <<: *molex
+  M+-to-Molex:
+    <<: *bullet
+    pinlabels: [M+]
+  M--to-Molex:
+    <<: *bullet
+    pinlabels: [M-]
+  Encoder-to-Molex: 
+    <<: *jst_xh4
+
+cables:
+  W1: 
+    <<: *motor
+    length: 41 cm
+
+  W2: 
+    <<: *enc
+    length: 46 cm
+
+connections:
+  - 
+    - Molex-to-PCB: [1]
+    - W1: [1]
+    - M+-to-Molex: [1]
+  - 
+    - Molex-to-PCB: [2]
+    - W1: [2] 
+    - M--to-Molex: [1]
+  -
+    - Molex-to-PCB: [4, 3, 5, 6]
+    - W2: [1-4]
+    - Encoder-to-Molex: [4, 3, 2, 1]
+
+metadata:
+  title: Back Encoder Cable (x2)

electrical/wiring/back_servo.yml

@@ -0,0 +1,19 @@
+connectors:
+  Dupont-to-Board:
+    <<: *femDP3
+  Dupont-to-Servo:
+    <<: *maleDP3
+
+cables:
+  W1: 
+    <<: *servo
+    length: 54 cm
+
+connections:
+  - 
+    - Dupont-to-Board: [1-3]
+    - W1: [1-3]
+    - Dupont-to-Servo: [1-3]
+
+metadata:
+  title: Back Servo Cable (x2)

electrical/wiring/encoder_extension.yml

@@ -0,0 +1,19 @@
+connectors:
+  DuPont:
+    <<: *maleDP4
+  Encoder-JST: 
+    <<: *jst_xh4
+
+cables:
+  W1: 
+    <<: *enc
+    length: 36 cm
+
+connections:
+  - 
+    - DuPont: [1-4]
+    - W1: [1-4]
+    - Encoder-JST: [4-1]
+
+metadata:
+  title: Corner Encoder Extension Cable (x4)

electrical/wiring/front_encoder.yml

@@ -0,0 +1,37 @@
+connectors:
+  Molex-to-PCB:
+    <<: *molex
+  M+-to-Molex:
+    <<: *bullet
+    pinlabels: [M+]
+  M--to-Molex:
+    <<: *bullet
+    pinlabels: [M-]
+  Encoder-to-Molex: 
+    <<: *jst_xh4
+
+cables:
+  W1: 
+    <<: *motor
+    length: 54 cm
+
+  W2: 
+    <<: *enc
+    length: 53 cm
+
+connections:
+  - 
+    - Molex-to-PCB: [1]
+    - W1: [1]
+    - M+-to-Molex: [1]
+  - 
+    - Molex-to-PCB: [2]
+    - W1: [2] 
+    - M--to-Molex: [1]
+  -
+    - Molex-to-PCB: [4, 3, 5, 6]
+    - W2: [1-4]
+    - Encoder-to-Molex: [4, 3, 2, 1]
+
+metadata:
+  title: Front Encoder Cable (x2)

electrical/wiring/front_servo.yml

@@ -0,0 +1,19 @@
+connectors:
+  Dupont-to-Board:
+    <<: *femDP3
+  Dupont-to-Servo:
+    <<: *maleDP3
+
+cables:
+  W1: 
+    <<: *servo
+    length: 41 cm
+
+connections:
+  - 
+    - Dupont-to-Board: [1-3]
+    - W1: [1-3]
+    - Dupont-to-Servo: [1-3]
+
+metadata:
+  title: Front Servo Cable (x2)

electrical/wiring/generateHarness.bat

@@ -0,0 +1,8 @@
+wireviz front_servo.yml --prepend-file templates.yml
+wireviz back_servo.yml --prepend-file templates.yml
+wireviz front_encoder.yml --prepend-file templates.yml
+wireviz middle_encoder.yml --prepend-file templates.yml
+wireviz back_encoder.yml --prepend-file templates.yml
+wireviz encoder_extension.yml --prepend-file templates.yml
+del *.svg, *.tsv, *.gv
+move *.jpg ./images

electrical/wiring/generateHarness.sh

@@ -0,0 +1,8 @@
+wireviz front_servo.yml --prepend-file templates.yml
+wireviz back_servo.yml --prepend-file templates.yml
+wireviz front_encoder.yml --prepend-file templates.yml
+wireviz middle_encoder.yml --prepend-file templates.yml
+wireviz back_encoder.yml --prepend-file templates.yml
+wireviz encoder_extension.yml --prepend-file templates.yml
+rm *.svg *.tsv *.gv
+mv *.jpg ./images

electrical/wiring/middle_encoder.yml

@@ -0,0 +1,37 @@
+connectors:
+  Molex-to-PCB:
+    <<: *molex
+  M+-to-Molex:
+    <<: *bullet
+    pinlabels: [M+]
+  M--to-Molex:
+    <<: *bullet
+    pinlabels: [M-]
+  Encoder-to-Molex: 
+    <<: *jst_xh4
+
+cables:
+  W1: 
+    <<: *motor
+    length: 3 cm
+
+  W2: 
+    <<: *enc
+    length: 44 cm
+
+connections:
+  - 
+    - Molex-to-PCB: [1]
+    - W1: [1]
+    - M+-to-Molex: [1]
+  - 
+    - Molex-to-PCB: [2]
+    - W1: [2] 
+    - M--to-Molex: [1]
+  -
+    - Molex-to-PCB: [4, 3, 5, 6]
+    - W2: [1-4]
+    - Encoder-to-Molex: [4, 3, 2, 1]
+
+metadata:
+  title: Middle Encoder Cable (x2)

electrical/wiring/templates.yml

@@ -0,0 +1,58 @@
+templates:
+  Molex-to-PCB: &molex
+    type: Molex Mini-Fit Jr.
+    subtype: female
+    pinlabels: [M+, M-, G, 5V, EnA, EnB]
+    show_pincount: true
+    image:
+      src: ./images/Molex-Mini-Fit-Jr-6-pin.png
+      caption: Molex Pinout
+      width: 165
+  Motor-to-Molex: &bullet
+    type: Bullet
+    show_pincount: false
+    #image: images/Bullet_Connector.jpg
+  Male-DuPont-4pin: &maleDP4
+    type: DuPont
+    subtype: male
+    pinlabels: [5V, GND, EnA, EnB]
+    show_pincount: true
+    image:
+      src: ./images/dupont.png
+      caption: Dupont Pinout
+      width: 500
+      height: 200
+  Female-DuPont-4pin: &femDP4
+    type: DuPont
+    subtype: female
+    pinlabels: [5V, GND, EnA, EnB]
+    show_pincount: true
+  Male-DuPont-3pin: &maleDP3
+    type: DuPont
+    subtype: male
+    pinlabels: [PWM, +, GND]
+    show_pincount: true
+  Female-DuPont-3pin: &femDP3
+    type: DuPont
+    subtype: female
+    pinlabels: [PWM, +, GND]
+    show_pincount: true
+  JST-XH: &jst_xh4
+    type: JST-XH
+    subtype: female
+    pinlabels: [EnB, EnA, GND, 5V]
+    image:
+      src: ./images/JST-XH.png
+      caption: JST-XH Pinout
+      width: 231
+      height: 202
+  Encoder: &enc
+    colors: [RD, BK, BU, WH]
+    gauge: 22 awg
+  Servo: &servo
+    colors: [WH, RD, BK]
+    gauge: 20 awg
+  Motor: &motor
+    colors: [RD, BK]
+    gauge: 18 awg 
+