2013:Electrical Main: Difference between revisions
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**sensors for climbing arms locked on: optical beam break (mechanical lever switch is backup solution) | **sensors for climbing arms locked on: optical beam break (mechanical lever switch is backup solution) | ||
***microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much). Travel at tip from resting to engagement is about 0.1875" (3/16"). | ***microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much). Travel at tip from resting to engagement is about 0.1875" (3/16"). | ||
***Measured last years optical sensor to have angle of operation of around +- 10 Degrees | |||
== Drivetrain == | == Drivetrain == | ||
Revision as of 18:20, 29 January 2013
Electrical Subteam Members
- Students
- Mentors
Master Task List
High Priority
Medium Priority
Low Priority
Sub Task List
Links to Other Important Stuff
Robot Electromechanical Design Features
Frisbee Scorer (Shooter/Dumper)
- Shooter
- motor type: mini-CIM
- variable speed motor drive: Jaguar
- sensor for motor RPM: rotary encoder
- Loader
- rotary carousel motor type: snowblower
- motor drive: variable speed or just maximum speed (relay)?
- sensor for how many frisbees have been loaded
- actuator for feeding frisbee to shooter: solenoid?
- Dumper
- Tilt
- motor type: ?
- variable speed motor drive: Jaguar
- sensors?
Climbing Mechanism
- Starting Position
- sensor for robot V at pyramid corner: optical beam break (Banner?)
- Deploy
- Release stationary arms: 2x servo
- Climb
- Extend & retract climbing arms
- motor type: 2x CIM
- motor drive: variable speed Jaguar
- motor speed sensor: rotary encoder (used to maintain sped under load)
- arm position sensor: slotted optical sensor senses mechanical flag on shuttle - top, bottom, and home (middle). Redundant top and bottom?
- sensors for climbing arms locked on: optical beam break (mechanical lever switch is backup solution)
- microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much). Travel at tip from resting to engagement is about 0.1875" (3/16").
- Measured last years optical sensor to have angle of operation of around +- 10 Degrees
- Extend & retract climbing arms
Drivetrain
- 4 wheel or 6 wheel (?)
- motor type: 2x CIM
- variable speed motor controllers: 2x Jaguars
- sensor for motor RPM: rotary encoders
- Gyro
Robot Visual Indicators (pretty lights)
- ready to feed frisbee - at feed slot - green for OK to feed, red for don't feed
- how many frisbees loaded - visible from all sides - four stripes
- shooter at selected angle
- robot in position to climb - on top & sides of climber structure
- climber deployed - on top & sides of climber structure
- climber arms fully hooked on pyramid horizontal bar - on top of climber stucture
- climber at full extension - on top & sides of climber structure
- climber at full retract - on top & sides of climber structure
- robot front direction indicator - arrows (?) on sides that point forward
Electrical Main Subteam's Engineering Notebook
Engineering Notebook Templates Available at: Engineering_Notebook_Template
Please Label All Notebook Pages 2013:Electrical Main MM.DD to avoid confusion.
Component Specifications
File:2013 Motor Data Table.xls
File:Natl Instruments 9201 AnalogModule.pdf
File:GRS2011SwitchMomentary.pdf
IO Maps for Old Robots
- 2012 IO Map
- 2011 Thunderous Prime IO Map
- 2010 Thunderfoot IO Map
- 2009 Thunderplucker
- IO Pin Maps for Pre-2009 Robots
