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First fare 2011 sensors for frc robots


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First fare 2011 sensors for frc robots

  1. 1. Dennis C. Erickson ~ Senior Mentor for Teams 1510 and 2898 1  
  2. 2. A  Wide  Variety  of  Sensors  can  be  Used  to   enhance  the  operation  of  the  Robot     Primarily  used  in  the  Offensive    Mode  but  are   also  used  in  Defensive  Operations  as  an  Environment  Monitor  (e.g.,  Something’s  Coming)   2  
  3. 3. 3  
  4. 4. Input  devices  used  to  aid  in  driving  the  robot  and  to  make  autonomous   decisions   4  
  5. 5. • Photoelectric  Sensor  • Shaft  Encoder  Sensor  • Yaw  Rate  Gyro  Sensor  • 3-­‐Axis  Accelerometer  Sensor  • Ultrasonic  Detector  Sensor  • Gear  Tooth  Sensor  • Misc  Pneumatic  Sensors      Also  joysticks  and  video  cameras  could  be  considered  sensors   5  
  6. 6. Use  to  determine  distance  to  friend  or  foe.  Good  from  about  8  inches  to  20  feet  Suggest  using  a  software  filter  to  smooth  the  data   Operates  at  42kHz  with   readings  every  50ms   6  
  7. 7. The  Block  Diagram  and  the  Front  Panel  Used  in  the  Main  Robot  Application   7  
  8. 8. Yaw  Rate  Gyro  Senses  angular  changes  about  the  top  surface  axis  of  the  device  and  provides  an  output  voltage  proportional  to  the  instantaneous  angular  rate  change.  The  output  is  useful  for  guidance,  stability,  rate  of  closure  and  control  of  the  robot  platform.  Inertial  guidance    Especially  useful  in  designing  “smart”  Autonomous  software     Best  to  mount  flat   near  the  robot’s   center  of  rotation   8  
  9. 9. Front  Panel  and  Diagram   9  
  10. 10. Use  to  determine  rate  of  closure,  vibration,  dynamic  or  static  motion   10  
  11. 11. Sample  code  used  to  read  the  sensor  and  apply  bounds  to  the  data  for  alarming   11  
  12. 12. Knowing  the  instantaneous  robot  angle  and  distance  traveled  at  that  angle,  the  position  on  the  field  can  be  determined.   12  
  13. 13. Hall  Effect  sensor  used  for  detecting  and  counting  magnetic  fields  from  ferrous  gear  teeth  related  to  a  robot’s  drive  operations.  For  example,  it  can  count  teeth  on  a  gear  to  measure  and,  through  the  RC,  control  robot  speed.   Use  counter   VIs  for   analysis.   13  
  14. 14. Use  to  determine  rate  of  closure,  count  events  (wheel  rotations),  monitor  chain  health  Used  in  conjunction  with  the  counter  VIs  Mostly  located  on  a  gear  box  or  a  motor   14  
  15. 15. Diagram  and  Front  Panel  Example   15  
  16. 16. Two  types:  • Reflective  –  A  light  beam  is  reflected  off  an  object  and  that  reflection  detected  by  a  photo  sensitive  device  • Transmissive  (Beam  Break)  –  A  light  beam  is  interrupted  by  an  object    Use  to  determine  the  presence    or  absence  of  objects  (balls,  etc)   16  
  17. 17. Essentially  a  sensor  that  provides  for  a  User  interface  to  the  control  system  Two  types  of  data:  • Robot  direction  control  (Forward,  reverse,  turning)  • Up  to  12  User  defined  switches  (Program  modifications,  belt  controls,  etc.)  Uses  USB  connections  and  can  have  up  to  4  joysticks:  • In  Tank  mode,  2  joysticks  are  needed  • In  Arcade  mode,  one  joystick  is  needed  • If  switches  are  required,  a  joystick  is  a  simple  way  to  control  belts  and  other  robot  motors,  relays,  solenoids,  etc.   17  
  18. 18. Front  Panel  and  Diagram   18  
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  20. 20. Front  Panel  and  Diagram   20  
  21. 21. Dennis C. Erickson -