Crimping

Overview of how to crimp all wires we use on the robot

A crimp is very simply an end on a wire, which could be either a wire nut (which is a cap which twists on to a strand--or many--of wire) or electrical tape, or a standardized connector.

Its the standardized connectors which we use the most on the robot, and the combined task of crimping wires is probably the largest time sink when it comes to wiring the robot. Additionally, crimps are essentially added failure points (as will be discussed later) and making sure they are of the highest quality is critical to good wiring.

Molex

(image here)

Molex is a brand which makes the connectors we use for just about all wires gauge 18 and above (wire gauges). They are robust and secure, which makes them unlikely to break or come disconnected during competition, while also being easy to make and use.

For an excellent guide on how to crimp molex from our friends at Denbot: https://www.youtube.com/watch?v=khB2-0bkj9Q

Angelbotics molex standards: unlike in the video above, we use yellow arrow for CAN, and red arrow for power. This means that we always slot the yellow (or red, for power wires) wire into the side of the housing with the arrow. This is super important as otherwise the wires will be reversed and the robot will not be reversed. This is also a super common mistake to make, so its always super critical to double check when crimping.

For more on what CAN is and how we use it: CAN.

Anderson Powerpole

For wires with gauges 12-8 we use Anderson Powerpoles, which like molex provide a robust and secure connection. Since the only wires we use with these gauges are power wires, the housings are conveniently color coded and we don't have to worry about which side is which like we do with molex.

The Denbot guide for crimping Anderson Powerpoles: https://www.youtube.com/watch?v=WtDykcBQ_MY

One issue with Andersons (as we call them) is that they lack a locking mechanism and can thus be pulled apart (or more commonly slowly slide apart), which can occur during a match. To remedy this we use little latch pins which insert into the holes between conjoined housings on both sides of the connection.

Wago

Wago is a company that produces snapping wire connectors, and in addition to being a super satisfying fidget toy they are a staple of first robotics. However, they are not super robust and wires have a tendency to escape their clasp, especially those in moving parts. For this reason, we do not use them for most important wire runs, and their only real use pre-comp on the robot is for lighting. However, we never travel without them for one simple reason: they are extremely easy and quick. Molex and Andersons often require more time than is present between matches, and thus Wagos are used to patch broken runs or replace busted connections.

They are so simple they do not really need a guide: strip the wire, snap the clamp up, insert the wire, and snap the clamp back down.

Anderson Battery Connectors