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Electronics: Setting up T 200 Thrusters
T-200 Thrusters are manufactured by Blue Robotics and designed specifically for underwater robotics. They are good for large vehicles and human-carrying craft; needless to say, they are immensely powerful. To read more about the thrusters, visit - https://www.bluerobotics.com/store/thrusters/t200-thruster/
Step-by-Step Instructions to Wire and Test a T-200
###1. Solder bullet-plug connectors
The T-200 has three wires that connect to the ESC (electronic speed control) via bullet plug connectors provided with the ESC. Solder one male bullet plug connector onto each the motor's wires (blue, white, green). Youtube has a number of tutorials on soldering bullet plugs, such as this one - https://www.youtube.com/watch?v=ioOdFo2qS_w
###2. Connect T-200 to ESC
The ESC used by ORCAS as of the last update of this wiki page is the 30A AfroESC, as bought off of the Blue Robotics website, seen here - https://www.bluerobotics.com/store/thrusters/besc-30-r1/
To connect the ESC, plug the wires with male bullet plug connectors on the thruster to the wires with female bullet plug connectors on the ESC. The colors don't matter. For more information, read the Installation section of the documentation here - http://docs.bluerobotics.com/thrusters/t200/
###3. Connect ESC to Battery
A good battery to test the thruster is a 12.6 V LiPo battery used by many of the lab's drones [INSERT PICTURE]. To connect to this battery, plug the male bullet plugs into the holes in the battery connector, making sure to plug in ground first. WARNING: DO NOT PLUG IN POWER UNTIL THE T-200 IS MOUNTED ON A TEST RIG AND SUBMERSED IN WATER! The T-200 is lubricated directly by water, and running it in the air can damage it.
###4. Connect ESC to Arduino
Using three connectors, plug the red wire of the ESC into the Vin of the arduino, plug the brown wire into ground, and plug the yellow signal wire into digital pin 9.
###5. Download sample code to Arduino
Go to this link - http://docs.bluerobotics.com/besc/#example-code and download the code to the arduino.
This page last edited by Connor Novak, 17.02.17