Wiring Everything
All the PCBs, components, and motors are now securely mounted to the torso, so it's time to wire everything together!
Only one rule here : Don't mix up the connections, otherwise your robot will walk funny (or not walk at all) !
Wire the Motors
We'll first connect the motors to the Paw Boards.
Remember one thing : These motors are for the Hip-Roll joints, so you should plug them in the connectors with the HR label next to them !
The Front-Left motor
Connect the Front-Left motor to the first connector on the left of the Front Paw Board.
Make sure you are plugging it in the right way, with the black wire towards the center of the board.
The Back-Left motor
Connect the Back-Left motor to the first connector on the left of the Back Paw Board.
Make sure you are plugging it in the right way, with the black wire towards the center of the board.
The Back-Right motor
Connect the Back-Right motor to the first connector on the right of the Back Paw Board.
Make sure you are plugging it in the right way, with the black wire towards the center of the board.
The Front-Right motor
Connect the Front-Right motor to the first connector on the right of the Front Paw Board.
Make sure you are plugging it in the right way, with the black wire towards the center of the board.
Wire the Motor Driver
Now let's wire the Motor Driver to the Paw Boards.
For this step, you'll need :
| Connector type | Wire length | Quantity |
|---|---|---|
| JST-PH 3-Pin | 10cm | 4 |
The Front-Left wire
Connect one end of a JST-PH 3-Pin wire to the Front-Left connector of the Motor Driver (with the 1 
Connect the other end of the wire to the Left Motor Driver Connector of the Front Paw Board (with the 
The Back-Left wire
Connect one end of a JST-PH 3-Pin wire to the Back-Left connector of the Motor Driver (with the 2
Connect the other end of the wire to the Left Motor Driver Connector of the Back Paw Board (with the
The Back-Right wire
Connect one end of a JST-PH 3-Pin wire to the Back-Right connector of the Motor Driver (with the 3
Connect the other end of the wire to the Right Motor Driver Connector of the Back Paw Board (with the
The Front-Right wire
Connect one end of a JST-PH 3-Pin wire to the Front-Right connector of the Motor Driver (with the 4
Connect the other end of the wire to the Right Motor Driver Connector of the Front Paw Board (with the
Wire the Analog Reader
Moving on to the Analog Reader, we'll connect it to the Paw Boards as well.
For this step, you'll need :
| Connector type | Wire length | Quantity |
|---|---|---|
| JST-PH 4-Pin | 10cm | 4 |
The Front-Left wire
Connect one end of a JST-PH 4-Pin wire to the Front-Left connector of the Analog Reader (with the 1
Connect the other end of the wire to the Left Analog Reader Connector of the Front Paw Board (with the 
The Back-Left wire
Connect one end of a JST-PH 4-Pin wire to the Back-Left connector of the Analog Reader (with the 2
Connect the other end of the wire to the Left Analog Reader Connector of the Back Paw Board (with the
The Back-Right wire
Connect one end of a JST-PH 4-Pin wire to the Back-Right connector of the Analog Reader (with the 3
Connect the other end of the wire to the Right Analog Reader Connector of the Back Paw Board (with the
The Front-Right wire
Connect one end of a JST-PH 4-Pin wire to the Front-Right connector of the Analog Reader (with the 4
Connect the other end of the wire to the Right Analog Reader Connector of the Front Paw Board (with the
Additional wires
We'll now add a couple more wires to the torso : The wires towards the Head of the robot !
For this step, you'll need :
| Connector type | Wire length | Quantity |
|---|---|---|
| JST-PH 2-Pin | 10cm | 1 |
| JST-PH 5-Pin | 10cm | 1 |
| JST-PH 7-Pin | 10cm | 1 |
Motor Driver main connector
Use the JST-PH 5-Pin wire, and connect one end to the Motor Driver's 
Move the other side of the connector towards the front of the robot (where the Head will be).
Analog Reader main connector
Use the JST-PH 7-Pin wire, and connect one end to the Analog Reader's
Move the other side of the connector towards the front of the robot.
Verification
Nice ! Everything should be wired up correctly now.
Make sure all the wires are plugged in the right connectors, and that they are all secured in place !
Here's what the final result should look like at this stage :
We can now get started on the head, let's see how to do that !