> For the complete documentation index, see [llms.txt](https://docs.optii.com.au/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.optii.com.au/odometry-v2/user-guide/wiring.md).

# Wiring

## Connecting Odometry V2 to Control/Expansion Hub

Odometry V2 should be connected to an Encoder port on the REV Control or Expansion Hub.

It is recommended that the ports used for Odometry V2 are associated with the ports in which a robot's drive motors are plugged into

<figure><img src="/files/I6Ae7iigIgMNQkUzKPMA" alt="" width="563"><figcaption><p>Control Hub Pinout (Diagram from Rev Robotics)</p></figcaption></figure>

{% hint style="success" %}
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 Odometry V2 is implemented.
{% endhint %}

## Replacing the Cable

Replacing the encoder cable of Odometry V2 is simple, simply pull the cable out from the port on the encoder and replace it with your choice of cable. Make sure you route your new cable back through the hole in the top plate.

## Cable Routing

It is recommended that the encoder cable of Odometry V2 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 Odometry V2 without straining this cable.


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