First fare 2011 overview of electronics-2012

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First fare 2011 overview of electronics-2012

  1. 1. Overview of Electronics 1425 Wilsonville Robotics Tim Bennington-Davis [email_address] (503) 449-9507
  2. 2. At a glance <ul><li>New NI controller (cRIO) </li></ul><ul><ul><li>Smaller, 4 slots, less weight, less cost </li></ul></ul><ul><li>Microsoft Xbox Kinect adapter </li></ul>
  3. 3. Robot Schematic
  4. 4. Elements of the System <ul><li>National Instruments cRIO </li></ul><ul><li>Digital Sidecar </li></ul><ul><li>Power Distribution Board </li></ul><ul><li>Analog Bumper </li></ul><ul><li>Pneumatics Bumper </li></ul><ul><li>Netbook Driver Station </li></ul><ul><li>Wireless Interface (802.11) </li></ul><ul><li>Camera </li></ul><ul><li>Motor controllers and relays </li></ul>
  5. 5. cRIO <ul><li>Modular Controller, Industrial Strength </li></ul><ul><li>Comes with multiple interface modules </li></ul><ul><ul><li>2 Analog Input Modules </li></ul></ul><ul><ul><ul><li>Plus 2 Analog Breakout </li></ul></ul></ul><ul><ul><li>2 Digital Input/Output Modules </li></ul></ul><ul><ul><ul><li>Connect via really big cable to Digital Sidecar </li></ul></ul></ul><ul><ul><li>1 Digital Output Module </li></ul></ul><ul><ul><ul><li>Use with Solenoid Breakout </li></ul></ul></ul><ul><li>Veteran teams do not get new cRIO’s and modules </li></ul><ul><li>Rookie teams will get new smaller cRIO </li></ul>
  6. 6. cRIO and Modules Legacy Teams have 8-slot cRIO chassis Rookie teams will get new 4-slot cRIO
  7. 7. Digital Sidecar <ul><li>Connects to cRIO9403 with 32-pin cable </li></ul><ul><li>Provides </li></ul><ul><ul><li>10 PWM outputs (Victors, Jaguars, RC servos) </li></ul></ul><ul><ul><ul><li>Can be configured on a per-output basis to drive 6V RC servos with jumpers </li></ul></ul></ul><ul><ul><li>14 GPIO with +5V on each </li></ul></ul><ul><ul><li>16 Relay Outputs </li></ul></ul><ul><ul><li>I 2 C headers (Standard and NXT-compatible) </li></ul></ul><ul><ul><li>12V supply, </li></ul></ul><ul><ul><ul><li>Provides +5V output </li></ul></ul></ul><ul><ul><ul><li>Reverse polarity protected </li></ul></ul></ul>
  8. 8. Digital Sidecar
  9. 9. Power Distribution Module <ul><li>Custom Design by FIRST </li></ul><ul><li>6-15 VDC, reverse polarity protected </li></ul><ul><li>Metric shanks, not SAE! </li></ul><ul><li>8 outputs for 40A breakers </li></ul><ul><li>12 outputs for 30A/20A breakers </li></ul><ul><li>24VDC output for CompactRIO </li></ul><ul><li>12V output </li></ul><ul><li>5V output for camera </li></ul><ul><li>LED’s for power supplies and open breakers </li></ul>
  10. 10. Power Distribution Module
  11. 11. Power Distribution Diagram
  12. 12. Analog Breakout <ul><li>5V/3A for powering sensors </li></ul><ul><li>8 Analog Inputs, 3 pin PWM cable config. </li></ul><ul><li>Mounts to NI 9201 Analog Module </li></ul><ul><li>Configurable to make one input capable of measuring battery voltage - mandatory </li></ul><ul><li>LED to indicate bumper has power </li></ul><ul><li>Power to bumper requires wiring to power distribution module </li></ul>
  13. 13. Analog Bumper
  14. 14. Pneumatics Breakout <ul><li>Reverse-battery protection </li></ul><ul><li>8 Outputs to directly drive solenoids </li></ul><ul><li>Mounts to NI 9472 Digital Module </li></ul><ul><li>Means you don’t have to use Spikes to drive solenoids anymore </li></ul><ul><ul><li>Save weight, space and money </li></ul></ul><ul><li>LED to indicate bumper has power </li></ul><ul><li>Power to bumper requires wiring to power distribution module, can tolerate 12v or 24v to match solenoids </li></ul>
  15. 15. Pneumatics Breakout
  16. 16. Wireless Interface – 802.11 <ul><li>Radio on the robot is 802.11 wireless bridge </li></ul><ul><li>Check for how to power it correctly from your robot </li></ul><ul><li>You will assign fixed IP addresses to your components, using team number </li></ul><ul><li>Use as AP during build season, connect to the wired field at the competition </li></ul><ul><li>Field will use 5 GHz band to avoid overlap and interference </li></ul>
  17. 17. Ethernet Camera – Axis M1011 <ul><li>Streaming video for drive-time control has been challenging </li></ul><ul><li>Connects to RJ45 on cRIO </li></ul><ul><li>Can be used to track colors </li></ul>
  18. 18. Jaguar Motor Controller <ul><li>Replaces the venerable Victor </li></ul><ul><li>CAN bus interface, limit features </li></ul><ul><li>Do NOT remove the power screws </li></ul><ul><li>They are “swaged” on the end, which is meant to keep them from coming out </li></ul><ul><li>Removing them drops metal shavings into the guts </li></ul>
  19. 19. Operator Interface <ul><li>Classmate Computer or equivalent </li></ul><ul><ul><li>Must run supplied software </li></ul></ul><ul><ul><li>IP connected </li></ul></ul><ul><ul><li>Communicates constantly with cRIO </li></ul></ul><ul><li>USB expansion hub </li></ul><ul><li>Joysticks (USB) </li></ul><ul><li>Cypress pSOC I/O expansion device </li></ul>
  20. 20. Operator Interface <ul><li>Typically a 48” x 8” console </li></ul><ul><li>Joysticks or other driving interface </li></ul><ul><li>Buttons, switches, dials, lights </li></ul><ul><li>Your team designs and builds it </li></ul><ul><li>Effective driving operation is enabled by careful ergonomic design, especially when it comes to controlling the non-drive functions </li></ul>
  21. 21. Operator Interface <ul><li>Cypress board provides 16 configurable digital pins, 8 analog inputs </li></ul><ul><li>Plug into proto board, or build/buy carrier board </li></ul><ul><li>Digital and analog functions map to software </li></ul>
  22. 22. Typical OI Functions <ul><li>switch (on/off) – 1 digital input </li></ul><ul><li>3 position switch (on/off/on) – 2 digital inputs </li></ul><ul><li>Potentiometer (variable position) – 1 analog input </li></ul><ul><li>Push button switch (momentary contact) – 1 digital input </li></ul><ul><li>Indication (LED) – 1 digital output </li></ul>
  23. 23. Link between OI and cRIO <ul><li>Default software causes cRIO and classmate computer to update each other several times a second </li></ul><ul><li>All OI data is fed to cRIO automatically </li></ul><ul><li>If they don’t talk, your robot disables itself </li></ul><ul><li>Status of communication shown in classmate GUI </li></ul>
  24. 24. Other Handy Parts <ul><li>10-turn potentiometers </li></ul><ul><ul><li>Not supplied – Norvac, Fry’s, Digi-Key </li></ul></ul><ul><ul><li>Wire to analog input </li></ul></ul><ul><li>US Digital Quadrature Encoders </li></ul><ul><ul><li>Mount in many transmissions </li></ul></ul><ul><ul><li>Count transmission rotation, direction </li></ul></ul><ul><li>3-axis accelerometer (supplied) </li></ul><ul><li>Gyro (supplied) </li></ul><ul><li>Analog Ultrasonic detectors </li></ul><ul><ul><li>For measuring close distances </li></ul></ul>
  25. 25. Helpful Hints
  26. 26. Working the Wago <ul><li>Find a Wago tool (Newark Electronics) </li></ul><ul><li>Take care to insert directly at a fixed angle, pressing straight in </li></ul><ul><li>Do not pry. The goal is to open the spring by pressing in the screwdriver, not by prying </li></ul>
  27. 27. 802.11 Radio Link <ul><li>The AP and bridge have changed over the years. </li></ul><ul><li>Learn how to set static IP addresses on your PC, and how to log into AP and adapter to configure them manually </li></ul><ul><li>Turn off “Wireless Protection”, so that inadvertent presses of external buttons don’t change settings unexpectedly </li></ul>
  28. 28. Other ideas worth remembering <ul><li>Solder your terminals – prevent failure </li></ul><ul><li>Keep large gauge wiring as short as possible </li></ul><ul><li>Lay your electronics out so you can troubleshoot it – 2 layers sometimes works </li></ul><ul><li>Make a battery charging record </li></ul><ul><ul><li>During tournaments, know which one is charged </li></ul></ul><ul><li>Read the inspection rules early – a great “cheat sheet” for guiding you </li></ul><ul><li>Label your wires or use color markings, to make troubleshooting easier </li></ul><ul><li>Robot frame is NOT connected to ground </li></ul>
  29. 29. Wrapping Up <ul><li>Go to the FIRST website, navigate </li></ul><ul><ul><li>FRC </li></ul></ul><ul><ul><li>Game and Season Info </li></ul></ul><ul><ul><li>Competition </li></ul></ul><ul><ul><li>Competition Manual and Related Docs </li></ul></ul><ul><li>Check out the schematics, rules and manuals from last year </li></ul><ul><ul><li>Wire gauge requirements, terminals, etc. </li></ul></ul>

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