FIRSTFare 2012 Overview of Electronics


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FIRSTFare 2012 Overview of Electronics

  1. 1. Overview of Electronics 1425 Wilsonville Robotics Tim Bennington-Davis (503) 449-9507
  2. 2. At a glanceNew NI controller (cRIO) ◦ Smaller, 4 slots, less weight, less costMicrosoft Xbox Kinect adapter
  3. 3. Robot Schematic
  4. 4. 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
  5. 5. cRIOModularController, 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
  6. 6. cRIO and Modules Legacy Teams have 8-slot cRIO chassis Rookie teams will get new 4-slot cRIO
  7. 7. 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 ◦ I2C headers (Standard and NXT-compatible) ◦ 12V supply,  Provides +5V output
  8. 8. Digital Sidecar
  9. 9. 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
  10. 10. Power Distribution Module
  11. 11. Power Distribution Diagram
  12. 12. 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
  13. 13. Analog Bumper
  14. 14. 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
  15. 15. Pneumatics Breakout
  16. 16. 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
  17. 17. Ethernet Camera – Axis M1011Streaming video for drive- time control has been challengingConnects to RJ45 on cRIOCan be used to track colors
  18. 18. 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
  19. 19. 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
  20. 20. 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
  21. 21. 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
  22. 22. 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
  23. 23. 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
  24. 24. 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
  25. 25. Helpful Hints
  26. 26. 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
  27. 27. 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
  28. 28. 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
  29. 29. 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.
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