2015:Electrical Controls Subteam

Design

To provide for narrower controls for transport, driver #1's side of controls (i.e. 2 joysticks) will slide to the right and cover the laptop. These will automatically lock.

The intent is to have a simple release mechanism. When released a gas strut will automatically open the controls.

• 2 joysticks for main driver
• 1 joystick for aux driver
• 1 3-way toggle for autonomous (up=a pre-picked auto-mode; center=no auto; down=use auto-mode that is selected on Dashboard)
• 8 broken switches
• Laptop for Dashboard
• Robot IO Map

Renderings

This is the controls closed.	This is a picture of the controls open.
Colors shown are final.
A close up of the latch design (located underneath the aux panel)
Prototying the latch design. We ran into some problems with aliignmnt, but solved the problem by inserting a bracket with a hole.
Dashboard layout

LaunchPad

• Instruction Set: TI_MSP430
• Instruction Cycles: MSP430 Instruction Set Summary

• Lights:
  • Updated timings: https://learn.adafruit.com/adafruit-neopixel-uberguide/advanced-coding
  • LED datasheet: http://www.adafruit.com/datasheets/WS2812.pdf

Tasks

Status	Task	Information (decisions are in bold)	Owner
Started	Lights	individually controlled? - YES placement (maybe under front laptop bracket, maybe under both "1511" on right side, maybe behind "Rolling Thunder" on left side; cable run might be tricky) need to get sample working, then merge with USB code (fingers crossed this will work)
Started	final assembly	need to dress up wires for switches (they are hanging on threaded rod for latch	Chris/Alyssa/Gunnar
Started	LaunchPad	determine what is needed for lights (found sample, need to try it) get code into source control
Started	code robot side	mostly complete, need to test when robot is ready	Andrew
Started	dashboard code		Andrew
Started	Wiring	need to correct wire for switches (common needs to got to 3.3V, not GND) 5V for lights needs to come from power brick/battery, not the Launchpad added 5V converter (need to move 5V for lights to it)	Gunnar
Completed	final paint		Chris/Alyssa
Completed	test fit all parts
Complted	LaunchPad	change sample to just be 10 buttons (no axises) cleanup code
Complete	Latch mount	create and print drawing (drawing is printed) fabricate part
Complete	latch handle	needs to be designed orded knobs from McMastercarr
Complete	power cable	The options below need to pulled from both sides, but we want to be able to pull from one side only. USA Cables Retractable Power Cable Ziplinqs Retractable Power Cord Power products Retractable Power Cable Our only remaining idea is to use the retractable cord mechanism from the iron and insert our own cords (ethernet, power).  HAMILTON iron If we were to proceed with the iron idea we would need a way to release the cord and allow it to retract for now, we added a cut-out in sheet metal for the snap-in plug we already have. if we find we have space and can get a used iron, we may use that instead
Completed	Setting up the development environment on a new computer	Download these items: Code Composer Studio http://www.ti.com/tool/ccstudio 2015 FRC Update http://www.ni.com/download/first-robotics-software-2015/5112/en/ Download the code for the Launchpadhttps://github.com/TI-FIRST/MSP430-Gamepad possible light code example NeoPixel
Completed	ethernet port location	This option needs to pulled from both sides, but we want to be able to pull from one side only: Retractable Network Cable Determined that field has male end, so we need a female end will use port plug we already have and put it on the right top
Completed	select board for joystick interface	Cypress is mostly a USB-Serial and PSoC test board, it doesn't really have what we need LaunchPad has digital and analog inputs. There are built-in pull down resistors, so wiring switches will be easy. There are sample programs including joysticks already setup to use with the Dashboard; the source code is available so it can be modified. Also, form factor is much better for using the contorls. MSP430 Launchpad for FIRST will use the LaunchPad
Completed	General design for latch	Use something similar to a gate latch Home Depot latch Gate Latch Latch_example.jpg ‎ Pin/bolt attached to movable part/left section create a latch similar to: Lock and Pin.png one latch mounted to front of fixed section and one latch at the back run a u-shpaed bar from latch to latch (under the secondary controls) have access to bar via a hole through the secondary controls lid will custom design something similar to a gate latch. it will mount on the bottom and catch on the moving box's lip (that is near the draw slide mount). a rod will stick out the right end with a knob that can be pulled.
Completed	determined handle to use	will use one handle on front (no one liked having them on the ends). part is here
Completed	determined switches	will use 3-way toggles and square rockers for broken switches. parts are here
Completed	LaunchPad	download development environment (see LaunchPad link) download sample code build, install and verify sample code change sample, install and verify
Completed	Latch design	finish CAD for latch design
Completed	sheet metal drawings for boxes	these have been sent to Harris. there were some issues. those were fixed and drawings resent. waiting for part
Completed	sheet metal drawings for top	Need to finish lightning bolt, add 1/32" allowance around the bolt Update broken switches with square cutouts per the new switches Update three-way switch hole as required per the selected part Add cutout for Ethernet port on the upper left corner of this part? It's the round part in the box of parts. this has been sent to Harris. drawings approved. waiting for part
Completed	sheet metal drawings for laptop	this has been sent to Harris. drawings approved. waiting for part
Completed	Fabricate parts	latch latch brakect for moving box
Completed	Data sheets	get data sheets for all parts being used and place in Controls folder
Completed	Dashboard	need to determine what goes on the Smart Dashboard and lay it out We will have large camera feed with the gripper and lifter gauges on the botton and side (see picture in Design section above).  We need to talk to strategy about 1 or 2 camera feeds
Completed	Color scheme	The Sliding panel and the aux panel are red. The base and all internal parts are black.

Meeting Minutes

1/6 (Chris, Mr. Byers)

• discussed preliminary options

1/7 (Chris, Mr. Byers)

• discussed preliminary options

1/8 (Chris, Mr. Byers, Eric, David M.)

• selected overall concept (sliding controls)

1/10  (Gunnar, Alyssa, Andrew, Eric, Mr. Byers, David M.)

• inventoried parts we have
• determined controls we thought were needed
• went over desires from strategy team
• Home Depot shopping run
• met with Elliot to select secondary controls
• created wiki page
• created todo list 

1/11 (Alyssa, Andrew, Mr. Byers)

• investigated latch options
• investigated retractable cords
• selected board for controls

1/13 (Chris, Eric, Mr. Byers, Gunnar, Andrew, Alyssa, Dave, Frank)

• Chris worked on the main base and assembly 
• Gunner worked on the very complicated drawer slides
• Alyssa and Andrew worked on the Aux panel
• Eric found a gas shock that will fit our needs 
• Attended integration meeting rom 6:30 to 7:00

1/14 (Chris, Mr. Byers)

• Chris updated assembly
• changed laptop mount so we have more space between it and the sliding lip

1/15 (Chris, Eric, Alyssa, Dave, Frank)

• Chris worked on the main base and assembly 
• Alyssa worked on the lightning bolt cutout
• Eric found three way and broken switches and got them along with the gas shock on the shopping list. Datasheets are located in a datasheet folder with the rest of the controls stuff.
• Attended integration meeting rom 6:30 to 7:00

1/17 (Chris, Andrew, Gunnar, Alyssa, Dave, Eric, Mr. Byers)

• Chris worked on finishing the final assembly and the latching mechanism
• Gunnar worked on cadding up some of the electrical components, looking up some possible latches, and cadding other random parts.
• Andrew worked on the final drawings with Chris, finalizing the aux panel, placement of words, figuring out the hinge situation, and looking up other important information
• Alyssa worked with Andrew with his tasks as well as finalizing the lightning bolt cut out
• Eric and Mr. Byers assisted the students with their tasks, and kept them on task and at work. 
• Attended integration 6:30 - 7:00
• Met the deadline for the design

1/18 (Andrew, Chris, Alyssa, Eric, Mr. Byers) 

• Finalized all of the parts
• Made all of the drawings for the parts
• Sent the parts out
• Secured a extension cable for the inside of the controls

1/20 (Andrew, Chris, Alyssa, Mr. Byers, Eric)

• Fixed incorrect drawings and resent them to Harris
• Completed one of the drawings to be made in our shop

1/21 (Andrew, Chris, Mr. Byers)

• Andrew worked with the development board and downloaded the software to the laptop that will be used in this years controls
• Chris worked with Mr. Byers and updated the io map for the joysticks; talked with Elliot too, to make sure we mapped the buttons the way he wanted.

1/22 (Chris, Gunnar, Eric, Mr. Byers, Dave)

• Chris worked with Mr. Byers and Mr. Cavaliere to get a bushing for the release mechanism
• Gunnar worked with Eric to create schematic for switches to LaunchPad
• Mr. Byers and Dave connected the LaunchPad and loaded the supplied HID firmware; and verified buttons worked

1/24 (Chris, Gunnar, Alyssa, Andrew, Mr. Byers, Dave)

• Andrew got LaunchPad environment loaded, sample build and working, and updated sample to match our button map
• Gunnar started wiring for LaucnhPad
• Chris finalized the drawings to be made in the shop. 
• Printed all of the drawings and put them in the shop
• Worked with Dave S. to order more crimp terminals that are needed to connect to the broken switches and 3 way switch.
• Alyssa assisted the shop with building drivetrain parts.

1/25 (Chris, Mr. Byers, Gunnar, Alyssa)

• Added a picture to the rendering section of the wiki detailing the latch design. 
• Decided on the color scheme, and uploaded pictures.
• Mr. Byers and Chris worked on the smart dashboard design in MS Paint. 
• Chris manufactured some of the parts, and Alyssa did the others
• Gunnar worked on the electrical part that goes underneath the aux panel
• Gunnar did what he could with the ribbon cable while he waits for the rest of the terminals.
• Gunnar started work on the perf board to connect to the microcontroller
• Chris painted the parts that had been manufactured.

1/27 (Chris, Andrew, Mr. Byers, Eric, Gunnar, Alyssa)

• Andrew and Mr. Byers figured out how to remove the joystick functions. Also cleaned up code.
• Eric brought in some parts from Harris (Laptop cradle, Aux panel)
• Chris worked with Gunnar and Alyssa to paint the laptop cradle. 
• Chris showed Alyssa how to spray paint properly, then let her and Gunnar finish
• Gunnar worked on parts of the electrical

1/28 (Chris, Mr. Byers, Alyssa) 

• Chris worked with Mr. Byers to drill the holes ion the aux panel for the joystick. 
• Chris painted the aux panel red, according to the color scheme that we agreed on
• Alyssa helped machine parts needed for the robot
• Chris cut the hinge for the aux panel to size with the help of Mr. Byers and Alex

1/29 (Chris, Mr. Byers, Gunnar, Alyssa)

• Gunnar worked on putting the elecrical components into the aux panel. (broken switchs, 3 way switch, ethernet port)
• Gunnar soldered a ethernet wire to the ethernet breakout board and tested it
• Alyssa worked on machining parts for the robot
• Chris worked on organizing the controls box
• Chris helped Gunnar with his tasks

1/31 (Chris, Gunnar, Alyssa, Dave, Mr. Byers, Andrew)

• Chris worrked with Mr. Byers prototyping the latch design. The gas shock was too stiff for our needs, so we are using a spring system shown above. (In the renderings ssection)
• Gunnar worked on the electrical part of the controls, more specifically wiring the LEDS in multisim and gatering parts. 
• Alyssa helped with robot work 
• Andrew worked on the code

2/1 (Chris, Mr. Byers, Andrew)

• Chris put latch design into CAD
• Andrew worked on the code

2/3 (Chris, Gunnar, Alyssa, Dave, Mr. Byers, Andrew)

• Right side bottom box came in; confirmed holes were ok
• Chris and Mr. Byers determined location for draw slides
• Alyssa assisted with drivetrain
• Gunnar worked on wiring in design tool
• Andrew worked on the code

2/4 (Chris, Gunnar???, Alyssa, Mr. Byers, Andrew)

• Left side box came in, confirmed holes were ok; for some reason our wording is missing from the ends :-(
• Chris and Alyssa and Mr. Byers fitted slides and adjusted moving box so it is aligned and sliding well (a lot of tweaking to get bolts to fit within slide)
• Andrew started dashbaord code

2/5 (Chris, Eric, Mr. Byers, Dave)

• Fitted reset of parts and drilled all final holes (e.g. latch, power switch, strap holders, joysticks, hinge)
• Dissasembled so parts can be painted

2/7 (Chris, Gunnar, Alyassa, Andrew, Mr. Byers, Eric)

• Finished painting the control parts
• Assembed the controls mechanically
• Placed the board in place
• Managd all of the cables for the joysticks and the launchpad.
• Managed the ethernet cable and power cable for the laptop.
• Wired the switch for the ac power cable 
• Partly wired the switch that switches from battery to power. 
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2/8 (Chris, Mr. Byers)

• Chris helped with robot assembly
• Chris wired light strip and 5V power supply (for testing)
• Mr. Byers tested LauchPad and debugged/fixed sample code
• Chris and Mr. Byers corrected wiring of Launchpad (for switches and lights)
• Chris and Mr. Byers tested lights, but couldn't get them to work yet :-(

2/10 (Chris, Gunnar, Mr. Byers)

• Chris, Gunnar and Mr. Byers went over wiring changes that were needed for the custom circuit
• Chris, Gunnar and Mr. Byers reviewed the datasheets/timing/assembler code for the lights
• Chris, Gunnar and Mr. Byers hooked up the scope to look at the signal going to the lights; is not square, nor high or low enough
• Mr. Stoeckl worked with us to calculate resistor values if we switch over to a transistor, instead of the MOSFET

2/11 (Chris, Eric, Mr. Byers)

• Chris, Eric and Mr. Byers hooked up the scope to look at the signal going to the lights
• Switched out the MOSFET and it appeared to not be working as Eric thought.
• Lights are WORKING!!!! (well, at least with the sample, still need to integrate the sample with the Joystick code in the other IDE)
• Chris and Eric worked on adding the 12V to 5V convertor and finishing up the wiring