Connections
The DC motor expansion controller connects to the PRIZM battery power expansion terminals using the included
Powerpole extension cable. The motor controller’s data port connects to the PRIZM expansion port using the included data
cable. Additional motor controllers can be daisy-chained for increased motor channel capacity. Up to four motor controllers
can be daisy-chained to a single i2C data bus.
The four expansion controllers can be a mix of DC and servo motor expansion controllers. The TETRIX Servo Motor
Expansion Controllers (44355) can be added to increase the number of servo motor channels for programming and control.
Each motor controller in the daisy chain must have a unique i2C address, or ID, in order to communicate. By default, the
DC motor expansion controller uses ID Number 1, and the servo expansion controller uses ID Number 2. The unique ID of
any additional controllers in the daisy chain can be set or changed by using software commands. ID numbers supported
by the PRIZM Arduino Library are 1, 2, 3, and 4. There are programming examples in the TETRIX PRIZM Arduino Library that
demonstrate how to read a motor controller ID and how to set and change the ID.
The operation of the motor controller is very similar to the PRIZM controller because they use comparable command
formats. The TETRIX PRIZM Arduino Library has been updated to support the DC motor expansion controller. The TETRIX
PRIZM Arduino Library contains several sketches in the examples folder that demonstrate how to program using the DC
motor expansion controller and PRIZM. A thorough understanding of how to program using PRIZM and completion of the
activities within the TETRIX PRIZM Robotics Controller Programming Guide are highly recommended to better understand
the programming application of the DC motor expansion controller. The appendix provides a detailed description of each
function used by the TETRIX PRIZM Arduino Library for interfacing with the DC motor expansion controller. Please be sure
to download and install the latest TETRIX PRIZM Arduino Library from the TETRIX website at Pitsco.com/TETRIX-PRIZM-
Robotics-Controller#downloads.
Important Safety Information
Caution: Use only a TETRIX battery pack that is equipped with an in-line safety fuse. Failure to do so could result in damage
or injury. Connect the TETRIX battery pack to either the top or bottom red/black power inlet row at the battery connection
port. Do not connect two battery packs to the PRIZM controller.
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