2024:Electrical Main: Difference between revisions

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= Known Devices =
List of devices that have been established by the various mechanism groups
== Sensors ==
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 295px;"
|- style="height: 25px;"
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Device'''</span><br>
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Mechanism'''</span><br>
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Detail'''</span><br>
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Wiring notes'''</span><br>
|- style="height: 144px;"
| style="width: 25%; height: 144px;" |
<span style="font-size: 10pt;">Diffuse retro-reflective sensor</span><br>
<span style="font-size: 10pt;">Allen Bradley 42EF-D2MPAK-F4</span>
| style="width: 25%; height: 144px;" | <span style="font-size: 10pt;">Gamepiece - Intake</span><br>
| style="width: 25%; height: 144px;" |
<span style="font-size: 10pt;">Senses gamepiece</span><br><span style="font-size: 10pt;">Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.</span><br>
| style="width: 25%; height: 144px;" |
<span style="font-size: 10pt;">Wire for Dark operating</span><br><span style="font-size: 10pt;">Signal connects to roborio DIO</span>
<span style="font-size: 10pt;">12V powered</span>
<span style="font-size: 10pt;">Voltage divider added to cable pigtail</span>
<span style="font-size: 10pt;">See circuit diagram below</span>
|- style="height: 57px;"
| style="width: 25%; height: 57px;" |
<span style="font-size: 10pt;">Rev through-bore encoder</span><br><span style="font-size: 10pt;">https://www.revrobotics.com/rev-11-1271/</span>
| style="width: 25%; height: 57px;" | <span style="font-size: 10pt;">Gamepiece - arm</span><br>
| style="width: 25%; height: 57px;" |
<span style="font-size: 10pt;">Used in absolute position mode to indicate arm pivot angle.</span>
| style="width: 25%; height: 57px;" |
<span style="font-size: 10pt;">5V powered</span><br><span style="font-size: 10pt;">Signal to roborio DIO</span>
|- style="height: 23px;"
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">Leaf lever limit switch</span>
| style="width: 25%; height: 23px;" | <span style="font-size: 10pt;">Hang - brake</span><br>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">Triggers when pawl on brake is fully lifted and clear of ratchet wheel</span><br><span style="font-size: 10pt;">2 total; one on each brake assembly (left and right)</span>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">roborio DIO</span><br><span style="font-size: 10pt;">Wire for normally open</span>
|- style="height: 23px;"
| style="width: 25%; height: 23px;" |
4x CANcoder
<br>
| style="width: 25%; height: 23px;" |
Drivebase
<br>
| style="width: 25%; height: 23px;" |
One per swerve module. Indicates pivot pointing of wheel
<br>
| style="width: 25%; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 25%; height: 23px;" |
<br>
| style="width: 25%; height: 23px;" |
<br>
| style="width: 25%; height: 23px;" |
<br>
| style="width: 25%; height: 23px;" |
<br>
|}
== Motors and Actuators<br> ==
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 295px;"
|- style="height: 25px;"
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Device'''</span><br>
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Mechanism'''</span><br>
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Detail'''</span><br>
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Wiring notes'''</span><br>
|- style="height: 144px;"
| style="width: 25%; height: 144px;" |
<span style="font-size: 10pt;">
<span>8 x NEOs</span>
<span></span></span>
| style="width: 25%; height: 144px;" | <span style="font-size: 10pt;">Drive</span><br>
| style="width: 25%; height: 144px;" |
<span style="font-size: 10pt;">Swerve modules, one each corner of robot, each using 1 NEO for pivot and 1 NEO for propulsion</span><br>
| style="width: 25%; height: 144px;" |
<br>
|- style="height: 57px;"
| style="width: 25%; height: 57px;" |
<span style="font-size: 10pt;">NEO 550</span>
| style="width: 25%; height: 57px;" | <span style="font-size: 10pt;">Gamepiece - intake</span><br>
| style="width: 25%; height: 57px;" |
<span style="font-size: 10pt;">Runs intake to pull in or eject a game piece</span>
| style="width: 25%; height: 57px;" |
<br>
|- style="height: 23px;"
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">2 x NEOs<br></span>
| style="width: 25%; height: 23px;" | <span style="font-size: 10pt;">Gamepiece - shooter</span><br>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">
<span>Runs shooter wheels.</span>
<span>One NEO for top set of wheels</span>
<span>One NEO for bottom set of wheels<br></span></span>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;"><br></span><br>
|- style="height: 23px;"
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">NEO</span>
<br>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">Gamepiece - arm</span>
<br>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">Pivots arm</span>
<br>
| style="width: 25%; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">NEO 550</span>
<br>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">Gamepiece - arm</span>
<br>
| style="width: 25%; height: 23px;" |
<span style="font-size: 10pt;">Actuates bicycle brake for arm pivot</span>
<br>
| style="width: 25%; height: 23px;" |
<br>
|-
| style="width: 25%;" | <span style="font-size: 10pt;">2 x NEO</span><br>
| style="width: 25%;" | <span style="font-size: 10pt;">Hang</span><br>
| style="width: 25%;" | <span style="font-size: 10pt;">One NEO per hanging arm (one left, one right)</span><br><span style="font-size: 10pt;">Causes hang hook to go up or down</span>
| style="width: 25%;" | <br>
|-
| style="width: 25%;" | <span style="font-size: 10pt;">2 x </span>[https://www.adafruit.com/product/413 electric solenoid]<br>
| style="width: 25%;" | <span style="font-size: 10pt;">Hang</span><br>
| style="width: 25%;" | <span style="font-size: 10pt;">Actuates braking pawl against ratchet wheel.</span><br><span style="font-size: 10pt;">One solenoid per arm brake (one left, one right)</span>
<span style="font-size: 10pt;">Energizing lifts the pawl off the ratchet wheel. Integrated spring pushes pawl into ratchet wheel</span>
| style="width: 25%;" | <span style="font-size: 10pt;">Both solenoids controlled via one SPIKE relay (one on M+ and one on M- with common ground)</span><br>
|}
= Circuit diagrams =
[[image:Allen Bradley Diffuse Circuit.drawio.png|300px]]
<br>
Allen Bradley Diffuse Circuit
''<span style="font-size: 8pt;">Allen Bradley 42EF-D2MPAK-F4</span>''
= Daily Status =
<span style="font-size: 14pt;">''''''</span>
<span style="font-size: 14pt;">'''1/20/2024'''</span>
<span style="font-size: 14pt;">'''1/20/2024'''</span>
*<span style="font-size: 12pt;">Disassembled old batteries</span>
*<span style="font-size: 12pt;">Disassembled old batteries</span>
Line 6: Line 153:


<span style="font-size: 12pt;"></span>'''<span style="font-size: 14pt;">1/21/2024</span>'''
<span style="font-size: 12pt;"></span>'''<span style="font-size: 14pt;">1/21/2024</span>'''
*<span style="font-size: 12pt;">Spike Relay Vex wired for solenoids on hang</span>
<span style="font-size: 12pt;">'''<span style="font-size: 14pt;">1/27/2024</span>'''</span>
*Updated IO Map per the [https://wiki.penfieldrobotics.com/wiki/index.php?title=2024:Electrical_Main#Known_Devices Known Devices] section - we should really update the PDH connections to be logical per the physical layout (see below)
*Terminated 2x solenoids for hang ratchet/pawl mechanism<br>
*Investigated Solenoid/Spike Relay module, cleaned up solenoid-side terminations
*Started initial layout of major control system components (\\penmediafs01\robotics$\2024\02 Build Season\01 Final Robot Assembly\A002 &nbsp;Drive Base Assembly Electrical.iam)<br>


{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 304px;"
|- style="height: 304px;"
| style="width: 100%; height: 304px;" | [[image:BellyPanLayout_Screenshot_20242701.png|300px|thumb]]
|}


<span style="font-size: 12pt;"></span>[[image:Allen Bradley Diffuse Circuit.jpg|300px|Allen Bradley Diffuse Circuit]]
<span style="font-size: 12pt;">'''<span style="font-size: 14pt;">1/28/2024</span>'''</span>
*Tested several sensors for performance using 3M reflective silver tape. Foil tape isn't as reliable and prone to damage. While testing sensors were powered with 7-12 volts.
**OPB720A-06Z Reflective Sensor:
***Not Tripped: Signal voltage depended on the amount of voltage inputed for power
***Tripped: Fluctuating signal voltage
***Results varied between trials, seems unreliable
**EE-SPY415 Photomicrosensor (Reflective):
***Not Tripped: &nbsp;Fluctuating signal voltage
***Tripped: 0.003V
***Range: 0in - ~12in
***Interesting that the voltage kept increasing while reading the signal not tripped
**42EF-D1MNAK-A2 Diffuse Sensor
***Not Tripped: 0.73V
***Tripped: 1.0V
***Range: 0.5in - &gt;20in
*Looked into similar banners online
**Q20ND Diffused Sensor 25cm range NPN $104 AndyMark&nbsp;


= Archives =
= Archives =

Latest revision as of 15:43, 9 March 2024

Known Devices

List of devices that have been established by the various mechanism groups

Sensors

Device
 Mechanism
 Detail
 Wiring notes

Diffuse retro-reflective sensor
Allen Bradley 42EF-D2MPAK-F4

Gamepiece - Intake

Senses gamepiece
Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.

Wire for Dark operating
Signal connects to roborio DIO

12V powered

Voltage divider added to cable pigtail

See circuit diagram below

Rev through-bore encoder
https://www.revrobotics.com/rev-11-1271/

Gamepiece - arm

Used in absolute position mode to indicate arm pivot angle.

5V powered
Signal to roborio DIO

Leaf lever limit switch

Hang - brake

Triggers when pawl on brake is fully lifted and clear of ratchet wheel
2 total; one on each brake assembly (left and right)

roborio DIO
Wire for normally open

4x CANcoder

Drivebase

One per swerve module. Indicates pivot pointing of wheel






Motors and Actuators

Device
 Mechanism
 Detail
 Wiring notes

8 x NEOs

Drive

Swerve modules, one each corner of robot, each using 1 NEO for pivot and 1 NEO for propulsion


NEO 550

Gamepiece - intake

Runs intake to pull in or eject a game piece


2 x NEOs

Gamepiece - shooter

Runs shooter wheels. One NEO for top set of wheels One NEO for bottom set of wheels



NEO

Gamepiece - arm

Pivots arm


NEO 550

Gamepiece - arm

Actuates bicycle brake for arm pivot


2 x NEO
 Hang
 One NEO per hanging arm (one left, one right)
Causes hang hook to go up or down
2 x electric solenoid
 Hang
 Actuates braking pawl against ratchet wheel.
One solenoid per arm brake (one left, one right)

Energizing lifts the pawl off the ratchet wheel. Integrated spring pushes pawl into ratchet wheel

Both solenoids controlled via one SPIKE relay (one on M+ and one on M- with common ground)

Circuit diagrams

Allen Bradley Diffuse Circuit.drawio.png
Allen Bradley Diffuse Circuit

Allen Bradley 42EF-D2MPAK-F4

Daily Status

' 1/20/2024

  • Disassembled old batteries
  • Assembled our 13 new batteries (yay!)
  • Wired the prototype Game Piece mechanism for testing
  • Wired the temporary test board for the new drive base for Programming to create/test swerve drive code

1/21/2024

  • Spike Relay Vex wired for solenoids on hang

1/27/2024

  • Updated IO Map per the Known Devices section - we should really update the PDH connections to be logical per the physical layout (see below)
  • Terminated 2x solenoids for hang ratchet/pawl mechanism
  • Investigated Solenoid/Spike Relay module, cleaned up solenoid-side terminations
  • Started initial layout of major control system components (\\penmediafs01\robotics$\2024\02 Build Season\01 Final Robot Assembly\A002  Drive Base Assembly Electrical.iam)
BellyPanLayout Screenshot 20242701.png

1/28/2024

  • Tested several sensors for performance using 3M reflective silver tape. Foil tape isn't as reliable and prone to damage. While testing sensors were powered with 7-12 volts.
    • OPB720A-06Z Reflective Sensor:
      • Not Tripped: Signal voltage depended on the amount of voltage inputed for power
      • Tripped: Fluctuating signal voltage
      • Results varied between trials, seems unreliable
    • EE-SPY415 Photomicrosensor (Reflective):
      • Not Tripped:  Fluctuating signal voltage
      • Tripped: 0.003V
      • Range: 0in - ~12in
      • Interesting that the voltage kept increasing while reading the signal not tripped
    • 42EF-D1MNAK-A2 Diffuse Sensor
      • Not Tripped: 0.73V
      • Tripped: 1.0V
      • Range: 0.5in - >20in
  • Looked into similar banners online
    • Q20ND Diffused Sensor 25cm range NPN $104 AndyMark 

Archives

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