rewrite documentation after lfs disaster

docs/src/building-her.md

@@ -12,3 +12,82 @@ the bottom, output on the right):
 ![rear motor hookup](./images/rear-motor-hookup.jpg)
 
 ## Steering Motor
+
+The steering motor has six wires coming out of it -- two for power, four for
+the encoder control. Those hook up to the Pico as follows (indexed by color):
+
+| Color | Function | Connect To |
+| --- | --- | --- |
+| red | motor power | motor controller output |
+| black | motor power | motor controller output |
+| blue | encoder power | +3.3 V |
+| green | encoder ground | pico ground |
+| yellow | encoder signal | pico pin 2 |
+| white | encoder signal | pico pin 3 |
+
+## Motor Controllers
+
+Connections for the motor drivers will be referenced to... the following photo,
+as it's much easier to talk about colors than about pin numbers when you can't
+actually see the pin numbers written on the board.
+
+**Note:** the right side of the green terminal block connects to controller
+power (red positive, black ground), and the left side of the block is the
+output.
+
+![example motor controller](./images/example-motor-controller.jpg)
+
+### Steering Motor Controller
+
+| Color | Function | Connect To |
+| --- | --- | --- |
+| red | logic power | +5 V |
+| brown | logic ground | pico ground |
+| orange | enable | pico pin 4 |
+| yellow | ~enable | pico ground |
+| green | polarity | pico pin 5 |
+| blue | polarity | pico pin 6 |
+
+### Rear Motor Controller
+
+| Color | Function | Connect To |
+| --- | --- | --- |
+| red | logic power | +5 V |
+| brown | logic ground | pico ground |
+| orange | enable | pico pin 11 |
+| yellow | ~enable | pico ground |
+| green | polarity | pico pin 12 |
+| blue | polarity | pico pin 13 |
+
+## Rear Encoders
+
+The rear encoders each have four wires coming out of them, which connect as
+follows.
+
+### Right Rear Encoder
+
+| Color | Function | Connect To |
+| --- | --- | --- |
+| red | encoder power | +3.3 V |
+| black | encoder ground | pico ground |
+| green | encoder output | pico pin 7 |
+| white | encoder output | pico pin 8 |
+
+### Left Rear Encoder
+
+| Color | Function | Connect To |
+| --- | --- | --- |
+| red | encoder power | +3.3 V |
+| black | encoder ground | pico ground |
+| green | encoder output | pico pin 9 |
+| white | encoder output | pico pin 10 |
+
+## Single Wire Debug
+
+These connections are hard to describe, so just take a look at the following
+pictures. Note that the order of the wires is flipped between the two, and that
+the wires are plugged into the Pi on outside GPIO pins 9, 10, and 11.
+
+![pico debug wires](./images/pico-debug-wires.jpg)
+
+![pi debug wires](./images/pi-debug-wires.jpg)