Wiring Overview
Correct wiring prevents brownouts and intermittent faults. This page summarizes Ironclad’s wiring practices for reliable robots.
1 Requirements
- Correct wire gauges & ferrules
- Label maker and heat‑shrink
- Torque screwdriver for terminals
2 Power Distribution
- Battery → Main Breaker → PDH/PDP → Branch Circuits
- RoboRIO on a 10–20 A breaker
- Radio on dedicated 12 V/2 A output (or approved regulator)
- Motor Controllers sized to expected current
3 Wire Gauge (Ironclad)
| Circuit | Gauge | Connector |
|---|---|---|
| Battery Breaker | 6 AWG | SB‑50 Anderson |
| Breaker PDH | 6 AWG | Ring |
| PDH Controllers | 10–12 AWG | Ferrules |
| CAN Daisy Chain | 22 AWG twisted pair | Soldered/ferruled |
Ironclad Standard
Label both ends of every run. Log PDH channels and CAN map in the pit binder.
4 Power‑On Checklist
Battery > 12.5 V
PDH LED solid green
RIO: Power, Comms, Code LEDs normal
Radio link active (Ethernet/Wi‑Fi)
CAN devices visible in tools
5 Reference
- REV/CTRE wiring guides (per device)
- WPILib device power recommendations
Troubleshooting
| Symptom | Likely Cause | Fix |
|---|---|---|
| Random RIO reboots | Loose power connector | Retorque screws; re‑terminate |
| Brownouts under load | Undersized wire/bad battery | Use proper gauge; test battery |
| No CAN devices | Broken chain/terminator | Inspect last‑good device; re‑terminate |