Wiring
Connecting Optii Odometry to Control/Expansion Hub
Optii Odometry should be connected to an Encoder port on the REV Control or Expansion Hub.
It is recommended that the ports used for Optii Odometry are associated with the ports in which a robot's drive motors are plugged into
In doing so, you may have to remove the encoders of your drive motors. This should not be a problem if these were previously used to track the position of their robot as this is no longer needed once Optii Odometry is implemented.
Replacing the Cable
Some teams may want to replace the cable used to connect the encoder of Optii Odometry to the REV Control or Expansion Hub. The recommended method for this is outlined below.
Remove the M5 nuts on each shoulder bolt
Using a 3mm allen key and 8mm spanner, remove the M5 nut from each shoulder bolt. The wheel and encoder assembly should now slide off the shoulder bolts.
Loosen and remove the M4 carriage bolts
Using a 2.5 mm allen key, these should be loosened until the two sides of the odometry pod can be separated.
Take the wheel off of the hub
Remove the cable
Using a thin tool such as a small flathead screwdriver, gently push the connector of the cable to disconnect it. You can now replace the cable with a new one.
Add and tighten the M4 carriage bolts
Ensure that when doing so, the wheel is correctly positioned and the bearings are inserted properly.
Slide the carriage back on the shoulder bolts
After sliding the carriage back on, add the M5 nuts back on each shoulder bolt. Tighten these nuts until the bottom of the nut touches the shoulder of the bolt.
Ensure that the shoulder bolts sit flush within the mounting plate. If it is difficult to push the head of the bolt into the socket, use a 3mm allen key and rotate the bolt while pressing drown.
After reassembling Optii Odometry, ensure that the vertical motion of Optii Odometry behaves as outlined in Ensuring Smooth Vertical Travel
Cable Routing
It is recommended that the encoder cable of Optii Odometry is routed through the hole in the mounting plate. Other routing could cause the cable to become entangled.
Cable Strain Relief
When securing the encoder cable for cable management, ensure that enough length is left to allow full travel of Optii Odometry without straining this cable.
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