First fare 2010 lab-view sensors for frc robots


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First fare 2010 lab-view sensors for frc robots

  1. 1. FIRSTFare 2010Sensors for FRC Robots<br />Dennis C. Erickson ~ Senior Mentor for Teams 1510 and 2898<br />Daniel Bramblett ~ Team 1510<br />Amy Wiegand ~ Team 2915<br />1<br />
  2. 2. Introduction<br />A Wide Variety of Sensors can be Used to enhance the operation of the Robot<br />Primarily used in the Offensive Mode but are also used in Defensive Operations as an Environment Monitor (e.g., Something’s Coming)<br />2<br />
  3. 3. The FRC Topology<br />3<br />
  4. 4. Sensors<br />Input devices used to aid in driving the robot and to make autonomous decisions<br />4<br />
  5. 5. Common Sensors<br /><ul><li>Photoelectric Sensor
  6. 6. Shaft Encoder Sensor
  7. 7. Yaw Rate Gyro Sensor
  8. 8. 3-Axis Accelerometer Sensor
  9. 9. Ultrasonic Detector Sensor
  10. 10. Gear Tooth Sensor
  11. 11. Misc Pneumatic Sensors</li></ul>Also joysticks and video cameras could be considered sensors<br />5<br />
  12. 12. Ultrasonic Sensor<br />Use to determine distance to friend or foe. Good from about 8 inches to 20 feet<br />Suggest using a software filter to smooth the data<br />6<br />Operates at 42kHz with readings every 50ms<br />
  13. 13. Ultrasonic Sensor<br />7<br />The Block Diagram and the Front Panel Used in the Main Robot Application<br />
  14. 14. Gyroscope Sensor<br />Yaw Rate Gyro<br />Senses angular changes about the top surface axis of the<br />device and provides an output voltage proportional to the instantaneous angular rate change. The output is useful for guidance, stability, rate of closure and control of the robot platform. Inertial guidance<br />Especially useful in designing “smart” Autonomous software <br />8<br />Best to mount flat near the robot’s center of rotation<br />
  15. 15. Gyroscope Sensor<br />9<br />Front Panel and Diagram<br />
  16. 16. Accelerometer Sensor<br />Use to determine rate of closure, vibration, dynamic or static motion<br />10<br />
  17. 17. Accelerometer Sensor<br />Sample code used to read the sensor and apply bounds to the data for alarming<br />11<br />
  18. 18. Gyroscope and Accelerometer Sensors<br />12<br />Knowing the instantaneous robot angle and distance traveled at that angle, the position on the field can be determined.<br />
  19. 19. Differential Peak-Detecting Gear Tooth Sensor<br />Hall Effect sensor used<br />for detecting and counting magnetic fields from ferrous gear teeth related to a robot’s drive operations. For example, it can count teeth on a gear to measure and, through the RC, control robot speed.<br />13<br />Use counter VIs for analysis.<br />
  20. 20. Encoder Sensor<br />Use to determine rate of closure, count events (wheel rotations), monitor chain health<br />Used in conjunction with the counter VIs<br />Mostly located on a gear box or a motor<br />14<br />
  21. 21. Encoder Sensor<br />15<br />Diagram and Front Panel Example<br />
  22. 22. Photoelectric Sensors<br />Two types:<br /><ul><li>Reflective – A light beam is reflected off an object and that reflection detected by a photo sensitive device
  23. 23. Transmissive (Beam Break) – A light beam is interrupted by an object</li></ul>Use to determine the presence or absence of objects (balls, etc)<br />16<br />
  24. 24. The Joystick<br />Essentially a sensor that provides for a User interface to the control system<br />Two types of data:<br /><ul><li>Robot direction control (Forward, reverse, turning)
  25. 25. Up to 12 User defined switches (Program modifications, belt controls, etc.)</li></ul>Uses USB connections and can have up to 4 joysticks:<br /><ul><li>In Tank mode, 2 joysticks are needed
  26. 26. In Arcade mode, one joystick is needed
  27. 27. If switches are required, a joystick is a simple way to control belts and other robot motors, relays, solenoids, etc.</li></ul>17<br />
  28. 28. The Joystick<br />18<br />Front Panel and Diagram<br />
  29. 29. The Joystick – Using the Buttons as Input Controls<br />19<br />
  30. 30. The Joystick – Using the Buttons as Input Controls<br />20<br />Front Panel and Diagram<br />
  31. 31. Questions?<br />Dennis C. Erickson -<br />