DD Robocon 2026 - R1 Robot Electronics & Connections Documentation

CRITICAL ARCHITECTURE NOTE: DUAL CONTROLLER SYSTEM This robot operates on two completely separate control systems to divide the workload. Do not mix these connections.

• Controller 1 (System A): Handles Omnidrive and KFS Arm mechanisms.
• Controller 2 (System B): Handles the Staff Arm (Servos and Dynamixel).

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Hardware Components List

• Arduino Mega 2560
• 74HC126N Half-Duplex Buffer IC
• Cytron Dual Channel DC Motor Driver (x3)
• Dynamixel XM540 Smart Actuator
• 25kg Digital Servo (x2)
• DC Worm Geared Motor
• Standard DC Motor (with linear gear rack)
• Omnidrive DC Motor (x4)
• FlySky FS-i6X Transmitter (x2)
• FlySky i-BUS Receiver (x2)
• 6S LiPo Battery
• 3S LiPo Battery (Pro Range 2200)
• Buck Converter (DC-DC Step-Down)

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SYSTEM 1: Omnidrive & KFS Arm (Controller 1)

Receiver 1 Connection: * Signal (S) -> Arduino Pin 19 (RX1)

• VCC -> 5V Power Source
• GND -> Common Gnd

Cytron Driver_1: Front Motors Connection

• PWM 1 -> Pin 3
• DIR 1 -> Pin 2
• PWM 2 -> Pin 5
• DIR 2 -> Pin 4
• GND -> Gnd

Cytron Driver_2: Rear Motors Connection

• PWM 1 -> Pin 6
• DIR 1 -> Pin 7
• PWM 2 -> Pin 9
• DIR 2 -> Pin 8
• GND -> Gnd

(Power: V+ to 6S battery +, V- to 6S battery -)

Cytron Driver_3: KFS Arm Motors

• PWM 1 (Linear Motor) -> Pin 10
• DIR 1 (Linear Motor) -> Pin 11
• PWM 2 (Rotational Motor) -> Pin 12
• DIR 2 (Rotational Motor) -> Pin 13
• GND -> Gnd

(Power: V+ to 6S battery +, V- to 6S battery -)

Omnidrive Kinematics Matrix

Desired Movement	Front Left	Front Right	Back Left	Back Right
Forward	Forward	Forward	Forward	Forward
Backward	Reverse	Reverse	Reverse	Reverse
Strafe Right	Forward	Reverse	Reverse	Forward
Strafe Left	Reverse	Forward	Forward	Reverse
Turn Right	Forward	Reverse	Forward	Reverse
Diagonal Right-Up	Forward	Stop	Stop	Forward

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SYSTEM 2: Staff Arm (Controller 2)

Receiver 2 Connection:

• Signal (S) -> Arduino Pin 17 (RX2)
• VCC -> 5V Power Source
• GND -> Common Gnd

25kg Servos

Servo 1:

• Signal -> Arduino pin 10
• VCC -> Buck converter output (5V)
• GND -> Buck converter output (Common GND)

Servo 2:

• Signal -> Arduino pin 11
• VCC -> Buck converter output (5V)
• GND -> Buck converter output (Common GND)

Dynamixel Connections

• Pin1: GND -> Common Gnd
• Pin2: VDD -> 12V Power Source
• Pin3: Data -> Half-Duplex Buffer (Tx1/Rx1 + Pin 2)

Buck Converter:

• Input -> Battery