2010:Electrical Main: Difference between revisions

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== Master Task List<br> ==
== Master Task List<br> ==


*[[Build 2 display boards for the field]]  
*<strike>''Consolidate the IO Maps!'' There are two IO maps now -- one on this page (below), and one blank template one linked off main page at </strike>[[2010:IO Map|<strike>2010:IO Map</strike>]]<strike>! Move the info here to there, or remove the other page and link mainpage here! Also, ''add CAN device id assignments with pwm assignments as backups''.</strike>
*We should hook up a 10k linear trim potentiometer to one of the motor controllers and also hook up one of the smaller motors (like an older window motor) to allow programming work with the position control capabilities that the CAN interface allows them. &nbsp;See Jaguar [http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1358&chk=c65690a2c1f46d0a36e2ac6370ae68e6&Itemid=591 Getting Started Guide]&nbsp;page 22 for wiring guide. &nbsp;Note that it expects a <span style="color: rgb(255, 0, 0);">'''0-3V'''</span> input!!!&nbsp;  
*[[2010:Build 2 display boards for the field|<strike>Build 2 display boards for the field</strike>]]<strike>&nbsp;</strike> (No longer being done)
*Save the Earth - it's the only planet with chocolate (as far as we know)<br><br>
*We should hook up a 10k linear trim potentiometer to one of the motor controllers and also hook up one of the smaller motors (like an older window motor) to allow programming work with the position control capabilities that the CAN interface allows them. &nbsp;See Jaguar [http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1358&chk=c65690a2c1f46d0a36e2ac6370ae68e6&Itemid=591 Getting Started Guide]&nbsp;page 22 for wiring guide. &nbsp;Note that it expects a <span style="color: rgb(255,0,0)">'''0-3V'''</span> input!!!&nbsp;  
*Save the Earth - it's the only planet with chocolate (as far as we know)
 
<br>
 
'''BILL OF MATERIALS'''<br>
 
----
 
[http://penfieldrobotics.com/wiki/images/a/ae/BOM_2010.xls Bill of Materials 2010]<br>
 
<br>
 
<u>'''As these tasks are completed, mark them done and cross them out. &nbsp;Don't delete them!'''</u><br>
 
1. Rough in Power Wires. We know the position of the board on the robot from our CAD drawings. We know where the motors are going to be from our CAD drawings. Come up with a good measurement in CAD, select the appropriate gauge of wire and terminate the end which goes to the speed controller (ring terminal) or spike relay (female fast-on). To organize it better maybe have someone come up with a "cut list" (how long of what gauge wire) and once that cut list is done break it up for a bunch of people to do this. Please check all of your connections carefully.
 
&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<strike>a.) &nbsp;Drive Motors</strike>
 
&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<strike>b.) &nbsp;Kicker Motors</strike>
 
&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;c<strike>.) &nbsp;Lifter Mech. Motors</strike>
 
<strike>&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; i.) &nbsp;Winch</strike>
 
<strike>&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ii.) Servo</strike>
 
<strike>&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; iii.) Tilt</strike>
 
&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<strike>d.) &nbsp;Thrasher Motor</strike>
 
&nbsp;&nbsp; &nbsp; <strike>&nbsp; &nbsp; &nbsp;e.) &nbsp;Electromagnets</strike>
 
<br>
 
2. Rough in sensor Wires. Same idea as above. Most of the sensors will use the PWM wire we have. Be careful because some of these sensors will go directly to the cRIO (analog inputs) versus&nbsp;others which go to the actual electrical board. Again, only terminate one side of these cables.<br>
 
&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; <strike>a.) &nbsp;Drive Motor Encoders</strike>
 
&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; <strike>b.) &nbsp;Magnetic Sensor for Kicker</strike>
 
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <strike>c.) &nbsp;Gyro</strike>
 
<strike>&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; d.) &nbsp;Lifter Limit Switch</strike>
 
<strike>&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; e.) &nbsp;Banner Sensor</strike>
 
<strike>&nbsp;&nbsp; &nbsp; &nbsp; &nbsp; f.) &nbsp; Winch Pot</strike>
 
<strike>3. Gather pre-made PWM cables. There has been some talk of using the PWM interface for the speed controllers. We should find all the pre-made PWM cables we have and USE them. Remember in our drive train with the PWM interface we use the yellow/red/black-y-cables.<br></strike>
 
<strike>4. Find a leaf switch for Tom K. to model into the lifter design.<br></strike>
 
5. Sort of optional… We should be thinking of spares and the ability to have stuff ready to swap in and out… Fast-on connectors for any pots we're using would be a plus (pots like to break on our robots). Also switches… the leaf switch has some good give, however we should also have a few others ready to swap in (I assume that you'll just use female fast-ons to connect the switches). I'd like to see the pushbuttons on fast-on connectors as well because I'm not sure how much of a beat it will take with that arm pulling in the jam on it. Once you have extras made up, find a nice small box to put them in.<br>
 
<strike>6. We're using window motors again… These are the ones that have the absolutely annoying connector that we can't find. Perhaps carefully cut away some of the plastic with a dremel and solder 6" pigtails onto the motor. If you key the pigtails (one with male fast-on one with female) make sure you do this exactly the same with the other motor.<br></strike>
 
7. <strike>Work with programming to give node-ids to the new Jaguar speed controllers (you'll noticed they're currently labeled 4-7, keep those as they are) and remember to label the Jags with a sharpie.<br></strike>
 
<strike>8. Paint the battery box? Red? Black? Camo? (nice job on it Matt!)<br></strike>
 
<strike>9. If painted and ready mount battery box (need to wait for mech to install cross member).</strike>
 
<strike>10.&nbsp; The fisher-price motor for the front thrasher is presently wired to a 20A/30A slot - it needs to be changed to a 40A slot on the power distribution board</strike>.
 
11.&nbsp; Update BOM.'''&lt;span style="color: rgb(255, 0, 0);" /&gt;'''
 
<strike>'''<span style="color: rgb(255,0,0)">12. &nbsp;Remove all components from electrical board</span>'''</strike>
 
<strike>'''<span style="color: rgb(255,0,0)">13. &nbsp;Swiss Cheese electrical board with 1" holes (make sure you don't get too close to the perimeter of the board</span>'''</strike>
 
'''<span style="color: rgb(255,0,0)">14. &nbsp;Weigh Nylon HW against velcro to attach specific components. &nbsp;Determine which is lighter and use that to reattach components.</span>'''


== Electrical Components the Robot Design is Using  ==
== Electrical Components the Robot Design is Using  ==
Line 10: Line 81:


*Main Drivetrain:&nbsp; 4 CIM - 4 Jaguars  
*Main Drivetrain:&nbsp; 4 CIM - 4 Jaguars  
*Kicker:&nbsp; 2 Nippon - 2 Spike Relays  
*Kicker:&nbsp; 2 Nippon - 2 Spike Relays (or 2 Victor speed controllers if necessary)&nbsp;
*Electromagnet: 1 Spike Relay
*Electromagnet:&nbsp;2 Spike Relays
*Front Spinner Beaterbar: 1 Fisher-Price - 1 Jaguar
*Front Thrasher: 1 Fisher-Price - 1 Jaguar  
*Hanging Winch: 1 CIM - 1 Jaguar  
*Hanging Winch: 1 CIM - 1 Jaguar  
*Hanging Mechanism Tilt: 1 Nippon-Denso - 1&nbsp;Jaguar&nbsp;
*Hanging Mechanism Tilt: 1 Nippon-Denso - 1&nbsp;Jaguar&nbsp;
Line 21: Line 92:
*Kicker Windup Mechanism rotation:&nbsp;&nbsp;magnetic rotation  
*Kicker Windup Mechanism rotation:&nbsp;&nbsp;magnetic rotation  
*Kicker electromagnet contact:&nbsp; pushbutton switch  
*Kicker electromagnet contact:&nbsp; pushbutton switch  
*Kicker electrical endstops (max forward, max reverse):&nbsp; 2 mechanical limit switches
*Kicker electrical endstops (max forward, max reverse):&nbsp; 2 mechanical limit microwitches
*Rotary Encoders on main drivetrain&nbsp;motors:&nbsp; (4) Banebots  
*Rotary Encoders on main drivetrain&nbsp;motors:&nbsp; (4) Banebots  
*Lifting mechanism endstops (max retract, max extend):&nbsp;???
*Lifting mechanism endstop (max retract) (max extend not needed per T. Kanzler): microswitch
*Lifting winch:&nbsp;&nbsp;Bourns 10-turn potentiometer (analog)&nbsp;
*Lifting winch:&nbsp;&nbsp;Bourns 10-turn potentiometer (analog)&nbsp;


Line 37: Line 108:
'''Relay Outputs Used So Far'''  
'''Relay Outputs Used So Far'''  


*Kicker release (electromagnet)&nbsp;  
*2 Kicker release (electromagnet)&nbsp;  
*2 Kicker motors  
*2 Kicker motors (unless switch to Victor speed controllers)
*Front spinner


<br>
<br>  


Total Jaguars -&nbsp;7
Total Jaguars -&nbsp;7 (maybe 9)&nbsp;


Total Spike Relays -&nbsp;3
Total Spike Relays -&nbsp;4&nbsp; (maybe 2)


= '''IO Map 2009-2010'''<br> =
= '''IO Map 2010 Thunderfoot'''<br> =


{| cellspacing="1" cellpadding="1" border="1" style="width: 653px; height: 344px;"
{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1"
|-
|-
| '''Pin Type / Function'''&nbsp;  
| '''Pin Type / Function'''&nbsp;  
| '''Pin Number<br>'''  
| '''Pin Number<br>'''
|  
|  
'''Connected Device'''  
'''Connected Device'''


|-
|-
|  
|  
<span style="font-weight: bold;">PWM&nbsp;Outputs</span>  
<span style="font-weight: bold">PWM&nbsp;Outputs</span>


| &nbsp;&nbsp;&nbsp;<br>  
| &nbsp;&nbsp;&nbsp;<br>
| <br>
| <br>
|-
|-
|  
|  
<span>Drivetrain</span>  
<span>Drivetrain</span>


| &nbsp;&nbsp;&nbsp; 01<br>  
| &nbsp;&nbsp;&nbsp; 01<br>
| Jaguar #4 - LF (left front)<br>
| Jaguar CAN#4 - LF (left front)<br>
|-
|-
|  
|  
Drivetrain  
Drivetrain


| &nbsp;&nbsp;&nbsp; 02<br>  
| &nbsp;&nbsp;&nbsp; 02<br>
| Jaguar #5 - LR (left rear)<br>
| Jaguar CAN#5 - LR (left rear)<br>
|-
|-
|  
|  
Drivetrain  
Drivetrain


| &nbsp;&nbsp;&nbsp; 03<br>  
| &nbsp;&nbsp;&nbsp; 03<br>
| Jaguar #6 - RF (right front)<br>
| Jaguar CAN#6 - RF (right front)<br>
|-
|-
|  
|  
Drivetrain  
Drivetrain


| &nbsp;&nbsp;&nbsp; 04<br>  
| &nbsp;&nbsp;&nbsp; 04<br>
| Jaguar #7 - RR (rail road)<br>
| Jaguar CAN#7 - RR (right rear)<br>
|-
|-
|  
|  
<span>Lifting Winch</span>  
<span>Lifting Winch</span>


| &nbsp;&nbsp;&nbsp; 05<br>  
| &nbsp;&nbsp;&nbsp; 05<br>
| Jaguar #?<br>
| Jaguar CAN#8<br>
|-
|-
|  
|  
Lifting Arm Tilt  
Lifting Arm Tilt


| &nbsp;&nbsp;&nbsp; 06<br>  
| &nbsp;&nbsp;&nbsp; 06<br>
| Jaguar #?<br>
| Jaguar CAN#2<br>
|-
|-
|  
|  
Front Beater bar<br>  
Front Thrasher<br>


| &nbsp;&nbsp;&nbsp; 07<br>  
| &nbsp;&nbsp;&nbsp; 07<br>
| Jaguar??? this might just be a relay<br>
| Jaguar CAN#3<br>
|-
|-
|  
|  
<br>  
<br>


| &nbsp;&nbsp;&nbsp; 08<br>  
| &nbsp;&nbsp;&nbsp; 08<br>
| <br>
| <br>
|-
|-
|  
|  
<br>  
Lifting arm lock<br>


| &nbsp;&nbsp;&nbsp; 09<br>  
| &nbsp;&nbsp;&nbsp; 09<br>
| <br>
| servo (needs PWM power jumper)<br>
|-
|-
|  
|  
<br>  
Camera Tilt<br>


| &nbsp;&nbsp;&nbsp; 10<br>  
| &nbsp;&nbsp;&nbsp; 10<br>
| <br>
| <br>Camera servo (needs PWM power jumper)
|-
|-
| '''Relay Outputs'''  
| '''Relay Outputs'''  
| <br>  
| <br>
| <br>
| <br>
|-
|-
|  
|  
Kicker  
Kicker windup


| &nbsp;&nbsp; &nbsp;01  
| &nbsp;&nbsp; &nbsp;01  
| Window Motor (any)
| LH motor
|-
|-
|  
|  
Kicker  
Kicker windup


| &nbsp;&nbsp;&nbsp; 02<br>  
| &nbsp;&nbsp;&nbsp; 02<br>
| Window Motor (any)<br>
| RH motor<br>
|-
|-
|  
|  
<br>  
<br>


| &nbsp;&nbsp;&nbsp; 03  
| &nbsp;&nbsp;&nbsp; 03  
|  
| <br>
|-
|-
|  
|  
Kicker  
Kicker release


| &nbsp;&nbsp;&nbsp; 04<br>  
| &nbsp;&nbsp;&nbsp; 04<br>
| Electromagnet<br>
| Electromagnet<br>
|-
|-
|  
|  
Front Beater Bar
Kicker release<br>


| &nbsp;&nbsp;&nbsp; 05  
| &nbsp;&nbsp;&nbsp; 05  
| Motor
| Electromagnet<br>
|-
|-
|  
|  
<br>  
<br>


| &nbsp;&nbsp;&nbsp; 06  
| &nbsp;&nbsp;&nbsp; 06  
|  
| <br>
|-
|-
|  
|  
<br>  
<br>


| &nbsp;&nbsp;&nbsp; 07  
| &nbsp;&nbsp;&nbsp; 07  
|  
| <br>
|-
|-
|  
|  
<br>  
<br>


| &nbsp;&nbsp;&nbsp; 08  
| &nbsp;&nbsp;&nbsp; 08  
|  
| <br>
|-
|-
|  
|  
'''Analog Inputs'''  
'''Analog Inputs'''


|  
| <br>
|  
| <br>
|-
|-
|  
|  
<br>  
<br>


| 01  
| 01  
Line 188: Line 258:
|-
|-
|  
|  
Kicker shaft angle<br>  
Kicker shaft angle<br>


| 02  
| 02  
Line 194: Line 264:
|-
|-
|  
|  
<br>  
Lifting winch<br>


| 03  
| 03  
|  
|  
Bourns 10-turn potentiometer (0-5V full scale,
but we use less than full 10 turn range)
|-
|-
|  
|  
<br>  
<br>


| 04  
| 04  
|  
| <br>
|-
|-
|  
|  
<br>  
<br>


| 05  
| 05  
|  
| <br>
|-
|-
|  
|  
<br>  
<br>


| 06  
| 06  
|  
| <br>
|-
|-
|  
|  
<br>  
<br>


| 07  
| 07  
|  
| <br>
|-
|-
|  
|  
<br>  
RESERVED<br>


| 08  
| 08  
Line 230: Line 304:
|-
|-
| '''Digital Outputs (GPIO)'''  
| '''Digital Outputs (GPIO)'''  
|  
| <br>
|  
| <br>
|-
|-
| drive motor rotation  
| drive motor rotation  
Line 240: Line 314:
| 02  
| 02  
|  
|  
<br>Banebots rotary encoder - LR - channel A  
<br>Banebots rotary encoder - LR - channel A


|-
|-
Line 253: Line 327:
| front ball position  
| front ball position  
| 05  
| 05  
| Banner photoelectric sensor
| Banner photoelectric interrupter&nbsp;sensor
|-
|-
| kicker electromagnet contact  
| kicker electromagnet contact  
| 06  
| 06  
| pushbutton switch
| photoreflective&nbsp;switch
|-
|-
| kicker max forward position  
| kicker max forward position  
Line 271: Line 345:
| switch
| switch
|-
|-
| lifting arm fully extended
| <br>
| 10  
| 10  
| switch
| <br>
|-
|-
| lifting winch encoder
| <br>
| 11  
| 11  
| US Digital rotary encoder
| <br>
|-
|-
|  
| <br>
| 12  
| 12  
|  
| <br>
|-
|-
|  
| <br>
| 13  
| 13  
|  
| <br>
|-
|-
|  
| <br>
| 14  
| 14  
|  
| <br>
|}
|}


<br>  
<br>


== Electrical Main Subteam's Engineering Notebook  ==
== Electrical Main Subteam's Engineering Notebook  ==


'''Week 1'''<br>  
'''Week 1'''<br>


[[2010:Electrical Main 01.12]]<br>[[2010:Electrical Main 01.13]]<br>[[2010:Electrical Main 01.14]]<br>[[2010:Electrical Main 01.16]]<br>[[2010:Electrical Main 01.17]]<br>  
[[2010:Electrical Main 01.12]]<br>[[2010:Electrical Main 01.13]]<br>[[2010:Electrical Main 01.14]]<br>[[2010:Electrical Main 01.16]]<br>[[2010:Electrical Main 01.17]]<br>


<br>'''Week 2'''<br>  
<br>'''Week 2'''<br>


[[2010:Electrical Main 01.19]]<br>[[2010:Electrical Main 01.20]]<br>[[2010:Electrical Main 01.21]]<br>[[2010:Electrical Main 01.23]]<br>[[2010:Electrical Main 01.24]]<br>  
[[2010:Electrical Main 01.19]]<br>[[2010:Electrical Main 01.20]]<br>[[2010:Electrical Main 01.21]]<br>[[2010:Electrical Main 01.23]]<br>[[2010:Electrical Main 01.24]]<br>


<br>  
<br>


'''Week 3'''  
'''Week 3'''  


[[2010:Electrical Main 01.26|2010:Electrical Main 01.26]]<br>[[2010:Electrical Main 01.27|2010:Electrical Main 01.27]]<br>[[2010:Electrical Main 01.28|2010:Electrical Main 01.28]]<br>[[2010:Electrical Main 01.30|2010:Electrical Main 01.30]]<br>[[2010:Electrical Main 01.31|2010:Electrical Main 01.31]]<br><br>  
<br>[[2010:Electrical Main 01.27|2010:Electrical Main 01.27]]<br>[[2010:Electrical Main 01.28|2010:Electrical Main 01.28]]<br>[[2010:Electrical Main 01.30|2010:Electrical Main 01.30]]<br>[[2010:Electrical Main 01.31|2010:Electrical Main 01.31]]<br><br>
 
'''Week 4'''<br><br>[[2010:Electrical Main 02.03|2010:Electrical Main 02.03]]<br>[[2010:Electrical Main 02.04|2010:Electrical Main 02.04]]<br>[[2010:Electrical Main 02.06|2010:Electrical Main 02.06]]<br>[[2010:Electrical Main 02.07|2010:Electrical Main 02.07]]<br><br>
 
'''Week 5'''


'''Week 4'''
[[2010:Electrical Main 02.09|2010:Electrical Main 02.09]]<br>[[2010:Electrical Main 02.10|2010:Electrical Main 02.10]]<br>[[2010:Electrical Main 02.11|2010:Electrical Main 02.11]]<br>[[2010:Electrical Main 02.12|2010:Electrical Main 02.12]]<br>[[2010:Electrical Main 02.13|2010:Electrical Main 02.13]]<br>[[2010:Electrical Main 02.14|2010:Electrical Main 02.14]]


[[2010:Electrical Main 02.02|2010:Electrical Main 02.02]]<br>[[2010:Electrical Main 02.03|2010:Electrical Main 02.03]]<br>[[2010:Electrical Main 02.04|2010:Electrical Main 02.04]]<br>[[2010:Electrical Main 02.06|2010:Electrical Main 02.06]]<br>[[2010:Electrical Main 02.07|2010:Electrical Main 02.07]]<br><br>
[[2010:Electrical Main 02.14|Electrical Main 02.14]]
 
<br>'''Week 6'''
 
[[2010:Electrical Main 02.015|2010:Electrical Main 02.15]]<br>[[2010:Electrical Main 02.16|2010:Electrical Main 02.16]]<br>[[2010:Electrical Main 02.17|2010:Electrical Main 02.17]]<br>[[2010:Electrical Main 02.18|2010:Electrical Main 02.18]]<br>[[2010:Electrical Main 02.19|2010:Electrical Main 02.19]]<br>[[2010:Electrical Main 02.20|2010:Electrical Main 02.20]]


Engineering Notebook Templates Available at: ''[[Engineering Notebook Template|Engineering_Notebook_Template]]''  
Engineering Notebook Templates Available at: ''[[Engineering Notebook Template|Engineering_Notebook_Template]]''  
Line 334: Line 416:
[[Micro Switches]]  
[[Micro Switches]]  


[[Inventory]]  
[[Electrical Inventory]]  


<br>  
<br>


== Links to Other Subteams' Important Stuff  ==
== Links to Other Subteams' Important Stuff  ==


[[IO Map|IO_Map]] - Thunderplucker  
[[2009:IO Map|IO_Map]] - Thunderplucker  


<br>  
<br>


== '''<u>Electrical Fun</u>'''  ==
== '''<u>Electrical Fun</u>'''  ==


[http://rollingthunder.smugmug.com/gallery/4284920_s4NWg#254727854_sMXFx-A-LB <span style="text-decoration: underline;">Apples to Apples</span>]  
[http://rollingthunder.smugmug.com/gallery/4284920_s4NWg#254727854_sMXFx-A-LB <span style="text-decoration: underline">Apples to Apples</span>]  


  [[Image:Kirby.jpg]]<span style="background-color: rgb(0, 0, 0);"><span style="color: rgb(255, 153, 204);">HIIIIIIIIIIIIIII!!!</span></span>  
  [[Image:Kirby.jpg]]<span style="background-color: rgb(0,0,0)"><span style="color: rgb(255,153,204)">HIIIIIIIIIIIIIII!!!</span></span>  


<br>  
<br>


== Archives  ==
== Archives  ==


[[2009:Electrical Main|2009 Electrical Main]]
[[2009:Electrical Main|2009 Electrical Main]]

Latest revision as of 15:47, 14 November 2010

Master Task List

  • Consolidate the IO Maps! There are two IO maps now -- one on this page (below), and one blank template one linked off main page at 2010:IO Map! Move the info here to there, or remove the other page and link mainpage here! Also, add CAN device id assignments with pwm assignments as backups.
  • Build 2 display boards for the field  (No longer being done)
  • We should hook up a 10k linear trim potentiometer to one of the motor controllers and also hook up one of the smaller motors (like an older window motor) to allow programming work with the position control capabilities that the CAN interface allows them.  See Jaguar Getting Started Guide page 22 for wiring guide.  Note that it expects a 0-3V input!!! 
  • Save the Earth - it's the only planet with chocolate (as far as we know)


BILL OF MATERIALS

Bill of Materials 2010


As these tasks are completed, mark them done and cross them out.  Don't delete them!

1. Rough in Power Wires. We know the position of the board on the robot from our CAD drawings. We know where the motors are going to be from our CAD drawings. Come up with a good measurement in CAD, select the appropriate gauge of wire and terminate the end which goes to the speed controller (ring terminal) or spike relay (female fast-on). To organize it better maybe have someone come up with a "cut list" (how long of what gauge wire) and once that cut list is done break it up for a bunch of people to do this. Please check all of your connections carefully.

          a.)  Drive Motors

          b.)  Kicker Motors

          c.)  Lifter Mech. Motors

                   i.)  Winch

                   ii.) Servo

                   iii.) Tilt

          d.)  Thrasher Motor

          e.)  Electromagnets


2. Rough in sensor Wires. Same idea as above. Most of the sensors will use the PWM wire we have. Be careful because some of these sensors will go directly to the cRIO (analog inputs) versus others which go to the actual electrical board. Again, only terminate one side of these cables.

         a.)  Drive Motor Encoders

         b.)  Magnetic Sensor for Kicker

         c.)  Gyro

         d.)  Lifter Limit Switch

         e.)  Banner Sensor

         f.)   Winch Pot

3. Gather pre-made PWM cables. There has been some talk of using the PWM interface for the speed controllers. We should find all the pre-made PWM cables we have and USE them. Remember in our drive train with the PWM interface we use the yellow/red/black-y-cables.

4. Find a leaf switch for Tom K. to model into the lifter design.

5. Sort of optional… We should be thinking of spares and the ability to have stuff ready to swap in and out… Fast-on connectors for any pots we're using would be a plus (pots like to break on our robots). Also switches… the leaf switch has some good give, however we should also have a few others ready to swap in (I assume that you'll just use female fast-ons to connect the switches). I'd like to see the pushbuttons on fast-on connectors as well because I'm not sure how much of a beat it will take with that arm pulling in the jam on it. Once you have extras made up, find a nice small box to put them in.

6. We're using window motors again… These are the ones that have the absolutely annoying connector that we can't find. Perhaps carefully cut away some of the plastic with a dremel and solder 6" pigtails onto the motor. If you key the pigtails (one with male fast-on one with female) make sure you do this exactly the same with the other motor.

7. Work with programming to give node-ids to the new Jaguar speed controllers (you'll noticed they're currently labeled 4-7, keep those as they are) and remember to label the Jags with a sharpie.

8. Paint the battery box? Red? Black? Camo? (nice job on it Matt!)

9. If painted and ready mount battery box (need to wait for mech to install cross member).

10.  The fisher-price motor for the front thrasher is presently wired to a 20A/30A slot - it needs to be changed to a 40A slot on the power distribution board.

11.  Update BOM.<span style="color: rgb(255, 0, 0);" />

12.  Remove all components from electrical board

13.  Swiss Cheese electrical board with 1" holes (make sure you don't get too close to the perimeter of the board

14.  Weigh Nylon HW against velcro to attach specific components.  Determine which is lighter and use that to reattach components.

Electrical Components the Robot Design is Using

Motors Used So Far

  • Main Drivetrain:  4 CIM - 4 Jaguars
  • Kicker:  2 Nippon - 2 Spike Relays (or 2 Victor speed controllers if necessary) 
  • Electromagnet: 2 Spike Relays
  • Front Thrasher: 1 Fisher-Price - 1 Jaguar
  • Hanging Winch: 1 CIM - 1 Jaguar
  • Hanging Mechanism Tilt: 1 Nippon-Denso - 1 Jaguar 

Sensors Used So Far

  • Front Ball Position:  Banner photoelectric
  • Kicker Windup Mechanism rotation:  magnetic rotation
  • Kicker electromagnet contact:  pushbutton switch
  • Kicker electrical endstops (max forward, max reverse):  2 mechanical limit microwitches
  • Rotary Encoders on main drivetrain motors:  (4) Banebots
  • Lifting mechanism endstop (max retract) (max extend not needed per T. Kanzler): microswitch
  • Lifting winch:  Bourns 10-turn potentiometer (analog) 

Pneumatics Used So Far

  • none

Servos Used So Far

  • Tilt for camera
  • Lifting mechanism arm lock

Relay Outputs Used So Far

  • 2 Kicker release (electromagnet) 
  • 2 Kicker motors (unless switch to Victor speed controllers)


Total Jaguars - 7 (maybe 9) 

Total Spike Relays - 4  (maybe 2)

IO Map 2010 Thunderfoot

Pin Type / Function  Pin Number

Connected Device

PWM Outputs

   

Drivetrain

    01
 Jaguar CAN#4 - LF (left front)

Drivetrain

    02
 Jaguar CAN#5 - LR (left rear)

Drivetrain

    03
 Jaguar CAN#6 - RF (right front)

Drivetrain

    04
 Jaguar CAN#7 - RR (right rear)

Lifting Winch

    05
 Jaguar CAN#8

Lifting Arm Tilt

    06
 Jaguar CAN#2

Front Thrasher

     07
 Jaguar CAN#3


     08

Lifting arm lock

     09
 servo (needs PWM power jumper)

Camera Tilt

     10
Camera servo (needs PWM power jumper)
Relay Outputs

Kicker windup

    01 LH motor

Kicker windup

    02
 RH motor


     03

Kicker release

    04
 Electromagnet

Kicker release

     05 Electromagnet


     06


    07


    08

Analog Inputs




01 Gyro

Kicker shaft angle

 02 Magnetic rotary encoder (Austria Microsystems)

Lifting winch

 03

Bourns 10-turn potentiometer (0-5V full scale,

but we use less than full 10 turn range)


04


05


06


07

RESERVED

 08 Battery Voltage Input (Don't use)
Digital Outputs (GPIO)

drive motor rotation 01 Banebots rotary encoder - LF - channel A
drive motor rotation 02


Banebots rotary encoder - LR - channel A

drive motor rotation 03 Banebots rotary encoder - RF - channel A
drive motor rotation 04 Banebots rotary encoder - RR - channel A
front ball position 05 Banner photoelectric interrupter sensor
kicker electromagnet contact 06 photoreflective switch
kicker max forward position 07 limit switch
kicker max pullback position 08 limit switch
lifting arm fully retracted 09 switch

10

11

12

13

14


Electrical Main Subteam's Engineering Notebook

Week 1

2010:Electrical Main 01.12
2010:Electrical Main 01.13
2010:Electrical Main 01.14
2010:Electrical Main 01.16
2010:Electrical Main 01.17


Week 2

2010:Electrical Main 01.19
2010:Electrical Main 01.20
2010:Electrical Main 01.21
2010:Electrical Main 01.23
2010:Electrical Main 01.24


Week 3


2010:Electrical Main 01.27
2010:Electrical Main 01.28
2010:Electrical Main 01.30
2010:Electrical Main 01.31

Week 4

2010:Electrical Main 02.03
2010:Electrical Main 02.04
2010:Electrical Main 02.06
2010:Electrical Main 02.07

Week 5

2010:Electrical Main 02.09
2010:Electrical Main 02.10
2010:Electrical Main 02.11
2010:Electrical Main 02.12
2010:Electrical Main 02.13
2010:Electrical Main 02.14

Electrical Main 02.14


Week 6

2010:Electrical Main 02.15
2010:Electrical Main 02.16
2010:Electrical Main 02.17
2010:Electrical Main 02.18
2010:Electrical Main 02.19
2010:Electrical Main 02.20

Engineering Notebook Templates Available at: Engineering_Notebook_Template

Please Label All Notebook Pages 2010:Electrical Main MM.DD to avoid confusion.

Component/Component Specifications

Jaguar Speed Controllers

Victor 884 Speed Controllers

2009 KOP Motors Spreadsheet (Chief Delphi)

Motor Characteristics

Sensors

Servos

Micro Switches

Electrical Inventory


Links to Other Subteams' Important Stuff

IO_Map - Thunderplucker


Electrical Fun

Apples to Apples 

Kirby.jpgHIIIIIIIIIIIIIII!!!


Archives

2009 Electrical Main

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