2026:Electrical Main: Difference between revisions

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|- style="height: 28px;"
|- style="height: 28px;"
| style="width: 25%; height: 28px;" |
| style="width: 25%; height: 28px;" |
<br>
Throughbore Encoder
| style="width: 25%; height: 28px;" |
| style="width: 25%; height: 28px;" |
<br>
Shooter Hood
| style="width: 25%; height: 28px;" |
| style="width: 25%; height: 28px;" |
<br>
<br>
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<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%; height: 28px;" | Throughbore Encoder
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%; height: 28px;" | Intake Position
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%; height: 28px;" | Mounted on shaft
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%; height: 28px;" | <br>
|- style="height: 28px;"
|- style="height: 28px;"
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== Motors and Actuators ==
== Motors and Actuators ==
{| class="wikitable" style="border-collapse: collapse; width: 100%;"
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 251px;"
|-  
|- style="height: 31px;"
| style="width: 25%; text-align: center;" | <span style="font-size: 12pt;">'''Device'''</span>
| style="width: 25%; text-align: center; height: 31px;" | <span style="font-size: 12pt;">'''Device'''</span>
| style="width: 12.5%; text-align: center;" | <span style="font-size: 12pt;">'''Controller'''</span>
| style="width: 12.5%; text-align: center; height: 31px;" | <span style="font-size: 12pt;">'''Controller'''</span>
| style="width: 12.5%; text-align: center;" | <span style="font-size: 12pt;">'''Mechanism'''</span>
| style="width: 12.5%; text-align: center; height: 31px;" | <span style="font-size: 12pt;">'''Mechanism'''</span>
| style="width: 25%; text-align: center;" | <span style="font-size: 12pt;">'''Description'''</span><br>
| style="width: 25%; text-align: center; height: 31px;" | <span style="font-size: 12pt;">'''Description'''</span><br>
| style="width: 25%; text-align: center;" | <span style="font-size: 12pt;">'''Wiring Notes'''</span>
| style="width: 25%; text-align: center; height: 31px;" | <span style="font-size: 12pt;">'''Wiring Notes'''</span>
|-  
|- style="height: 28px;"
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
8x Kraken X60
8x Kraken X60
| style="width: 12.5%;" | <br>
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 12.5%;" |
| style="width: 12.5%; height: 28px;" |
Drivebase
Drivebase
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
2 per swerve module
2 per swerve module
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
<br>
<br>
|-  
|- style="height: 28px;"
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
Neo 2.0
Neo 2.0
| style="width: 12.5%;" | Sparkmax
| style="width: 12.5%; height: 28px;" | Sparkmax
| style="width: 12.5%;" |
| style="width: 12.5%; height: 28px;" |
Climb
Climb
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
<br>
<br>
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
<br>
<br>
|-  
|- style="height: 24px;"
| style="width: 25%;" |
| style="width: 25%; height: 24px;" |
Kraken X60
| style="width: 12.5%; height: 24px;" | <br>
| style="width: 12.5%; height: 24px;" |
Spindexer
| style="width: 25%; height: 24px;" |
<br>
<br>
| style="width: 12.5%;" | <br>
| style="width: 25%; height: 24px;" |
| style="width: 12.5%;" |
<br>
<br>
| style="width: 25%;" |
|- style="height: 28px;"
| style="width: 25%; height: 28px;" |
Kraken X60
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 12.5%; height: 28px;" |
Kicker
| style="width: 25%; height: 28px;" |
<br>
<br>
| style="width: 25%;" |
| style="width: 25%; height: 28px;" |
<br>
<br>
|-  
|- style="height: 28px;"
| style="width: 25%;" |
| style="width: 25%; height: 28px;" | 2x Kraken X60
<br>
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 12.5%;" | <br>
| style="width: 12.5%; height: 28px;" | Shooter
| style="width: 12.5%;" |
| style="width: 25%; height: 28px;" | One left and one right
<br>
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%;" |
|- style="height: 28px;"
<br>
| style="width: 25%; height: 28px;" | Kraken X44
| style="width: 25%;" |
| style="width: 12.5%; height: 28px;" | <br>
<br>
| style="width: 12.5%; height: 28px;" | Shooter Hood
|-  
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%;" | <br>
| style="width: 25%; height: 28px;" | <br>
| style="width: 12.5%;" | <br>
|- style="height: 28px;"
| style="width: 12.5%;" | <br>
| style="width: 25%; height: 28px;" | Neo 2.0
| style="width: 25%;" | <br>
| style="width: 12.5%; height: 28px;" | Sparkmax
| style="width: 25%;" | <br>
| style="width: 12.5%; height: 28px;" | Intake&nbsp;
|-  
| style="width: 25%; height: 28px;" | Intake position
| style="width: 25%;" | <br>
| style="width: 25%; height: 28px;" | <br>
| style="width: 12.5%;" | <br>
|- style="height: 28px;"
| style="width: 12.5%;" | <br>
| style="width: 25%; height: 28px;" | Kraken X60
| style="width: 25%;" | <br>
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 25%;" | <br>
| style="width: 12.5%; height: 28px;" | Intake
|-  
| style="width: 25%; height: 28px;" | Intake speed
| style="width: 25%;" | <br>
| style="width: 25%; height: 28px;" | <br>
| style="width: 12.5%;" | <br>
| style="width: 12.5%;" | <br>
| style="width: 25%;" | <br>
| style="width: 25%;" | <br>
|}
|}


Line 141: Line 147:
Update wiki to track known devices in advance of filling out RobotIO list.
Update wiki to track known devices in advance of filling out RobotIO list.


Looked up information on WCP-1655 Throughbore Encoder:<br>https://docs.wcproducts.com/welcome/electronics/wcp-throughbore-by-cancoder-1-2-hex/overview-and-features/physical-specifications<br>[[image:WCP-TB-Encoder.png|300px|left|thumb|WCP Throughbore Encoder Molex Connector]]
Looked up information on WCP-1655 Throughbore Encoder:<br>https://docs.wcproducts.com/welcome/electronics/wcp-throughbore-by-cancoder-1-2-hex/overview-and-features/physical-specifications<br>[[image:WCP-TB-Encoder.png|300px|WCP Throughbore Encoder Molex Connector]]
<br>
== Wednesday 1/28/2026 ==
 
wired the NEO 2.0 to the test board but never ran it, wired the kraken x44 to the test board but couldn't run it due to lack of programmers and lack of a CAN wire.
 
== Wednesday 2/4/2026 / Thursday 2/5/2026 ==
 
Wired the completed hang prototype onto the drive base and used the test board to power the sensors and motor. Hang does lift off the ground but not without tipping and is currently too janky. (TESTBOARD MOBILE!!)
 
== Saturday 2/7/2026 ==
 
made a bunch of approved but not actually approved parts and part drawings so we could start wiring up the robot but nuh uh didn't happen
 
== Wednesday 2/11/2026 ==
 
Created the lasagna (la-saug-na) which contains the roboRIO, PDH, and radio (can fit the VRM). put radio on a heat sink aluminum plate so it doesn't melt off! we may or may not have a VRM this year, we currently do not.
 
== Saturday 2/14/2026 ==
 
Put inverted caps on all Kraken x60 drive base motors, wired CANcoders, changed the housing on the hang magnetic limit switches, extended pigeon CAN and power wires.
 
 
 


== Tuesday 2/17/2026 ==
fixed lasagna (la-saug-na) moved the radio and cut a plate so that wires could be run through un-pinched.
== Wednesday 2/18/2026 ==
added an encoder on pivot to the CAN chain, soldered more wires, wired more wires, yada-yada blah blah blah. wired up the breaker. oh, its all coming together now.
== Thursday 2/19/2026 ==
got the robot all wired up and gave it to programming, fixed a swapped connector in the CAN chain and mounted lasagna (la-suag-na)


= Done =
= Archives =
= Archives =
*[[2025:Electrical_Main|2025 Electrical Main]]
*[[2025:Electrical_Main|2025 Electrical Main]]

Latest revision as of 09:09, 20 February 2026

Known Device List

Sensors

Device Mechanism Description
 Wiring Notes

4x CANCoder

Drivebase

1 per swerve module


Pigeon

Drivebase



2x REV Robotics Magnetic Limit Switch (REV 31-1462)

Climb

Top sensor and bottom sensor


Throughbore Encoder

Shooter Hood



Throughbore Encoder Intake Position Mounted on shaft








Motors and Actuators

Device Controller Mechanism Description
 Wiring Notes

8x Kraken X60


Drivebase

2 per swerve module


Neo 2.0

Sparkmax

Climb



Kraken X60


Spindexer



Kraken X60


Kicker



2x Kraken X60
Shooter One left and one right
Kraken X44
Shooter Hood

Neo 2.0 Sparkmax Intake  Intake position
Kraken X60
Intake Intake speed

Daily Notes

Sunday 1/11/26

first wookiee update! :D wired the test swerve drive base CAN and some power and added a pigeon (Velcro moment :AUUGHH:). (pictures will be added soon)

Sunday 1/18/2026

wired a kraken x60 to the test board and ran it (CAN id 20 but I don't think that's

gonna matter) also rewired CAN on the test drive base's swerve modules cause they kept falling out.

Tues 1/27/2026

Update wiki to track known devices in advance of filling out RobotIO list.

Looked up information on WCP-1655 Throughbore Encoder:
https://docs.wcproducts.com/welcome/electronics/wcp-throughbore-by-cancoder-1-2-hex/overview-and-features/physical-specifications
WCP Throughbore Encoder Molex Connector

Wednesday 1/28/2026

wired the NEO 2.0 to the test board but never ran it, wired the kraken x44 to the test board but couldn't run it due to lack of programmers and lack of a CAN wire.

Wednesday 2/4/2026 / Thursday 2/5/2026

Wired the completed hang prototype onto the drive base and used the test board to power the sensors and motor. Hang does lift off the ground but not without tipping and is currently too janky. (TESTBOARD MOBILE!!)

Saturday 2/7/2026

made a bunch of approved but not actually approved parts and part drawings so we could start wiring up the robot but nuh uh didn't happen

Wednesday 2/11/2026

Created the lasagna (la-saug-na) which contains the roboRIO, PDH, and radio (can fit the VRM). put radio on a heat sink aluminum plate so it doesn't melt off! we may or may not have a VRM this year, we currently do not.

Saturday 2/14/2026

Put inverted caps on all Kraken x60 drive base motors, wired CANcoders, changed the housing on the hang magnetic limit switches, extended pigeon CAN and power wires.

Tuesday 2/17/2026

fixed lasagna (la-saug-na) moved the radio and cut a plate so that wires could be run through un-pinched.

Wednesday 2/18/2026

added an encoder on pivot to the CAN chain, soldered more wires, wired more wires, yada-yada blah blah blah. wired up the breaker. oh, its all coming together now.

Thursday 2/19/2026

got the robot all wired up and gave it to programming, fixed a swapped connector in the CAN chain and mounted lasagna (la-suag-na)

Archives

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