Ouroboros Wiring & Mount
Ouroboros Mounts
Ouroboros Wiring
MCU_PWR
Make sure the MCU_PWR switch is set to BUCK. This switch is meant to be set to BUCK during normal operation. The USB setting is for firmware flashing without power connected to VIN. You won't need this setting when following this documentation.
Motor Power & Encoder Wires
Refer to your motor's datasheet to find its wire colors for each coil. It will look similar to the image on the right.
| Black | Green | Red | Blue | |
|---|---|---|---|---|
| Pinout | A | B | C | D |
| Stepper | A1 / A | A2 / C | B1 / B | B2 / D |
| BLDC | U | V | W | - |
Wire Colors
There's no standard for motor wire colors, so your motor wire colors may differ. Make sure to refer to the pinout below to make sure your motors are wired correctly.
Encoders
Recommended encoder type is AB or ABZ optical encoder. Hall effect encoders are known to not work as well.
Expansion Connector
This connector is designed for adding more features to Ouroboros. It has some power pins, and many pins connectors connected to the STM32 MCU, including CAN bus, UART, and other GPIO pins. It's a standard 1.27mm pitch female header, which can be mated with a standard 1.27mm pin header on an expansion board, or with male jumper wires using the same size connector.
Currently there are no official expansion boards available.
| 12V | 12V | 12V | MISO | MOSI | SCK | PE3 | PB2 | PB1 | PB10 | PE9 | GND | GND | GND | PB0 | GND | 3.3V | 3.3V | 5V | 5V |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GND | GND | PA4 | PA5 | PA6 | PA7 | PE14 | PE15 | GND | PB6 | PB5 | GND | PE8 | PE7 | GND | PE1 | PE0 | GND | PB9 | PB8 |
^ Marker on the PCB