2012:Electrical Main: Difference between revisions

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Carol E.
Carol E.
= Tentative Attendance Calendar =
=== January ===
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! scope="col" | Friday
! scope="col" | Saturday
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=== February ===
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! scope="col" | Sunday
! scope="col" | Monday
! scope="col" | Tuesday
! scope="col" | Wednesday
! scope="col" | Thursday
! scope="col" | Friday
! scope="col" | Saturday
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=== High Priority ===
=== 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 ===
=== 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 ===
=== Low Priority ===
*Design/Build LED/Light driver board
*Inventory current items


= Sub Task List =
= Sub Task List =


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


[[2012:Robot IO Map]]
[[2012:Robot IO Map]]


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


<br/>'''DRIVETRAIN'''
<br/>'''DRIVETRAIN'''


*six wheel drive
*six wheel drive
*two CIM motors (maybe 4), one per side on speed controllers
*four CIM motors, one per side on speed controllers


&nbsp;
&nbsp;
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*guide wings plus input roller (beater bar)
*guide wings plus input roller (beater bar)
*one motor for roller - reversible and on speed controller
*one motor for roller - reversible and on speed controller?
*wing actuator - motor or pneumatic???




Line 179: Line 97:


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


Line 188: Line 106:
*two-wheel "pinch roller" shooter on rotating turret
*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.
*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
*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
*one motor for turret rotation
*a sensor for turrent position probably not necessary since it's kind of obvious (?)
*a sensor for turrent position and flag sensors for endstops
 
 


= IR Sensors =
= IR Sensors =
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[http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png]
[http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png]


<br/>&nbsp;
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&nbsp;three holes:&nbsp;two for mounting one for the phototransistor to stick out.


= <br/>Test Leads&nbsp; =


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 =
= Mini Beam Sensors =
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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.
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.


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


= &nbsp; =
= Robot Sensor Requirements =


= &nbsp; =
= Motor Outputs =
 
= &nbsp; =


= &nbsp; =
= Visual Feedback to Drivers - Robot-Mounted Indicators =


= &nbsp; =
[[File:LED_control_board.pdf|2012 LED Control Board]]


= &nbsp; =
*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


= Robot Sensor Requirements =
*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


= Motor Outputs =
*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


= Visual Feedback to Drivers&nbsp;? =
* '''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.


= Electrical Main Subteam's Engineering Notebook =
= Electrical Main Subteam's Engineering Notebook =
Line 239: Line 181:


[[Jaguar Firmware Notes]]
[[Jaguar Firmware Notes]]
[[File:Jaguar BDC-COMM.pdf|Jaguar Application/Programming Software Guide]]


[[Victor 884 Speed Controllers]]
[[Victor 884 Speed Controllers]]
Line 267: Line 211:


[[File:GRS2011SwitchMomentary.pdf|Tetrix Rocker Power Switch]]
[[File:GRS2011SwitchMomentary.pdf|Tetrix Rocker Power Switch]]


= IO Pin Maps for Old Robots =
= IO Pin Maps for Old Robots =

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

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