2010:Electrical Main

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)
  
  

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: 1 Spike Relay
• Front Spinner Beaterbar: 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 switches
• Rotary Encoders on main drivetrain motors:  (4) Banebots
• Lifting mechanism endstops (max retract, max extend): ???
• 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

• Kicker release (electromagnet) 
• 2 Kicker motors
• Front spinner

Total Jaguars - 7

Total Spike Relays - 3

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 (rail road)
Lifting Winch	05	Jaguar CAN#?
Lifting Arm Tilt	06	Jaguar CAN#?
Front Beater bar	07	Jaguar CAN#?
	08
	09
	10
Relay Outputs
Kicker	01	Window Motor (any)
Kicker	02	Window Motor (any)
	03
Kicker	04	Electromagnet
	05
	06
	07
	08
Analog Inputs
	01	Gyro
Kicker shaft angle	02	Magnetic rotary encoder (Austria Microsystems)
Lifting winch	03	Bourns 10-turn potentiometer
	04
	05
	06
	07
	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 sensor
kicker electromagnet contact	06	pushbutton switch
kicker max forward position	07	limit switch
kicker max pullback position	08	limit switch
lifting arm fully retracted	09	switch
lifting arm fully extended	10	switch
	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 01.26
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 02.02
2010:Electrical Main 02.03
2010:Electrical Main 02.04
2010:Electrical Main 02.06
2010:Electrical Main 02.07

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

Inventory

Links to Other Subteams' Important Stuff

IO_Map - Thunderplucker

Electrical Fun

Apples to Apples

HIIIIIIIIIIIIIII!!! 

Archives

2009 Electrical Main