Wiring

Sensor Connections

Xsens MTi-630

USB to computer

Velodyne VLP-16

Ethernet + 12V power

RealSense D435

USB 3.0 to computer

CAN Bus Wiring

120Ω                                              120Ω
 │                                                  │
─┼──────────┬──────────┬──────────┬─────────────────┼─ CAN_H
 │     ┌────┴────┐┌────┴────┐┌────┴────┐┌─────┴────┐│
 │     │ Master  ││ Steer   ││Throttle ││  Brake   ││
 │     │Waveshare││Waveshare││Waveshare││Waveshare ││
 │     └────┬────┘└────┬────┘└────┬────┘└────┬─────┘│
─┼──────────┴──────────┴──────────┴──────────┴──────┼─ CAN_L
 │                                                  │
GND                                                GND

Bus: 250 kbps, 120Ω termination at each end

Teensy to Waveshare

Teensy 4.1          Waveshare CAN
Pin 22 (CTX1) ────► CTX
Pin 23 (CRX1) ◄──── CRX
5V ────────────────► VCC
GND ───────────────► GND

Node Pin Assignments

Steering Node:

  • DIR=4, STEP=5

  • Right limit=20, Left limit=21

  • Feedback=A0

  • CAN: TX=22, RX=23

Throttle Node:

  • I2C: SDA=18, SCL=19 (to MCP4728)

  • CAN: TX=22, RX=23

Brake Node:

  • RPWM=12 (extend), LPWM=11 (retract)

  • Feedback=A0

  • CAN: TX=22, RX=23

Wire Colors

Red

+12V / +5V

Black

Ground

Yellow

CAN_H

Green

CAN_L