Wiring¶
What connects what. Pin-level detail stays with the device that owns it: the joystick board's connectors and the left and right harnesses in its repository (harness pinouts, interface map, pyControl port pinout), the rig-level cabling of both rigs in the rig's repository (Hardware/rig-connections.md, which is private to the lab, with its WireViz cable drawing Hardware/cables.svg: every run between devices and the cable BOM). WireViz drawings of the two station harnesses are planned in the board repository.
| Cable | Board connector | Notes | Documents |
|---|---|---|---|
| Joystick harness (motor, encoder, limit switch) | J1102, J1103, J1601 |
Left and right variants; the left swaps one coil pair and A/B so the boards and firmware are identical. Label them. | harness-pinouts.md |
| Brake coil lead | J1801 |
interface-map.md | |
| Torque sensor lead | J2001 |
Five conductors, shielded: excitation, signal pair, ground, shield. | interface-map.md |
| pyControl link | J301 |
Straight Ethernet patch cable; pins 1, 2, 4 and 6 used. | pycontrol-port-pinout.md |
| Angle and torque BNC runs | J1101, J901 |
onebox-analog-interface.md | |
| 36 V motor supply | J501 |
power.md |
Label the two harnesses. The left joystick is the mirror of the right, so its motor and encoder cables carry two swaps; the boards and firmware are identical and a swapped harness shows up as a motor turning the wrong way or an encoder counting backwards.