Transcript Electronics 101 - Luther High School

FIRST ROBOTICS
COMPETETION
Introduction to Electrical & Control System
Power and Signal Distribution/Interconnection
Sensors, Motors, Speed Controllers, Pneumatic Control
Valves, etc
Paul Ulland – Engineering
Mentor
Battery Charger
Battery
Power Connectors
120 Amp Main Circuit Breaker
Power Distribution Board
Circuit Breakers
NI RoboRIO
Voltage Regulator Module
Linksys Bridge/Access Point
Driver Control
“Sarah” the Lap Top
Computer
Cabling Legend

+ 12 Vdc

Ground

CAN

Ethernet

PWM

Signal

USB
Microsoft Lifecam HD3000

plugs directly into the
roboRIO

capable of capturing up
to 1280x720 video at 30
FPS
Axis M1013, M1011 and Axis 206
Ethernet camera with Servos
Limit Switches
Photo Switch
Sonar Range Finder
Rotary Encoder
Linear Encoder
Shaft Encoder
Gyro and Accelerometer
There are 10
kinds of people:
Those who know binary and those that don’t.
Robot Signal Light (RSL)

ROBOT SAFETY LIGHT

Solid ON - Robot On
and Disabled

Blinking - Robot On and
Enabled

Off - Robot Off,
roboRIO not powered
or RSL not wired
properly.
Spike H-Bridge Relay

Motor


provides On/Off control
in both the forward and
reverse directions
Custom robot electronics

provides power to up to
2 circuits

connected to a relay
output of the roboRIO

powered from the Power
Distribution Panel.
Victor speed control with fan
Talon Speed Control
Victor SP Speed Control

PWM motor controller
Motor Speed Controller

Jaguar

Yellow

Red

Green
Talon SRX Speed Control

CAN-enabled "smart motor
controller“

Controlled over CAN bus
or PWM interface

Accepts inputs from limit
switches, potentiometers,
encoders, or similar in
order to perform
advanced control such as
limiting or PID(F) closed
loop control
CIM, BaneBot, & Door Motors, etc
Confirm that
motor choices
appear in
robot rules
Speed Reduction
Pneumatics Control Module
Compressor & Pressure
Limit Switch
Pneumatic Control Valve
Pneumatic Cylinder with end
of stroke limit switches
Pneumatic Rotary Actuator
end of stroke limit switches
Status Light Quick Reference

Power

Green - Power is good

Amber - Brownout protection tripped, outputs disabled

Red - Power fault, check user rails for short circuit

Status

On while the controller is booting, then should turn off

2 blinks - Software error, reimage roboRIO

3 blinks - Safe Mode, restart roboRIO, reimage if not
resolved

4 blinks - Software crashed twice without rebooting,
reboot roboRIO, reimage if not resolved

Constant flash or stays solid on - Unrecoverable error

Status Light Quick Reference

Radio

Not currently implemented

Comm

Off - No Communication

Red Solid - Communication with DS, but no user code

Red Blinking - E-stop

Green Solid - Good communication with DS

Mode

Off - Outputs disabled (robot in Disabled, brown-out,
etc.)

Amber/Orange - Autonomous Enabled

Green - Teleop Enabled

Red - Test Enabled

RSL

See above

Pneumatics Control Module
QUESTIONS?