1. Throttle Arduino RC Receiver Stock Golf Cart Motor Controller Motor 1 PWM signal: Voltage: 0 – 5V Period = 22ms Positive Pulse Width: 1ms – 2ms Digital Level Shifting 1 PWM signal: Voltage: 0 – 3.3V Period = 22ms Positive Pulse Width: 1ms – 2ms 1 DAC Throttle Signal: Voltage: 0.55 – 2.75V Level Shifting Circuit: Components: Amplifier and two resistors Shifts Input Voltage: 0.55 – 2.75V To Output Voltage: 0 – 3.3V -5kΩ resistor used to imitate the 5kΩ throttle pedal variable resistor for correct current draw from stock golf cart controller. Prevents stock controller from thinking it has lost connection with throttle pedal. -Single relay selects signal going to golf-cart controller; pedal signal or generated signal. Relay is controlled by the main board; 3.3 V from the main board switches the generated signal to the golf cart controller. Analog Throttle Signal: Voltage: 0 – 3.3V 1 1 Power to Motor Voltage: Unknown Tachometer Voltage Voltage: 0 – 5V Frequency: “0” – 208Hz -Speed linearly related to frequency as shown in plot below 1 Throttle System High Level Overview

2. Throttle Arduino RC Receiver Actuator 1 PWM signal: Voltage: 0 – 5V Period = 22ms Positive Pulse Width: 1ms – 2ms Digital Level Shifting 1 PWM signal: Voltage: 0 – 3.3V Period = 22ms Positive Pulse Width: 1ms – 2ms 1 Brake Controller PWM Signal: Voltage: 0 – 3.3 V Period = 22ms Positive Pulse Width: 1ms – 2ms Brake Actuator Controller: Converts Input PWM: 1ms – 2ms Positive Pulse Width To Output Current: -10 A – 10 A @ 12 V Actuator Stop Condition: 1.5 ms Positive Pulse Width -Controller settings need to be as shown in the image below. -Information on the motor controller can be found here.here 2 Current to Actuator Voltage: 12 V Current: ±10 A Potentiometer Voltage Voltage: 0 – 3.3V -Actuator position linearly related to voltage. -Full retraction: 13 mV -Full extension: 383 mV 1 Braking System High Level Overview Digital Level Shifting 1 Brake Controller PWM Signal: Voltage: 0 – 5 V Period = 22ms Positive Pulse Width: 1ms – 2ms http://www.lynxmotion.com/p-563-sabertooth-2x12-rc-regenerative-dual-channel-motor-controller.aspx

3. Steering Arduino RC Receiver Power Steering Controller / Wicked Module 1 PWM signal: Voltage: 0 – 5V Period = 22ms Positive Pulse Width: 1ms – 2ms Digital Level Shifting 1 PWM signal: Voltage: 0 – 3.3V Period = 22ms Positive Pulse Width: 1ms – 2ms 2 DAC Differential Steering Signals: Voltage: 0.55 – 2.75V Level Shifting Circuit: Components: Amplifier and two resistors Shifts Input Voltage: 0.55 – 2.75V To Output Voltage: 0 – 5V -Single relay selects signal going to power steering controller; torque sensor or generated signals. Relay is controlled by the main board; 3.3 V from the main board switches the generated signal to the power steering controller. Analog Steering Differential Signal: Voltage: 0 – 5V 2 Potentiometer Voltage Voltage: 0 – 3.3V -Steering angle linearly related to voltage. -Full Left: 1.412 V -Full Right: 3.2 V 1 Steering System High Level Overview Main Arduino 1 Steering Reference Voltage for Level shifting: Voltage: 1 V