Add Drivetrain Wiring 101 page; move swerve diagram from Wiring Cheat Sheet

Electrical/Drivetrain Wiring 101.md

@@ -0,0 +1,153 @@
+# Drivetrain Wiring 101
+
+## Battery Cage Orientation
+
+Label the bottom of the battery cage with **North**, **East**, **South**, and **West** compass directions. This allows for consistent and easier labeling of wires in the future (e.g., NWD = North West Drive motor).
+
+## Mounting Electronics
+
+See [Component Mounting](Component%20Mounting.md) and [Bolt to Tool Lookup](../Mechanical/Bolt%20to%20Tool%20Lookup.md) for tools to use.
+
+| Device       | Bolt Size  | Bolt Length | Notes                                                                       |
+| ------------ | ---------- | ----------- | --------------------------------------------------------------------------- |
+| PDH          | 10-32 Bolt | 3/4"        |                                                                             |
+| RoboRIO 2.0  | 4-40 Bolt  | 1/4"        | RIO has a 3D printed cover that keeps all wires in place                    |
+| CANivore     | 4-40 Bolt  | 3/4"        | CANivore has a 3D printed cover that keeps the wire from unplugging. **THIS IS REQUIRED!!** |
+| Pigeon 2.0   | 4-40 Bolt  | 3/4"        |                                                                             |
+
+## Planning Wire Routes (String Method)
+
+Once electronics are mounted, use 3 different strings to plan wire routes **before** running any real wires. Route the string in this order:
+
+| String                  | Represents                        |
+| ----------------------- | --------------------------------- |
+| 🔴 Red thick string     | 10 or 12 AWG power wires          |
+| 🟠 Orange thin string   | 18 AWG power wires                |
+| ⬜ White thin string    | CAN wire                          |
+
+!!! important
+
+    Once all strings are laid, **get approval from a mentor** before proceeding to run real wires.
+
+![String method — wire routes planned with colored string](../.images/Electrical/DrivetrainWiring101/01-string-planning.png)
+
+## Wire Routing
+
+After mentor approval, run the real wires following the same order as the strings above (thickest wires first, then thinnest):
+
+1. 10 AWG power wires
+2. 18 AWG power wires
+3. CAN wires
+
+## Wire Labeling
+
+As you wire, label every wire with zip tie labels.
+
+!!! important
+
+    Color of zip tie labels is important. Be sure to follow the **year-specific color coded wire guide**. The label color may change year to year — always check before starting!
+
+!!! note
+
+    Use the label maker with **clear background labels** so the zip tie label color is still visible.
+
+### FROM/TO Labeling Convention
+
+Labels indicate which device the wire goes **FROM** and which device it goes **TO**.
+
+- **Both ends** of every wire must be labeled.
+- Format: `FROM DEVICE` on top, `TO DEVICE` on bottom (separated by a dividing line).
+
+**Example:** A wire going from the PDH to the North West Drive motor:
+
+- PDH end label: `PDH/NWD`
+- NWD end label: `NWD/PDH`
+
+![Real wires routed on the drivetrain with zip tie labels](../.images/Electrical/DrivetrainWiring101/02-real-wires.png)
+
+## PDH Breakers
+
+- **Top slots (10 or 12 AWG):** Use 40-amp breakers (🟠).
+- **Smaller fuse slots (18 AWG):** Use small 10-amp fuses (🔴).
+
+## Main Power Wires
+
+Main power wires connect the battery to the robot's power system using 4 AWG red (positive) and black (negative) wire.
+
+### Making the Battery-Side End
+
+1. Source 4 AWG red and black wire. Choose either positive (red) or negative (black) to start.
+2. Strip the wire to the **silver sharpie line** on the wire stripper.
+
+    ![Wire stripper](../.images/Electrical/DrivetrainWiring101/03-wire-stripper.png)
+
+3. Place a **swaged SB50 Battery contact** on the stripped end and crimp.
+
+#### Swaging the SB50 Battery Contact
+
+1. Take the swage guide and place it in with the **curve facing down**. Make sure it is as straight as possible.
+2. Once secured in the guide, take it to the **arbor press**.
+3. Press starting from **small tool to big**, then end by pressing with the **concave end**.
+
+![Swage press tools (small, medium, and concave)](../.images/Electrical/DrivetrainWiring101/04-swage-tools.png)
+
+![Battery Swage Tool in the arbor press](../.images/Electrical/DrivetrainWiring101/05-arbor-press.png)
+
+#### Crimping the Swaged Contact
+
+- Use the **hydraulic crimper** with the **2 AWG crimp attachments** (even though the wire is 4 AWG).
+
+    ![Hydraulic crimper with 2 AWG attachments on 4 AWG wire](../.images/Electrical/DrivetrainWiring101/06-hydraulic-crimper.png)
+
+- After crimping, fins will stick out the sides — **turn the crimp 90° and crimp again** to flatten the fins.
+
+    ![Crimped wire with fins — rotate 90° and crimp again to flatten](../.images/Electrical/DrivetrainWiring101/07-crimped-wire.png)
+
+- Once all sides are flat, insert the contact into the **red SB50 AndyMark Battery Housing**.
+
+    ![Flattened fins after second crimp](../.images/Electrical/DrivetrainWiring101/08-fins-flattening.png)
+
+  - Make sure the curved hook side of the swage hooks over the metal prongs inside the Battery Housing.
+
+    ![SB50 AndyMark Battery Housing with swaged contact inserted](../.images/Electrical/DrivetrainWiring101/09-battery-housing.png)
+
+4. Repeat for the other colored wire (red or black) and **get approval from a mentor**.
+
+### Cutting and Completing the PDH-Side End
+
+5. Once approved, have a mentor consult on the correct wire length to cut. (This can change year to year.)
+6. Cut the wire to the desired length.
+7. Slide a piece of **clear heat shrink** onto the end that does not already have the Battery Housing.
+8. Strip this end **twice** to the gray line on the wire stripper.
+9. Slide the heat shrink back to cover half of the exposed wire and heat shrink it.
+10. The wire is now ready to connect to the PDH.
+
+!!! note
+
+    For the red power wire, you will need to follow the [Main Breaker Wiring](#main-breaker-wiring) section below, since you essentially have two red wires.
+
+## Main Breaker Wiring
+
+The main power breaker has two ports for wire connection. **Only positive (red) 4 AWG wire** should be connected to both terminals. The breaker acts as an interruptor of the positive circuit:
+
+- **Closed (flipped shut):** power flows and the robot is on.
+- **Red button pressed / switch flipped open:** circuit is interrupted and the robot shuts off.
+
+### Steps
+
+1. Strip the end of 4 AWG red wire once to the **gray line** on the wire stripper.
+2. Slide a **4 AWG Breaker 1/4" Ring Terminal** onto the stripped end.
+3. Use the **hydraulic crimper** with the **4 AWG attachments**.
+4. Repeat this crimp for **two** 4 AWG red wire ends:
+   - One on the **opposite end of the red SB50 Battery Housing** wire.
+   - One on a **separate piece of 4 AWG red wire** that will go from the Main Breaker to the PDH.
+5. The wire with the SB50 Housing is now ready to connect to the Main Breaker. Don't forget the **NordLock Washers** that sit on top of the ring terminals when tightening!
+6. For the MB-PDH wire: once you know the wire length, cut it to length and complete the PDH-side end following steps 7–9 from [Main Power Wires](#main-power-wires) above.
+
+!!! important
+
+    Once all wires are laid and connected, **ask a mentor for final approval** before powering on the robot.
+
+## Swerve Diagram
+
+![Swerve Drivetrain Wiring Guide](../.images/Electrical/29x29DrivetrainWiringGuide.svg)

Electrical/Wiring Cheat Sheet.md

@@ -74,10 +74,6 @@
 | 18 AWG     | [20A 🟡 Breaker](https://www.revrobotics.com/auto-resetting-breakers/)                                                                                                                                                                                                                       |
 | 22 AWG     | 5A Breaker or [10A 🔴 Fuse](https://www.andymark.com/products/10-amp-mini-red-fuse?via=Z2lkOi8vYW5keW1hcmsvV29ya2FyZWE6Ok5hdmlnYXRpb246OlNlYXJjaFJlc3VsdHMvJTdCJTIyYnV0dG9uJTIyJTNBJTIyc2VhcmNoJTIyJTJDJTIycSUyMiUzQSUyMmZ1c2UlMjIlMkMlMjJ1dGY4JTIyJTNBJTIyJUUyJTlDJTkzJTIyJTdE) |
 
-## Swerve Diagram
-
-![Swerve Drivetrain Wiring Guide](../.images/Electrical/29x29DrivetrainWiringGuide.svg)
-
 ## Tips
 
 1. When putting multiple wires into one connector (e.g. Kraken CAN Wire) the size becomes Original AWG - 3 (e.g. two 18 AWG - 3 = 15 AWG)