The Dynamo BLDC Motor comes with a 2 pin harness with red and black wires for powering the device. Plug the connector into the receptacle on the back of the device (it's keyed, so it will only go one way). Connect the other end directly to one of the <30A breaker slots on the PDP, or use quick disconnects or other connectors to extend the wires to reach the PDP location on your robot.

The Dynamo BLDC Motor Controller requires two signal connections to the roboRIO:

• The connector with the blue wire should connect to a DIO connector on the roboRIO, with the blue wire corresponding to the (S)ignal pin (towards the inside of the roboRIO).
• The connector with the red wire should connect to a PWM connector on the roboRIO with the red wire corresponding to the (S)ignal pin (towards the inside of the roboRIO).

The connector that plugs into the Dynamo BLDC Motor Controller is keyed, so no need to worry about plugging it in backwards.

If you need to extend the signal connections of the Dynamo controller, regular PWM extension cables can be used (take care to note which color of the PWM cable connects to which color of the Dynamo cable).

To mitigate the issue of partially uncontrolled operation if the DIO connector were to become disconnected, a minor modification to the wiring harness can be made. By swapping the black and white wires (so the connectors are red/black and blue/white) a disconnection of the DIO connector will instead disable the device. This swap can be made with a small flathead screwdriver or other sharp object as detailed below.

To remove the wire from the connector:

1. Grasp the wire to remove firmly between your fingers and apply gentle pressure, pulling it away from the connector.
2. Using a small flat screwdriver or other sharp object, gently depress the latch through the window in the connector until the pin slides free.

Repeat these actions for the white wire from the other connector.

To insert the pin into the connector:

1. Ensure that the wires are not tangled.
2. Locate the latch on the pin and face it towards the window on the connector
3. Slide the pin fully into the connector until the latch engages.
4. Gently attempt to pull the wire back out to ensure it has seated properly.

If the wire does not remain in the connector in step 4:

1. Try inserting the wire again, making sure that it is seated fully into the connector
2. If that does not work, try using a small pair of pliers or jeweler's screwdriver to gently pry the latch slightly further away from the pin body, then re-insert

In C++ and Java, explicitly calling the stopMotor() method will physically disable the device by turning off the roboRIO PWM signal. The next time set() is called, the device will be re-enabled. Note that this is different than the behavior of the disable() method which requires an explicit enable() call before the device will be re-enabled.

To integrate this into your code, wherever you would call set(), you can replace it with a call similar to the following:

double value;
NidecBrushless motor = new NidecBrushless(0,0);


if(value == 0) {
  motor.disable(); 
} else { 
  motor.set(value);
}

If you want to instead disable when the value is close to zero (a deadband), simply change the comparison from value == 0 to Math.abs(value) < ### where ### is your desired deadband size (a number between 0 and 1)

In LabVIEW, the Motor Disable VI can be used to disable the device. The next time the Set Output VI is called, the device will be automatically re-enabled. The snippet below shows an example of how you might use this to disable the device when the commanded speed is 0. To instead use a deadband, replace the = VI with an Absolute Value and Less Than VI. The False case of the case structure contains a Motor Set Output VI that uses the passed in orange wire to set the motor speed.