Elements of the SystemNational Instruments cRIODigital SidecarPower Distribution BoardAnalog BumperPneumatics BumperNetbook Driver StationWireless Interface (802.11)CameraMotor controllers and relays
cRIOModularController, Industrial StrengthComes 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 BreakoutVeteran teams do not get new cRIO’s and modulesRookie 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 SidecarConnects to cRIO9403 with 32-pin cableProvides ◦ 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 ◦ I2C headers (Standard and NXT-compatible) ◦ 12V supply, Provides +5V output
Power Distribution ModuleCustom Design by FIRST6-15 VDC, reverse polarity protectedMetric shanks, not SAE!8 outputs for 40A breakers12 outputs for 30A/20A breakers24VDC output for CompactRIO12V output5V output for cameraLED’s for power supplies and open breakers
Analog Breakout5V/3A for powering sensors8 Analog Inputs, 3 pin PWM cable config.Mounts to NI 9201 Analog ModuleConfigurable to make one input capable of measuring battery voltage - mandatoryLED to indicate bumper has powerPower to bumper requires wiring to power distribution module
Pneumatics BreakoutReverse-battery protection8 Outputs to directly drive solenoidsMounts to NI 9472 Digital ModuleMeans you don’t have to use Spikes to drive solenoids anymore ◦ Save weight, space and moneyLED to indicate bumper has powerPower to bumper requires wiring to power distribution module, can tolerate 12v or 24v to match solenoids
Wireless Interface – 802.11Radio on the robot is 802.11 wireless bridgeCheck for how to power it correctly from your robotYou will assign fixed IP addresses to your components, using team numberUse as AP during build season, connect to the wired field at the competitionField will use 5 GHz band to avoid overlap and interference
Ethernet Camera – Axis M1011Streaming video for drive- time control has been challengingConnects to RJ45 on cRIOCan be used to track colors
Jaguar Motor ControllerReplaces the venerable VictorCAN bus interface, limit featuresDo NOT remove the power screwsThey are “swaged” on the end, which is meant to keep them from coming outRemoving them drops metal shavings into the guts
Operator InterfaceClassmate Computer or equivalent Must run supplied software IP connected Communicates constantly with cRIOUSB expansion hubJoysticks (USB)Cypress pSOC I/O expansion device
Operator InterfaceTypically a 48” x 8” consoleJoysticks or other driving interfaceButtons, switches, dials, lightsYour team designs and builds itEffective driving operation is enabled by careful ergonomic design, especially when it comes to controlling the non- drive functions
Operator InterfaceCypress board provides 16 configurable digital pins, 8 analog inputsPlug into proto board, or build/buy carrier boardDigital and analog functions map to software
Typical OI Functionsswitch (on/off) – 1 digital input3 position switch (on/off/on) – 2 digital inputsPotentiometer (variable position) – 1 analog inputPush button switch (momentary contact) – 1 digital inputIndication (LED) – 1 digital output
Link between OI and cRIODefault software causes cRIO and classmate computer to update each other several times a secondAll OI data is fed to cRIO automaticallyIf they don’t talk, your robot disables itselfStatus of communication shown in classmate GUI
Other Handy Parts10-turn potentiometers Not supplied – Norvac, Fry’s, Digi-Key Wire to analog inputUS Digital Quadrature Encoders Mount in many transmissions Count transmission rotation, direction3-axis accelerometer (supplied)Gyro (supplied)Analog Ultrasonic detectors For measuring close distances
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 LinkThe 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 manuallyTurn off “Wireless Protection”, so that inadvertent presses of external buttons don’t change settings unexpectedly
Other ideas worth rememberingSolder your terminals – prevent failureKeep large gauge wiring as short as possibleLay your electronics out so you can troubleshoot it – 2 layers sometimes worksMake a battery charging record ◦ During tournaments, know which one is chargedRead the inspection rules early – a great “cheat sheet” for guiding you Label your wires or use color markings, to make troubleshooting easierRobot frame is NOT connected to ground
Wrapping UpGo to the FIRST website, navigate ◦ FRC ◦ Game and Season Info ◦ Competition ◦ Competition Manual and Related DocsCheck out the schematics, rules and manuals from last year ◦ Wire gauge requirements, terminals, etc.
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