The most creative part of the build

The controller is what takes the output from SimFeedback on your pc, to signals to the AC Servo drives. It comprises an Arduino (that you’ll flash with our custom firmware) with specific wiring as described below.

In order to wire it you have 3 options for managing the connections (eg all the ground wires need to be connected)

  1. Breadboard – this has a grid pattern on it, and depending on which segment of the bread board either horizontally or vertically all the sockets are connected.
  2. Wago connectors – these allow you to join the wires without requiring any soldering, and is a more suitable for a permanent wiring solution
  3. Crimping/soldering – A little bit more skill and tools required, permanent and smallest option for wiring.

You also have two options for connecting the Arduino to your servo drives

  1. A DB-25 male socket that’s wired to the Arduino and placed in a housing/piece of wood, you then use a standard DB25 cable
  2. Hardwired a DB25 Connector to CAT6 cable or similar, that’s wired directly to the Arduino.

A number of builders started with the breadboard approach first then migrated to a smaller/permanent solution later.

Wiring diagram

Pay careful attention to motor order

This page will only cover the Arduino electronics for the Servo Driver. For Connecting the Servo Controller and Servo motors see the Servo manual.

Arduino Pins

Motor 1 Motor 2 Motor 3 Motor 4 DB25 PIN
STEP 8 9 10 11 3
DIR 4 5 6 7 4
ENA A0 A1 A2 A3 6
5V 5V 5V 5V 5V 9

Arduino Wiring

Motor Setup

Motor 1 = Front Right

Motor 2 = Rear Right

Motor 3 = Rear Left

Motor 4 = Front Left

*all from Riders view

Housing options

These will influence how you tackle your wiring

To house your Arduino, wiring and connectors you will need to find something suitable. The options fall in 3 camps:

  1. Piece of wood inside some other box of choice. Simple, cheap.
  2. Ditching the breadboard, and going to a soldering approach the community has a couple of options for you for a 3D printed enclosure to house DB25 connectors and Arduino. There are two on thingiverse with the Arduino exposed and one with it fully enclosed 
  3. Getting rid of the DB25 connectors and going for the smallest package you have this

Size comparison of option 2 and option 3