www.printed-droid.

com
Warning: I tried to do my best with verifiying that my connections are correct. But please don’t
rely on this diagram to 100% and make sure that your connections are ok.

When it comes to troubleshooting remove everything and add one item at a time. Verify
everything. Add items until you run into trouble and then investigate the last added item!

The latest diagrams and files can always be found here:

http://www.printed-droid.com/files/

Holoprojector 2 Holoprojector 2
Holoprojector 2
Servo 1 RGB LED
Servo 2
HS2V HP2
HS2H
Rear

Rear PSI
5 Pin Cable
Arduino
Teeces
Pro Mini
HP
15
RLD 2
10 AWG Wires: 5 Teeces – Rear Logic Display
15
Dome
Rear Bottom Panel
50A Fuse to 50A Relais PSI
Servo 5
50A Relais to 12-16V Fuse Block
S5
12-16V Fuse Block to 12V Regulator
Rear
12V Regulator to 12V regulated Fuse Block Logic
Holoprojector 3
Holoprojector 3 Holoprojector 3
12-16V Fuse Block to Syren 10 RGB LED
HP3
Servo 1 Servo 2
HS3V HS3H
12-16V Fuse Block to Sabertooth 2x32A Top
HP
3
12 AWG Wires:
Syren 10 to Dome Motor
Sabertooth 2x32A to Feet Motors
Dome Dome
Top Panel S7 S10 Top Panel Dome
14 AWG Wires Servo 7 Servo 10 S4 Bottom Panel
Servo 4
12V Regulated Fuse Block to Slipring/Dome
12V Regulated Fuse Block to Amplifier

16 AWG S8 S9
S3
Wires to 5V Regulators 5 Pin Cable S6
Dome
Bottom Panel
Dome Servo 3
Bottom Panel Dome
All Other Cables are Standard Servo or Servo 6
Dome
Top Panel S2
Top Panel
Signal Wires ~AWG22 Servo 8 Servo 9 Dome
Bottom Panel
HP S1 Servo 2
There are wire connections like RLD to Front 1
PSI
Rear PSI which are drawn with 1 Wire but Front Dome
Logic Bottom Panel
it’s a 5 wire connection 1 Front
Logic Servo 1
2

R2-D2s Dome components

The Servos are:
FLD FLD
Front PSI
6x MG90 Holoprojector Servos Teeces – Front Logic Teeces – Front Logic
Teeces Holoprojector 1
Display Display Holoprojector 1 Holoprojector 1
15 15
4x MG90 Dome Top Panel Servos 15 RGB LED
HP1
Servo 1 Servo 2
HS1V HS1H
6x MG90 Dome Bottom Panel Front

2x MG90 CBI & DLP Door Servos

2x MG966 Utility Arm Servos
3x MG90 Interface Arm Servos
3x MG90 Gripper Arm Servos

Instead of MG90 (metal gear) you can use

SG90 (standard gear)

S6 S7 S8 S9 S10 S1 S2 S3 S4 S5

5 HP3

HP2
HS2V

Benduino Dome AIO HP1

HS2H
Replacing: Marcduino Master/Slave & Flthy Holoboard
HS3H Controlling: Dome Panel Servos, Holo Servos, Teeces, Flthy Holos

HS3V

HS1H

HS1V 3x Atmega328P 11 11 3 9

12V Regulator 5-6V Regulator

for Dome AIO for Servos

Slipring Interface PCB

3

Links to Firm- & Softwares:

Shadow MD:
https://astromech.net/droidwiki/SHADOW_MD
Slipring 24 Wires
https://astromech.net/forums/showthread.php?21984-SHADOW-Marcduino-Update-Thread 4

Marcduino:
https://www.curiousmarc.com/r2-d2/marcduino-system
https://astromech.net/forums/showthread.php?38382-Shady-RC-dEvolution-control
https://astromech.net/forums/showthread.php?38288-JoyMonkey-s-R2-Build-Log-Episode-2/page2
Slipring Interface PCB
3
Boombox with integrated
Teeces: Amplifier & Batteries
https://www.curiousmarc.com/r2-d2/teeces-dome-lights alternative

XBEE:
https://www.curiousmarc.com/r2-d2/marcduino-system/marcduino-boards/installing-the-wifi-radio 12 3 13 14
Board Power 11 11 9

CBI & DPL: MP3 Trigger Sound Amplifier Speaker

Servo Power Board
7
Sparkfun WIG-13720
Benduino: Astrocomms Ultra replacing:
Body Master, „Xbee+Shield“, USB Host &
Mega 2560 (running Shadow MD)
AWG 14 CBIS DPLS

IA IA IA IA UA UA GA GA GA GA
SD S2 S1 S1 S2 S1 S2 SD
SD SD

DPLS
IA IA GS1
GA GA
Data Port Logics – DPL Panel Servo
S1 S2 S1 S2
Utility Arm 1
16 AWG
CBIS

Charging Bay Indicator – CBI Panel Servo

16 AWG
GS2

CBI Utility Arm 2 DPL

Charging Bay Indicator
Data Port Logics
16 (with controller) 16 AWG

AWG 12
GND
17

5
Syren 10
7
(Address 129)
Dome Motor 8 S1 0V

7
10K Resistor
Needed only when dome
behaves erratically after
starting up)
6 8

Sabertooth 2x32A 16 AWG 12V to 5V Regulator

(Address 128) 20

The Relais are used to cut the power supply 5A

completely. 10 AWG
10A 10A
The Master Switch should close the Master Relay. AWG12 AWG12

This will automatically Close the Feet Motor relais ON/OFF

1A 10A
and the Motors will have power abvailable. Switch

Relay1 Relay2
12V regulated
Common Ground Charging
If you turn your Droid off with the Master Switch, all Fuse Block Circuit / PCB
Charging Plug

Relais should open and this allows to move the Droid 30A Relay Board
without generating electricity that goes back to the DPDT Switch
Relay1 Relay2 10 AWG
Sabertooth and could destroy it. 50A

If you want du move the Droid while still powered 21 Fused Switch Master
10 AWG
(50/100A) Switch
on, you have to use the Feet Motor Switch to cut off
the power to the relais to avoid killing your
23 12V Regulator
Sabertooth!!!
E150 E150
Foot Motor Foot Motor
150W 24V 150W 24V 12V Battery 12V Battery
5A
or 20A
unfused
~18AH ~18AH
8 8
10 AWG Lead Gel Lead Gel
25A
or
unfused
19 19
Battery Fuse Block
(only needed if you run a setup
over 12V otherwise run
everything with the fuse block
abvove)
22

Upper Panel

HP1 – HP3 are the Holoprojector LEDs. The are connected to the FlthyHoloprojector Board
1 3 Wire Connection from Marcduino Master to Slave (Ground - 5V - Signal) HP1 to Pin Digital 2
HP HP2 to Pin Digital3
HP3 to Pin Digital 4
This is a 3 wire connection, 5V, Signal, Ground PSI Holoprojector 1
2 1 Wire Connection from Arduino Mega Serial 3 (Tx Pin 14) to Marcduino
Body Master (Rx)

HS are the Holoprojector Servos. The Number is for which Holoprojector and V means
HS
3 Wire Connection (Signal - Ground - 5V) from Marcduino Output MP3/ Vertical movement and H is Horizontal Movement.
3 FLD
Teeces to MP3 Trigger Input 5V FTDI (RX - 5V/VCC - Ground) Lower Panel
Best way to connect them is via the Marcduino Slave:
3 Wire I2C Connection Marcduino SDA to FlthyHP D, Marcduino SCL to FlthyHP C HS1H to Pin 2
4 & Marcduino Ground to FlthyHP G HS1V to Pin 1
HS2H to Pin 4 Upper Utility
HS2V to Pin 3 Arm
3 Wire Connection (Signal - 5V - Ground) from Marcduino Slave MP3/Teeces to the HS3H to Pin 6 Lower Utility
5 Teeces Arduino (RX - 5V - Ground) HS3V to Pin 5 Arm

Alternative connect them to the I2C PWM Board: DPL Panel

Just a USB Host Shield sitting on the Mega 2560 with a Class 1 CSR 4.0 USB Bluetooth HS1H to PWM 0
6
Dongle inserted HS1V to PWM 1 DPL (behind panel)
HS2H to PWM 2 CBI Panel
2 Wire Signal Connection Arduino Serial2 (Tx2 Pin 16) to Syren10 S1 & Arduino GND to HS2V to PWM 3
7
Syren 0v HS3H to PWM 4 Interface Arm Door CBI (behind panel)
HS3V to PWM 5 behind is the Interface
2 Wire Signal Connection from: Arm which needs 2 servos Gripper Arm Door
8 Syren10 S1 (Mega Pin 16) to Sabertooth S1 This is a standard 3 wire Servo connection, 5V, Signal, Ground behind is the Gripper Arm
Syren10 0v (Arduino GND) to Sabertooth 0v
Serial Lines are chained from Syren! needs 2 servos
S1-S10 are the Dome Panel Servos
6 Wire I2C Connection from
S They are connected to the Dome Master Marcduino. Corresponding to the Pins on the
9 I2C Servo Breakout Pins (G OE C D Vcc V+) to PWM Board (GND OE SCL SDA Vcc V+) Marcduino.
only necessary if the Holoprojector servos are not connected to the Slave Marcduino For example S1 goes to Pin 1, S2 to Pin 2 and so on
This is a standard 3 wire Servo connection, 5V, Signal, Ground but please connect servo power
4 Wire Connection from Marcduino Interconnect to XBEE Shield (Ground 5V DOUT DIN) to a stable 6V source
10 You have to choose between XBEE Control or PS Move Navigator control. Currently it’s not
possible to run both at the same time!

UA are the Utility Arm Servos. UA1 is the upper Utility Arm, UA2 is the lower
11 1 Wire Connection from Arduino Mega Serial 1 (Tx Pin 18) to Marcduino Dome Master (Rx)
UtilityArm. They are connected to the Body Master Marcduino.
UAS
But be aware you have to modify the Marcduino Firmware for Body Servos!
CBIS is the CBI Door Servo. The Servo is connected to the Body Marcduino Pin 3 This is a standard 3 wire Servo connection, 5V, Signal, Ground but please connect
CBIS This is a standard 3 wire Servo connection, 5V, Signal, Ground but please connect servo power to a stable 6V source
servo power to a stable 6V source

DPLS is the DPL Door Servo. The Servo is connected to the Body Marcduino Pin 4
DPLS This is a standard 3 wire Servo connection, 5V, Signal, Ground but please connect IAS are the Gripper Arm Servos. IASD is the Gripper Arm Door Servo, IAS1 is the 1st
servo power to a stable 6V source Servo for the Gripper Arm and IAS2 is the second Gripper Arm Servo.
IAS They are connected to the Body Master Marcduino. Holoprojector 3

But be aware you have to modify the Marcduino Firmware for Body Servos!
Number refering to Electronics BOM and the PCB This is a standard 3 wire Servo connection, 5V, Signal, Ground but please connect
xxx Pictures below
servo power to a stable 6V source Holoprojector 2

GAS are the Gripper Arm Servos. GASD is the Gripper Arm Door Servo, GAS1 is the
PSI
1st Servo for the Gripper Arm and GAS2 is the second Gripper Arm Servo.
GAS They are connected to the Body Master Marcduino. RLD
Electronics BOM:
But be aware you have to modify the Marcduino Firmware for Body Servos!
This is a standard 3 wire Servo connection, 5V, Signal, Ground but please connect
https://docs.google.com/spreadsheets/d/ servo power to a stable 6V source
1EhwsvKlSnYgEmawRqciR4KCTsDLp68p6iLbMrdwMvOA/edit?usp=sharing

The connections with PCB pictures:

5-6V Power in
(Servo Power)

1-10 are the Dome Panel Servos

Dome Panel 1 to Pin 1 etc.

This is a standard 3 wire Servo

connection, 5V, Signal, Ground

1-on
2-off
5-6V Power in 3-off
(Servo Power)

1-6 are for the Holoprojector

Servos
Digital 2 is Front HP
Digital 3 is Rear HP This is a standard 3 wire Servo
Digital 4 is Top HP connection, 5V, Signal, Ground

Body Servos

7-12V Power in 5-6V Power in

System Power (Servo Power)
Holoprojector RGB LED
(at the back is a slipring)

7-12V Power in
System Power
SD Card with Sounds

Speakerconnector
(direct to Speaker with integrated
AMP or to AMP and then to
Speaker)
3 Wire Connection (Signal - 5V - Ground)
from Marcduino Slave MP3/Teeces to the
Teeces Arduino (RX - 5V - Ground)
5V and Ground only needed if you power
the Teeces via the Marcduino!

Alternate Powerinput if you only run 1

signalwire from the Astrocomms

Dome-Body Slipring Wiring

12V OUT Signal wires out 12V OUT

5V Power

You need:
12+
Ground
3 Signal wires
The Slip Ring wires are soldered to
X X Upper Front Logic Display (FLD) a female DB25 connector (which is With 24 wires available i use:
plugged into the male connectors 9 wires for 12V+
from the PCB) 9 wires for Ground
6 wires on S1-S6 (signal line)
Rear PSI IMPORTANT! The slip ring wires
Connector for Holos not needed when you use are very thin, so be careful with Those 6 S-wires are used for:
the Flthy Holosystem! them during soldering. S1 Astrocomms MP3 in to Dome AIO MP3
Stable 5V out S2 Astrocomms Dome TX to Dome AIO Master
S3 Astrocomms Flthy TX to Dome AIO Flthy

S4 to S6 for future use

Lower Front Logic Display (FLD)

+
-

12V IN Signal wires in 12V IN

X X

Front PSI
Connector for Holos not needed when you use
the Flthy Holosystem!

Syren 10 (to prevent self spinning dome insert a 10k Resistor

The CBI & DPL aren’t controlled by
the Arduino, Benduino or a CBI & DPL Wiring
Marcduino. They’re standalone.
between S1 and 0V)
Syren10 needs to be used in Packetized Serial Mode (Address 129)
Dip Switch 1&2 are off, Dip Switch 3-6 are on

12-24V in
DC Dome Motor This 3 Leds show
for Dome Motor the Voltage status

+ -

CBI
Dip Switch 1, 2 & 4 are off
Dip Switch 3, 5 & 6 are on

DPL

Sabertooth 2x32A (Daisychained from Syren 10)

Sabertooth needs to be used in Serial Mode
(Address 128)
Dip Switch 1&2 are off, Dip Switch 3-6 are on Dip Switch 1&2 are off
Dip Switch 3-6 are on

Foot Motor 12-24V in Foot Motor

1 for Foot 2
Motors

12/24V
depending Switch
on Relay
Version

Foot Foot Foot Foot

Motor 1 Motor 1 Motor 2 Motor 2
out out out out
unfused fused unfused fused

Those are almost all PCBs listet in the Diagram above

Relay Board
https://www.printed-droid.com/kb/20a-relay-board/

Benduino Pro Dome AIO Board

https://www.printed-droid.com/kb/benduino-dome-aio/

Astrocomms Ultra Shield

https://www.printed-droid.com/kb/astrocomms-mega-shield/

XBEE S6B (XB2B-WFST-001)

Board (WRL-11373)
with 6dB Antenna
http://printed-droid.com/knowledge-base/xbee-system/
Sparkfun MP3 Trigger Board
http://printed-droid.com/knowledge-base/sparkfun-mp3-trigger-
board/

5
6

Sabertooth 2x32A (Daisychained from Syren 10)

Syren 10 (to prevent self spinning dome insert a 10k Resistor Sabertooth needs to be used in Serial Mode (Address 128)
between S1 and 0V) Dip Switch 1 & 2 are off, Dip Switch 3-6 are on
Syren10 needs to be used in Packetized Serial Mode (Address 129) http://printed-droid.com/knowledge-base/sabertooth-2x32a/
Dip Switch 1, 2 & 4 are off, Dip Switch 3. 5 & 6 are on
http://printed-droid.com/knowledge-base/syren-10/

3 Wire Slip Ring 24 Wire Slip Ring

http://printed-droid.com/knowledge-base/slip-rings/
http://printed-droid.com/knowledge-base/slip- Holoprojector (7bit RGB Led, at the back with 3-
rings/ 6 wires slipring - 12.5mm diameter)
http://printed-droid.com/knowledge-base/flthyhps-
flthy-holo-projectors/

Fuse Block
http://printed-droid.com/knowledge-base/fuse-block/

Teeces (Slim) – RLD,Controller, PSI, FLD

https://www.printed-droid.com/kb/teeces-v4-dome-lighting-system/

Fused 24 Wire Slipring Adapter Board

https://www.printed-droid.com/kb/fused-24-wire-slipring-interface/

Fused Switch Fused Switch

D-CBI – Digital CBI CBI+ - Charge Bay Indicator

http://printed-droid.com/knowledge-base/charging-bay-indicators/ D-DPL – Digital Data Port Logics DPL VU – Data Port Logics VU
http://printed-droid.com/knowledge-base/data-port-logics/

LM2596 Voltage Regulator

http://printed-droid.com/knowledge-base/voltage-regulator/