Pinouts and Hardware

IMU

The RamBOT primary functions are controlled through two core microcontrollers and an Internal Measurement Unit. (IMU)

Teensy 4.1

The Teensy 4.1 microcontroller is the RamBOTs core motion controller, communicating with the ODrives and motor encoders and utilizing the IMU for balance during operation.

Pinout Tables

Here is a full pinout of how our Teensy 4.1 communicates with the ODrives & IMU to control motion on the RamBOT:

Teensy	IMU	O-Drive (#)	Teensy UART	O-Drive PIN	LEDs
0		1	RX	2
1		1	TX	1
2					LED
3					LED
4					LED
5					LED
6					LED
7		2	RX	2
8		2	TX	1
9
10
11
12
13
14		3	TX	1
15		3	RX	2
16		4	RX	2
17		4	TX	1
18	SDA
19	SCL
20		5	TX	1
21		5	RX	2
22
23
24		6	RX	2
25		6	TX	1
3V-L	VCC
3V-R
5V
GND	GND			GND	GND

Here is a full pinout of how our Odrives and Odrive daughterboards communicate with the motor encoders:

Pin Number	ODrive Pin Name	Encoder Pin	Encoder 0/1
1	3v3	5	0 & 1
2	GND	GND	0 & 1
3	CAN H
4	CAN L
5	GND	GND	0 & 1
6	AVCC
7	AGND
8	SCK	4	0 & 1
9	MISO	2	0 & 1
10	MOSI	1	0 & 1
11	1
12	2
13	3
14	4
15	5
16	6
17	7	3	0
18	8	3	1
19	GND	GND	0 & 1
20	GND	GND	0 & 1

Communication Wires

For successful communication between all hardware components, there are specific wiring diagrams to follow when creating our custom cabling on the RamBOT. The primary cable structure is made up of shielded custom-made JST-XH cables.

Here is a hand-drawn guide to correctly wire the communication wires from the Teensy to the ODrives: