1. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project - WF32 Shield V2.0 Only Tutorial 1, ESC and Servo V2 Sep 2015

2. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 1, ESC and Servo describes how to correctly setup the ESC and servo to your unit, including how to establish a connection to the SWAT Controller. ESC: Electronic Speed Controller 2 Scope

3. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 1 > Set Up Insert the SD Card into your computer and open the SD Card Library. Open the folder “Tutorial 1, ESC and Servo” and run the file titled “setup”. 3 Note:Running the “setup” file updates the “SWAT_pin.cfg” and “SWATctrl.cfg” files in the SD Card Library, using the files from the “Tutorial 1, ESC and Servo” folder.

4. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 1 > Step 1 Eject the SD Card from your computer and insert the SD Card into the WF32 board. 4 WF32 Board SD Card

5. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the battery connector to the motor shield terminal J1. It is recommended to use a splitter cable to enable the battery to provide power to the shield and the ESC. 5 Splitter Cable To Motor Shield Terminal J1 Motor Shield Note:“J1” is written next to the terminal on the motor shield Tutorial 1 > Step 2

6. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. On the WF32 board, ensure that jumper J15 is in the external (EXT) position to receive power from the battery. 6 Note:The UART position on jumper J15 is used when the WF32 board is connected to your computer WF32 Board EXT UART J15 Tutorial 1 > Step 3

7. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Physically attach the WF32 board underneath the motor shield using the connecting pins. 7 Tutorial 1 > Step 4 Note:Be careful not to bend any of the connecting pins. Motor Shield WF32

8. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the power plug from the Splitter to the motor shield J1. Attach the ESC connector to 27 (Note Brown/Black pin towards GND) 8 Tutorial 1 > Step 5 Note: The following should be illuminated. LED D37 (11V Indicator) LED D36 (5V Indicator)

9. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. DISCONNECT THE BATTERY BEFORE CONTINUING 9 Tutorial 1

10. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the 3 cables between the ESC and the motor (the colours do not need to match). 10 ESC Motor Servo Note:If the fan spins in the wrong direction, switch any two of the three cables between the ESC and the motor. Tutorial 1 > Step 6 To Motor To ESC

11. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the motor shield P2 pin 27. 11 ESC Motor Shield P2 Pin 27 Ground (GND) Note:Ensure the ground wire (usually brown) is on the pin closest to the edge of the motor shield, labelled GND. Tutorial 1 > Step 7 To Motor Shield

12. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Motor Servo Connect the servo to the motor shield P2 pin 26. 12 Note:Ensure the ground wire (usually brown) is on the pin closest to the edge of the motor shield, labelled GND. To Motor Shield Tutorial 1 > Step 8 P2 Pin 26 Ground (GND) Motor Shield

13. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect the ESC to the splitter cable. 13 ESC To Splitter Cable Splitter Cable To ESC Tutorial 1 > Step 9

14. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Up to four motors/pumps can be run from the 11.1V source (motor shield). If you would like to connect motors/pumps, please go to Step 10. If you would not like to connect any motors/pumps, please go to Step 11. 14 Tutorial 1 > Pumps

15. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. P3 P1 Positive wire Negative wire Positive wire Negative wire Connect the positive wire (motor) to the 11.1V terminal on P1 (motor shield) and connect the negative wire (motor) to Digital I/O Pin 28, 29, 30 or 31 on P3 (motor shield). If you would like the motor to rotate in the opposite direction, switch the positive and negative wires. The mapping to Pins 28 – 31 is already included in the *.cfg files on the SD Card. 15 Tutorial 1 > Step 10 Motor Shield Pin 31 Pin 30 Pin 29 Pin 28 Pin 31 Pin 30 Pin 29 Pin 28 GND +5V +11.1V GND +5V +11.1V Motor

16. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. ENSURE ALL CONNECTIONS ARE COMPLETE BEFORE CONTINUING 16 Tutorial 1

17. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the motor shield, using the splitter cable, to the battery, to power up the board. 17 Splitter Cable To Battery To Splitter Cable Battery Note:The battery is always the last component to connect. Tutorial 1 > Step 11

18. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Turn on your Wi-Fi unit and connect your computer to this. Open the “SWAT Controller” on your computer (previously installed). 18 SWAT Controller Tutorial 1 > Step 12

19. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once the “SWAT Controller” has established a connection, you will see a display similar to the image below. 19 Tutorial 1 > Step 13

20. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. The Input Displays from the Test and Diagnostics (apart from Fakesen2) are still presented here, but you won’t be able to reach the controls. 20 Tutorial 1 > Step 14 Input displays

21. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 21 Tutorial 1 > Step 15 Pump Controls If you connected a motor/pump, you will be able to test it using the buttons, switching them ON and OFF. The LEDS on D31 – D34, will also correspond to what motor/pump is operating. If an LED is placed on D35, this will correspond to any motor/pump operating. Motor Shield D31 D32 D33 D34 D31 D32 D33 D34 D35

22. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Slider 1 controls the ESC. Slider 1 will always begin at 0 (at the bottom). Warning, please ensure the ESC is secured on your prototype and is clear from any foreign objects. This includes you! For the ESC to respond, you must first select the Arm button. 22 Tutorial 1 > Step 16 Slider 1: ESC and Arm button

23. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Slider 2 controls the servo, the direction of the fan. Slider 2 will always begin at the middle, i.e. 90º. 23 Tutorial 1 > Step 17 Slider 2: Servo

24. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Note that Slider 3 is not set in the default code. You may modify these yourself in the “SWAT_pin.cfg” and “SWATctrl.cfg” files on the SD Card. 24 Tutorial 1 > Step 18 Slider 3

25. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once testing is complete, disconnect the battery first from the splitter cable. 25 Note:The battery is always the first component to disconnect. Splitter Cable From Battery From Splitter Cable Battery Tutorial 1 > Step 19

26. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Next Modules Please continue to: Tutorial 2, Digital Compass.pptx (not compulsory) or Tutorial 3, GPS.pptx (not compulsory) 26