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> | ||
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<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 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 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: 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 = | = Archives = |
Latest revision as of 16:43, 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 |
Gamepiece - Intake |
Senses gamepiece |
Wire for Dark operating 12V powered Voltage divider added to cable pigtail See circuit diagram below |
Rev through-bore encoder |
Gamepiece - arm |
Used in absolute position mode to indicate arm pivot angle. |
5V powered |
Leaf lever limit switch |
Hang - brake |
Triggers when pawl on brake is fully lifted and clear of ratchet wheel |
roborio DIO |
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 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)
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
- OPB720A-06Z Reflective Sensor:
- Looked into similar banners online
- Q20ND Diffused Sensor 25cm range NPN $104 AndyMark