2012:Electrical Main: Difference between revisions

From 1511Wookiee
Jump to navigationJump to search
No edit summary
No edit summary
 
(24 intermediate revisions by 3 users not shown)
Line 1: Line 1:
= Electrical Subteam Members =
----
 
----
 
= Electrical Subteam Members =


*'''Students'''
*'''Students'''


<br><br>
Vaughn
 
Justin B.
 
Shayna
 
Mo
 
Nick B.
 
Tommy M.
 
 


*'''Mentors'''
*'''Mentors'''


<br>
Dave B.
 
Eric A.
 
Christian S.


= Tentative Attendance Calendar  =
Dean S.


=== January  ===
Dave S.


{| border="1" cellspacing="1" cellpadding="1" width="800" align="left"
Gafei S.
|-
! scope="col" | Sunday
! scope="col" | Monday
! scope="col" | Tuesday
! scope="col" | Wednesday
! scope="col" | Thursday
! scope="col" | Friday
! scope="col" | Saturday
|-
|
|
|
|
|
|
|
|-
|
|
|
|
|
|
|
|}


<br>
Carol E.


<br>


<br>


<br>


<br>


=== February  ===
= Master Task List =


{| border="1" cellspacing="1" cellpadding="1" width="800" align="left"
=== High Priority ===
|-
! scope="col" | Sunday
! scope="col" | Monday
! scope="col" | Tuesday
! scope="col" | Wednesday
! scope="col" | Thursday
! scope="col" | Friday
! scope="col" | Saturday
|-
|
|
|
|
|
|
|
|-
|
|
|
|
|
|
|
|-
|
|
|
|
|
|
|
|-
|
|
|
|
|
|
|
|}


<br>
*Design&nbsp;layout for Electrical components (where side car, jaguars, etc, goes).
*Come to agreement with mechanical on layout/placement
*Position sensors&nbsp;'''(''''''and sensor flags)'''&nbsp;in inventor model
*Collaborate with mechanical on the position and '''mounting'''&nbsp;of these sensors (need to know range of motion for mechanical actuators)
*Should think about how big the flags have to be
*Should think about how we couple together potentiometers, encoders, etc


<br>
=== Medium Priority ===


<br>
*Homebrew sensor layout
*Homebrew sensor construction
*Once electrical layout&nbsp;& position/robot complete in inventor we can rough out wire lengths
*Custom I/O board (for pullups, current limiting resistors, signal light drivers, &nbsp;etc).


<br>
=== Low Priority ===


<br>
*Design/Build LED/Light driver board
*Inventory current items


<br>
= Sub Task List =


<br>
= Links to Other Important Stuff =


= Master Task List  =
[[2012:Robot IO Map]]


=== High Priority  ===
[http://penfieldrobotics.com/wiki/index.php?title=File:Electrical_BOM_1-29-12.xls Electrical Bill of Materials]&nbsp;'''(if updating, please update file in Harris Robotics as well!)'''


=== Medium Priority  ===
= Robot Electromechanical&nbsp;Design Features&nbsp; =


=== Low Priority  ===
<br/>'''DRIVETRAIN'''


<br>
*six wheel drive
*four CIM motors, one per side on speed controllers


<br>
&nbsp;


= Sub Task List  =
'''BRIDGE MANIPULATOR'''


= Links to Other Subteams' Important Stuff  =
*bridge manipulator is the same as the guide wings of the ball collector


[[2012:Robot IO Map]]
<br/>&nbsp;


= Robot Electromechanical&nbsp;Design Features&nbsp;  =
'''BALL ACQUISITION'''


<br>'''DRIVETRAIN'''
*guide wings plus input roller (beater bar)
*one motor for roller - reversible and on speed controller?


<br>


'''BRIDGE MANIPULATOR'''


<br>
'''BALL STORAGE'''


'''BALL ACQUISITION'''
*three-stage conveyor system
*one motor for each conveyor segment (3 total), each on speed controller?
*four beam-break sensors - one at each conveyor exit "parking" position and one at first conveyor entrance to stop input roller.


<br>
&nbsp;


'''BALL STORAGE'''  
'''SHOOTER'''&nbsp;


<br>
*two-wheel "pinch roller" shooter on rotating turret
*two motors for shooter (one for each wheel)&nbsp;so that relative speeds can be varied for backspin.
*an RPM sensor on each motor so that speeds can be matched, or purposely mismatched a known amount of backspin
*one motor for turret rotation
*a sensor for turrent position and flag sensors for endstops


'''SHOOTER'''&nbsp;
= IR Sensors =


<br>
IR (infared)&nbsp;sensors are phototransistors that are used in conjunction with infareddiodes. They are cheap and can be made with parts that we already have.


= Robot Sensor Requirements  =
[http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png]


= Motor Outputs  =
Progress Report: A proto-type of the sensor has been soulder to a protoboard. A better design and layout out the sensor will come in the future pending the testing of the current protoboard.


= Visual Feedback to Drivers&nbsp;?&nbsp; =
Mounting created for IR semsor (2"x1"x1" aprox.). There are&nbsp;three holes:&nbsp;two for mounting one for the phototransistor to stick out.


= Electrical Main Subteam's Engineering Notebook  =
= <br/>Test Leads&nbsp; =


Engineering Notebook Templates Available at: ''[[Engineering Notebook Template|Engineering_Notebook_Template]]''
About half a dozen teast leads were made some ends with clips and others with banana jacks. They can be used to test electrical circuits.


Please Label All Notebook Pages <u>2012:Electrical Main MM.DD</u> to avoid confusion.
= Mini Beam Sensors =


= Component Specifications  =
These fiber optics use a red light that senses if the light stream is broken which is then sent back to the sensor. The range of the the sensor is 6in but a not optimal voltage (10V {<-- Used} but max was 30V) was used. Obtained for free by a mentor.


[[Jaguar Speed Controllers]]  
<br/>[http://penfieldrobotics.com/wiki/images/f/f2/Banner_Sensor.jpg http://penfieldrobotics.com/wiki/images/f/f2/Banner_Sensor.jpg]


[[Jaguar Firmware Notes]]
= Robot Sensor Requirements =


[[Victor 884 Speed Controllers]]
= Motor Outputs =


[[Image:2012 MotorInfo.pdf|2012 Motor Performance Curves]]
= Visual Feedback to Drivers - Robot-Mounted Indicators =


[[Sensors]]  
[[File:LED_control_board.pdf|2012 LED Control Board]]


[[Servos|Servos]]
*Wing deployer Down
**Must be visible from rear; side visibility also desireable
**Red flashing indicator when Wing is lower than "safe" level
**Safe level is the height which will not hit centerfield barrier


[[Micro Switches]]
*Ball Status
**three strips either vertical or horizontal on both sides of the robot.
**The stage three strip is bicolor yellow & blue
**First stripe indicates ball is in conveyor stage 1
**Second stripe indicates ball is at exit of conveyor stage 2
**Third stripe indicates:
***Yellow flashing is when ball is at exit of conveyor 3 ready to shoot
***Yellow solid is when ball is ready to shoot and shooters are up to speed
***Blue flashing is when ball ready to shoot, shooter up to speed, and target tracking is in progress
***Blue solid is when ball is ready to shoot, shooter up to speed, and target tracking is locked on


[[Electrical Inventory]]
*Co-opertition Bridge Annunciator
**must be visible from all sides
**white indicator
**signal to all teams that we are headed to the co-opertition bridge


[[Image:BDC24 RDK UM.pdf|Jaguar speed Controller]]  
* '''Proposed Implementation of above ideas:'''
** 3 - stripes of RGB leds [http://www.dealextreme.com/p/rgb-150x5050-smd-led-multicolored-light-strip-5-meter-dc-12v-900141523]
** Color is the same across all 3 stripes, but each could be on/off controlled independently
** Base function of the 3 is indicating balls in conveyor
** Coloring of the lit stages indicates the other needed items above.  Coloring is priority-driven (highest one wins) as follows:
*** Shooter targeting active: Blue
*** Wings down: Red
*** Coopertition Desire: White
*** Simply indicating balls: Yellow
** Indicating wings down (red), coopertition (white) needs a specific way to light one or more lights for no balls in system. Flashing or pulsing one or more of them with the desired color.


[[Image:MX5 CircuitBreaker.pdf|40A Circuit Breaker]]
= Electrical Main Subteam's Engineering Notebook =


[[Image:VB3 CircuitBreaker.pdf|20A/30A Circuit Breaker]]  
Engineering Notebook Templates Available at: ''[[Engineering Notebook Template|Engineering_Notebook_Template]]''


[[Image:Natl Instruments 9201 AnalogModule.pdf|cRio Analog Module Specs]]
Please Label All Notebook Pages <u>2012:Electrical Main MM.DD</u> to avoid confusion.


[[Line Sensor Notes]]
= Component Specifications =


[http://usdigital.com/products/encoders/incremental/rotary/kit US Digital Encoders]<br>
[[Jaguar Speed Controllers]]


[http://www.newark.com/optek-technology/opb815l/slotted-switch-transistor/dp/66F3367?whydiditmatch=rel_default&matchedProduct=815L Slotted Switch Optical Sensor]  
[[Jaguar Firmware Notes]]


[[Image:GRS2011SwitchMomentary.pdf|Tetrix Rocker Power Switch]]  
[[File:Jaguar BDC-COMM.pdf|Jaguar Application/Programming Software Guide]]


<br>
[[Victor 884 Speed Controllers]]


= IO Pin Maps for Old Robots  =
[[File:2012 MotorInfoRevised.pdf|2012 Motor Performance Curves]]


*[[2011:Robot IO Map|2011 Thunderous Prime IO Map]]  
[[Sensors]]
*[[2010:Electrical Main#IO_Map_2010_Thunderfoot|2010 Thunderfoot IO Map]]  
 
*[[2009:IO Map|2009 Thunderplucker]]  
[[Servos|Servos]]
 
[[Micro Switches]]
 
[[Electrical Inventory]]
 
[[File:BDC24 RDK UM.pdf|Jaguar speed Controller]]
 
[[File:MX5 CircuitBreaker.pdf|40A Circuit Breaker]]
 
[[File:VB3 CircuitBreaker.pdf|20A/30A Circuit Breaker]]
 
[[File:Natl Instruments 9201 AnalogModule.pdf|cRio Analog Module Specs]]
 
[[Line Sensor Notes]]
 
[http://usdigital.com/products/encoders/incremental/rotary/kit US Digital Encoders]
 
[http://www.newark.com/optek-technology/opb815l/slotted-switch-transistor/dp/66F3367?whydiditmatch=rel_default&matchedProduct=815L Slotted Switch Optical Sensor]
 
[[File:GRS2011SwitchMomentary.pdf|Tetrix Rocker Power Switch]]
 
= IO Pin Maps for Old Robots =
 
*[[2011:Robot IO Map|2011 Thunderous Prime IO Map]]
*[[2010:Electrical Main#IO Map 2010 Thunderfoot|2010 Thunderfoot IO Map]]
*[[2009:IO Map|2009 Thunderplucker]]
*[[IO Pin Maps for Pre-2009 Robots]]
*[[IO Pin Maps for Pre-2009 Robots]]


= Archives =
= Archives =


*[[2011:Electrical Main|2011 Electrical Main]]  
*[[2011:Electrical Main|2011 Electrical Main]]
*[[2010:Electrical Main|2010 Electrical Main]]  
*[[2010:Electrical Main|2010 Electrical Main]]
*[[2009:Electrical Main|2009 Electrical Main]]
*[[2009:Electrical Main|2009 Electrical Main]]
<br>

Latest revision as of 12:27, 22 February 2012

Electrical Subteam Members

  • Students

Vaughn

Justin B.

Shayna

Mo

Nick B.

Tommy M.


  • Mentors

Dave B.

Eric A.

Christian S.

Dean S.

Dave S.

Gafei S.

Carol E.



Master Task List

High Priority

  • Design layout for Electrical components (where side car, jaguars, etc, goes).
  • Come to agreement with mechanical on layout/placement
  • Position sensors '('and sensor flags) in inventor model
  • Collaborate with mechanical on the position and mounting of these sensors (need to know range of motion for mechanical actuators)
  • Should think about how big the flags have to be
  • Should think about how we couple together potentiometers, encoders, etc

Medium Priority

  • Homebrew sensor layout
  • Homebrew sensor construction
  • Once electrical layout & position/robot complete in inventor we can rough out wire lengths
  • Custom I/O board (for pullups, current limiting resistors, signal light drivers,  etc).

Low Priority

  • Design/Build LED/Light driver board
  • Inventory current items

Sub Task List

Links to Other Important Stuff

2012:Robot IO Map

Electrical Bill of Materials (if updating, please update file in Harris Robotics as well!)

Robot Electromechanical Design Features 


DRIVETRAIN

  • six wheel drive
  • four CIM motors, one per side on speed controllers

 

BRIDGE MANIPULATOR

  • bridge manipulator is the same as the guide wings of the ball collector


 

BALL ACQUISITION

  • guide wings plus input roller (beater bar)
  • one motor for roller - reversible and on speed controller?


BALL STORAGE

  • three-stage conveyor system
  • one motor for each conveyor segment (3 total), each on speed controller?
  • four beam-break sensors - one at each conveyor exit "parking" position and one at first conveyor entrance to stop input roller.

 

SHOOTER 

  • two-wheel "pinch roller" shooter on rotating turret
  • two motors for shooter (one for each wheel) so that relative speeds can be varied for backspin.
  • an RPM sensor on each motor so that speeds can be matched, or purposely mismatched a known amount of backspin
  • one motor for turret rotation
  • a sensor for turrent position and flag sensors for endstops

IR Sensors

IR (infared) sensors are phototransistors that are used in conjunction with infareddiodes. They are cheap and can be made with parts that we already have.

http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png

Progress Report: A proto-type of the sensor has been soulder to a protoboard. A better design and layout out the sensor will come in the future pending the testing of the current protoboard.

Mounting created for IR semsor (2"x1"x1" aprox.). There are three holes: two for mounting one for the phototransistor to stick out.


Test Leads 

About half a dozen teast leads were made some ends with clips and others with banana jacks. They can be used to test electrical circuits.

Mini Beam Sensors

These fiber optics use a red light that senses if the light stream is broken which is then sent back to the sensor. The range of the the sensor is 6in but a not optimal voltage (10V {<-- Used} but max was 30V) was used. Obtained for free by a mentor.


http://penfieldrobotics.com/wiki/images/f/f2/Banner_Sensor.jpg

Robot Sensor Requirements

Motor Outputs

Visual Feedback to Drivers - Robot-Mounted Indicators

File:LED control board.pdf

  • Wing deployer Down
    • Must be visible from rear; side visibility also desireable
    • Red flashing indicator when Wing is lower than "safe" level
    • Safe level is the height which will not hit centerfield barrier
  • Ball Status
    • three strips either vertical or horizontal on both sides of the robot.
    • The stage three strip is bicolor yellow & blue
    • First stripe indicates ball is in conveyor stage 1
    • Second stripe indicates ball is at exit of conveyor stage 2
    • Third stripe indicates:
      • Yellow flashing is when ball is at exit of conveyor 3 ready to shoot
      • Yellow solid is when ball is ready to shoot and shooters are up to speed
      • Blue flashing is when ball ready to shoot, shooter up to speed, and target tracking is in progress
      • Blue solid is when ball is ready to shoot, shooter up to speed, and target tracking is locked on
  • Co-opertition Bridge Annunciator
    • must be visible from all sides
    • white indicator
    • signal to all teams that we are headed to the co-opertition bridge
  • Proposed Implementation of above ideas:
    • 3 - stripes of RGB leds [1]
    • Color is the same across all 3 stripes, but each could be on/off controlled independently
    • Base function of the 3 is indicating balls in conveyor
    • Coloring of the lit stages indicates the other needed items above. Coloring is priority-driven (highest one wins) as follows:
      • Shooter targeting active: Blue
      • Wings down: Red
      • Coopertition Desire: White
      • Simply indicating balls: Yellow
    • Indicating wings down (red), coopertition (white) needs a specific way to light one or more lights for no balls in system. Flashing or pulsing one or more of them with the desired color.

Electrical Main Subteam's Engineering Notebook

Engineering Notebook Templates Available at: Engineering_Notebook_Template

Please Label All Notebook Pages 2012:Electrical Main MM.DD to avoid confusion.

Component Specifications

Jaguar Speed Controllers

Jaguar Firmware Notes

File:Jaguar BDC-COMM.pdf

Victor 884 Speed Controllers

File:2012 MotorInfoRevised.pdf

Sensors

Servos

Micro Switches

Electrical Inventory

File:BDC24 RDK UM.pdf

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

File:Natl Instruments 9201 AnalogModule.pdf

Line Sensor Notes

US Digital Encoders

Slotted Switch Optical Sensor

File:GRS2011SwitchMomentary.pdf

IO Pin Maps for Old Robots

Archives

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2012:Electrical_Main&oldid=6264"