Insert the M2 brass heat set inserts into the 4 screw holes in the center of the encoder housing. These screw holes form a rectangle in the center of the housing.
Use a soldering iron to set the heat set inserts into the 4 screw holes of the encoder housing until the top of the inserts are flush with the housing material.
Cut 8 Dupont wires, four being ~20cm and the other four being ~27cm. Ensure that they still have a male connector at one end.
Strip 2mm of PVC off of each end of every wire.
Solder the exposed wire of each Dupont cable to the four pins on each encoder as shown in the image.
Pick any two combinations below to assign the address pins (A1 and A2) of each encoder. Make sure the encoders have different addresses.
Add 3/8" self wrap around the four wires for each encoder.
Line up the AS5048B Encoder with the screw holes in the encoder housing. Make sure that the encoder board is on the interior side of the encoder housing with the top of the board facing away from the housing (as seen in the picture below).
Fasten the encoder to the housing using 4 MC91294A004 screws and attach the housing to the OSL using two MC 91294A004 screws.
Plug the wires from each encoder into the Raspberry Pi pins shown.
The ankle encoder is farther from the Raspberry Pi than the knee encoder so its wires need to be longer.
For our encoders we chose Option 1 and Option 3 (shown in picture), but you can choose any 2 of the 4 options for the address pins.
