2026:Electrical Main: Difference between revisions

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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: 223px;"  
|-  
|- 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;" | <br>
<br>
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 12.5%;" | <br>
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 12.5%;" |
| style="width: 25%; height: 28px;" | <br>
<br>
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%;" |
|- style="height: 28px;"
<br>
| style="width: 25%; height: 28px;" | <br>
| style="width: 25%;" |
| style="width: 12.5%; height: 28px;" | <br>
<br>
| style="width: 12.5%; height: 28px;" | <br>
|-  
| 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;" | <br>
| style="width: 25%;" | <br>
| style="width: 12.5%; height: 28px;" | <br>
| style="width: 25%;" | <br>
| style="width: 12.5%; height: 28px;" | <br>
|-
| style="width: 25%; height: 28px;" | <br>
| 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>
|-
| style="width: 25%;" | <br>
| style="width: 12.5%;" | <br>
| style="width: 12.5%;" | <br>
| style="width: 25%;" | <br>
| style="width: 25%;" | <br>
|}
|}


Revision as of 11:36, 31 January 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


















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


















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.

Archives

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2026:Electrical_Main&oldid=14179"