Communication Wires
===========================

Wiring Diagram
---------------

Here's a full configuration of how our teensy communication and encoder wiring is set up on the RamBOT.

.. figure:: comms-images/image1.png
    :alt: Communication Wires
    :align: center

    Communication Wires


Encoder Wiring
-----------------------

Currently to the encoders, we employ a 7-pin configuration with this order of pinout:

.. figure:: comms-images/image.png
    :alt: Communication Wires
    :align: center

    Encoder Wire Configuration

Teensy Communication
-----------------------

Teensy communicates with each individual O-Drive over UART pins, which is wired in this configuration

.. figure:: comms-images/image2.png
    :alt: Communication Wires
    :align: center

    Communication Wires