Transcript PowerPoint Presentation Link

Robotics 101
Electronics and Controls
Basics of an FRC Robot’s control system.
The Control System
• The Control System is the “Brain” of the robot
• The control system receives input from the driver station and tells the robot what to do (e.g. drive
forward, back up, shoot ball, etc.)
• It is very important to have a well-organized and wired control system
− A wiring issue can cost a match, or even a medal (Finals at the Buckeye Regional 2013)
− Finding issues with the control system would ideally be easy and quick
• Easy access to the control system should always be considered in the design process
Pre-2015 Controls and Wiring
• Major Components:
− NI cRio
− Sidecar
− Power Distribution Panel
− D-Link (wireless router)
− Speed Controllers
2015 and Future Controls and Wiring
• Major Components:
− NI roboRio
− Power Distribution Panel
− D-Link (wireless router)
− Speed Controllers
Drive Station
• Joysticks, USB multiplexer, Laptop/Classmate
Battery and Power
• Rated: 12V, 18 Amps-Hours
• Battery can provide 18 amps for one hour
− From our driving experience how long can a good charged battery drive our robot?
• Robot requires a minimum amount of power to turn due to friction of wheels on carpet
• Power = Volts X Amps so Amps = Power/Volts
• Charged good battery = 12.5 Volts
• Voltage drops as battery charge is consumed
− As voltage drops what happens to:
• Power?
• Amps?
Speed Controller
• Functions
− Backwards/Forwards
− Faster/Slower
− Pulse Width Modulation (PWM)
Jaguar Controller
(Old)
Talon SR Controller
(Newer)
Motor
Victor Controller
Talon SRX Controller
(Newest)
Electrical Devices
• Camera
− Aiming, scoring
− Goal Tracking
• Limit Switch
− Control fixed position
• Potentiometer
− Variable control
Electrical Devices
• Photoelectric Limit Switch
− Non contact sensing/limit switch
− Sensing plunger back, Frisbee present
• Encoders
− Measure rotational speed
− Computer counts and adds pulses
• Gyro
− Measure robot direction/angle
− Used to drive straight or turn in auto
Motor List from 2012 Robot
Description/Function
Main robot drive
Mech to lower bridge
Extended front roller
1st stage roller front
1st stage roller rear
Upper roller/shooter feed
Ball shooter wheel
Shooter turret rotate
Ball singulator
Wheel brake
Qty
4
1
1
1
1
1
1
Motor
Sensor rqmt. /desire
CIM
Would like encoders
AndyMark Potentiometer & Limit Switch
Banebots
None
1
AndyMark None
1
Window None
Banebots None
2
FP
RPM
Window
Potentiometer
Window
Limit Switch
Window None