First fare 2011 overview of electronics-2012
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First fare 2011 overview of electronics-2012






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First fare 2011 overview of electronics-2012 First fare 2011 overview of electronics-2012 Presentation Transcript

  • Overview of Electronics 1425 Wilsonville Robotics Tim Bennington-Davis [email_address] (503) 449-9507
  • At a glance
    • New NI controller (cRIO)
      • Smaller, 4 slots, less weight, less cost
    • Microsoft Xbox Kinect adapter
  • Robot Schematic
  • Elements of the System
    • National Instruments cRIO
    • Digital Sidecar
    • Power Distribution Board
    • Analog Bumper
    • Pneumatics Bumper
    • Netbook Driver Station
    • Wireless Interface (802.11)
    • Camera
    • Motor controllers and relays
  • cRIO
    • Modular Controller, Industrial Strength
    • Comes with multiple interface modules
      • 2 Analog Input Modules
        • Plus 2 Analog Breakout
      • 2 Digital Input/Output Modules
        • Connect via really big cable to Digital Sidecar
      • 1 Digital Output Module
        • Use with Solenoid Breakout
    • Veteran teams do not get new cRIO’s and modules
    • Rookie teams will get new smaller cRIO
  • cRIO and Modules Legacy Teams have 8-slot cRIO chassis Rookie teams will get new 4-slot cRIO
  • Digital Sidecar
    • Connects to cRIO9403 with 32-pin cable
    • Provides
      • 10 PWM outputs (Victors, Jaguars, RC servos)
        • Can be configured on a per-output basis to drive 6V RC servos with jumpers
      • 14 GPIO with +5V on each
      • 16 Relay Outputs
      • I 2 C headers (Standard and NXT-compatible)
      • 12V supply,
        • Provides +5V output
        • Reverse polarity protected
  • Digital Sidecar
  • Power Distribution Module
    • Custom Design by FIRST
    • 6-15 VDC, reverse polarity protected
    • Metric shanks, not SAE!
    • 8 outputs for 40A breakers
    • 12 outputs for 30A/20A breakers
    • 24VDC output for CompactRIO
    • 12V output
    • 5V output for camera
    • LED’s for power supplies and open breakers
  • Power Distribution Module
  • Power Distribution Diagram
  • Analog Breakout
    • 5V/3A for powering sensors
    • 8 Analog Inputs, 3 pin PWM cable config.
    • Mounts to NI 9201 Analog Module
    • Configurable to make one input capable of measuring battery voltage - mandatory
    • LED to indicate bumper has power
    • Power to bumper requires wiring to power distribution module
  • Analog Bumper
  • Pneumatics Breakout
    • Reverse-battery protection
    • 8 Outputs to directly drive solenoids
    • Mounts to NI 9472 Digital Module
    • Means you don’t have to use Spikes to drive solenoids anymore
      • Save weight, space and money
    • LED to indicate bumper has power
    • Power to bumper requires wiring to power distribution module, can tolerate 12v or 24v to match solenoids
  • Pneumatics Breakout
  • Wireless Interface – 802.11
    • Radio on the robot is 802.11 wireless bridge
    • Check for how to power it correctly from your robot
    • You will assign fixed IP addresses to your components, using team number
    • Use as AP during build season, connect to the wired field at the competition
    • Field will use 5 GHz band to avoid overlap and interference
  • Ethernet Camera – Axis M1011
    • Streaming video for drive-time control has been challenging
    • Connects to RJ45 on cRIO
    • Can be used to track colors
  • Jaguar Motor Controller
    • Replaces the venerable Victor
    • CAN bus interface, limit features
    • Do NOT remove the power screws
    • They are “swaged” on the end, which is meant to keep them from coming out
    • Removing them drops metal shavings into the guts
  • Operator Interface
    • Classmate Computer or equivalent
      • Must run supplied software
      • IP connected
      • Communicates constantly with cRIO
    • USB expansion hub
    • Joysticks (USB)
    • Cypress pSOC I/O expansion device
  • Operator Interface
    • Typically a 48” x 8” console
    • Joysticks or other driving interface
    • Buttons, switches, dials, lights
    • Your team designs and builds it
    • Effective driving operation is enabled by careful ergonomic design, especially when it comes to controlling the non-drive functions
  • Operator Interface
    • Cypress board provides 16 configurable digital pins, 8 analog inputs
    • Plug into proto board, or build/buy carrier board
    • Digital and analog functions map to software
  • Typical OI Functions
    • switch (on/off) – 1 digital input
    • 3 position switch (on/off/on) – 2 digital inputs
    • Potentiometer (variable position) – 1 analog input
    • Push button switch (momentary contact) – 1 digital input
    • Indication (LED) – 1 digital output
  • Link between OI and cRIO
    • Default software causes cRIO and classmate computer to update each other several times a second
    • All OI data is fed to cRIO automatically
    • If they don’t talk, your robot disables itself
    • Status of communication shown in classmate GUI
  • Other Handy Parts
    • 10-turn potentiometers
      • Not supplied – Norvac, Fry’s, Digi-Key
      • Wire to analog input
    • US Digital Quadrature Encoders
      • Mount in many transmissions
      • Count transmission rotation, direction
    • 3-axis accelerometer (supplied)
    • Gyro (supplied)
    • Analog Ultrasonic detectors
      • For measuring close distances
  • Helpful Hints
  • Working the Wago
    • Find a Wago tool (Newark Electronics)
    • Take care to insert directly at a fixed angle, pressing straight in
    • Do not pry. The goal is to open the spring by pressing in the screwdriver, not by prying
  • 802.11 Radio Link
    • The AP and bridge have changed over the years.
    • Learn how to set static IP addresses on your PC, and how to log into AP and adapter to configure them manually
    • Turn off “Wireless Protection”, so that inadvertent presses of external buttons don’t change settings unexpectedly
  • Other ideas worth remembering
    • Solder your terminals – prevent failure
    • Keep large gauge wiring as short as possible
    • Lay your electronics out so you can troubleshoot it – 2 layers sometimes works
    • Make a battery charging record
      • During tournaments, know which one is charged
    • Read the inspection rules early – a great “cheat sheet” for guiding you
    • Label your wires or use color markings, to make troubleshooting easier
    • Robot frame is NOT connected to ground
  • Wrapping Up
    • Go to the FIRST website, navigate
      • FRC
      • Game and Season Info
      • Competition
      • Competition Manual and Related Docs
    • Check out the schematics, rules and manuals from last year
      • Wire gauge requirements, terminals, etc.