Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.
Overview of Electronics 1425 Wilsonville Robotics Tim Bennington-Davis [email_address] (503) 449-9507
At a glance <ul><li>New NI controller (cRIO) </li></ul><ul><ul><li>Smaller, 4 slots, less weight, less cost </li></ul></ul...
Robot Schematic
Elements of the System <ul><li>National Instruments cRIO </li></ul><ul><li>Digital Sidecar </li></ul><ul><li>Power Distrib...
cRIO  <ul><li>Modular Controller, Industrial Strength </li></ul><ul><li>Comes with multiple interface modules </li></ul><u...
cRIO and Modules Legacy Teams have 8-slot cRIO chassis Rookie teams will get new 4-slot cRIO
Digital Sidecar <ul><li>Connects to cRIO9403 with 32-pin cable </li></ul><ul><li>Provides </li></ul><ul><ul><li>10 PWM out...
Digital Sidecar
Power Distribution Module <ul><li>Custom Design by FIRST </li></ul><ul><li>6-15 VDC, reverse polarity protected  </li></ul...
Power Distribution Module
Power Distribution Diagram
Analog Breakout <ul><li>5V/3A for powering sensors </li></ul><ul><li>8 Analog Inputs, 3 pin PWM cable config. </li></ul><u...
Analog Bumper
Pneumatics Breakout <ul><li>Reverse-battery protection </li></ul><ul><li>8 Outputs to directly drive solenoids </li></ul><...
Pneumatics Breakout
Wireless Interface – 802.11 <ul><li>Radio on the robot is 802.11 wireless bridge </li></ul><ul><li>Check for how to power ...
Ethernet Camera – Axis M1011 <ul><li>Streaming video for drive-time control has been challenging </li></ul><ul><li>Connect...
Jaguar Motor Controller <ul><li>Replaces the venerable Victor </li></ul><ul><li>CAN bus interface, limit features </li></u...
Operator Interface <ul><li>Classmate Computer or equivalent </li></ul><ul><ul><li>Must run supplied software </li></ul></u...
Operator Interface <ul><li>Typically a 48” x 8” console </li></ul><ul><li>Joysticks or other driving interface </li></ul><...
Operator Interface <ul><li>Cypress board provides 16 configurable digital pins, 8 analog inputs </li></ul><ul><li>Plug int...
Typical OI Functions <ul><li>switch (on/off) – 1 digital input </li></ul><ul><li>3 position switch (on/off/on) – 2 digital...
Link between OI and cRIO <ul><li>Default software causes cRIO and classmate computer to update each other several times a ...
Other Handy Parts <ul><li>10-turn potentiometers </li></ul><ul><ul><li>Not supplied – Norvac, Fry’s, Digi-Key </li></ul></...
Helpful Hints
Working the Wago <ul><li>Find a Wago tool (Newark Electronics) </li></ul><ul><li>Take care to insert directly at a fixed a...
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 addr...
Other ideas worth remembering <ul><li>Solder your terminals – prevent failure </li></ul><ul><li>Keep large gauge wiring as...
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...
Upcoming SlideShare
Loading in …5
×

First fare 2011 overview of electronics-2012

1,472 views

Published on

Published in: Education, Business, Technology
  • Be the first to comment

  • Be the first to like this

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>

×