I have a (hopefully!) straightforward question regarding the two, 5-pin Headers on the Navigator Board, that can be used to provide the thruster PWM signals to thrusters 1-4 and 5-8 on a BlueROV2 heavy vehicle.
I’d like to explicitly confirm which pins map to which thrusters - i’m not sure if I missed this pin out information somewhere else in the documentation. I am assuming is it as shown in the annotated image below, with a shared GRND pin for all 4 PWM signals. Is this correct, or is the pin out different than what I’ve shown below?
On a slightly related note, is there a link to a source were the connectors, and pins for these connectors can be purchased from (and perhaps a recommended crimping tool?).
The Navigator connector pinouts are specified in the Technical Details on the product page. Pins 1-4 of each of the PWM connectors are the PWM outputs, with pin 5 providing a connection to the common ground reference (as you’ve indicated).
On a BlueROV2 the standard configuration is to use PWM01 to 06 for thrusters 1-6, and the heavy configuration also makes use of PWM07 and 08 for thrusters 7 and 8, but if necessary alternative pins can be used, or the motor assignments can be swapped around in the firmware parameters (e.g. by configuring SERVO1_FUNCTION to Motor5 instead of Motor1), although software reassignment can lead to confusion in later debugging so is generally not recommended if it’s avoidable.
Our connector standard provides Digikey links, and a product code for the recommended crimping tool. Note that the relevant connector, plug, and crimp pin types are specified in the technical details table for each connector (in the Navigator product page).
