2014:Robot Sensors/Motors/Lights/Controls Map: Difference between revisions
Programming (talk | contribs) (added gear tooth) |
Programming (talk | contribs) (add shooter high pos sensor) |
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| Detect high kicker gear teeth<br/> | | Detect high kicker gear teeth<br/> | ||
| Optical flag<br/> | | Optical flag<br/> | ||
| | | | ||
Limit Switch | |||
| Digital<br/> | | Digital<br/> | ||
| Yes<br/> | | Yes<br/> | ||
Line 68: | Line 70: | ||
| Detects kicker low position<br/> | | Detects kicker low position<br/> | ||
| Optical flag sensor<br/> | | Optical flag sensor<br/> | ||
| | | Banner Sensor<br/> | ||
| Digital<br/> | | Digital<br/> | ||
| yes<br/> | | yes<br/> | ||
Line 74: | Line 76: | ||
| Digital | | Digital | ||
| | | | ||
|- | |||
| Shooter<br/> | |||
| Detect kicker high position<br/> | |||
| Optical flag sensor<br/> | |||
| Limit Switch<br/> | |||
| Digital<br/> | |||
| <br/> | |||
| <br/> | |||
| <br/> | |||
| <br/> | |||
|- | |- | ||
| Intake | | Intake | ||
Line 122: | Line 134: | ||
| E4P | | E4P | ||
| Digital | | Digital | ||
| yes | | yes<br/> | ||
| <br/> | | <br/> | ||
| Digital | | Digital |
Revision as of 17:58, 25 January 2014
Sensors
NOTE: each of these should also have a line in the appropriate (e.g. or ) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (/) |
IO Map Updated? |
Operation Details (including when broken) |
Output Level | Notes |
Intake | Detects intake position | Potentiometer | 3852A-282-104AL | Analog | Yes | Sensor which detects the angle of the intake bar | Analog | |
Shooter | Detect kicker speed A |
Optical shaft encoder sensor |
E4P? |
Digital |
yes |
Sensor detects shaft rotation to sense how fast the gear is rotating (Could also use shaft encoder on motor transmission ?) |
Digital | |
Shooter |
Detect kicker speed B |
Optical shaft encoder sensor |
E4P? |
Digital |
Yes |
|||
Shooter |
Detect high kicker gear teeth |
Optical flag |
Limit Switch |
Digital |
Yes |
additional check on kicker rotation to account for chain/gear slop |
||
Shooter | Detects kicker low position |
Optical flag sensor |
Banner Sensor |
Digital |
yes |
Senses flag that's connected to gear and detects whenever kicker is in low position |
Digital | |
Shooter |
Detect kicker high position |
Optical flag sensor |
Limit Switch |
Digital |
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Intake | Detects intake position | Potentiometer | 3852A-282-104AL | Analog | yes | Sensor which detects the angle of the intake bar - redundant sensor | Analog | |
Drivetrain | Left Encoder, Phase A | Shaft encoder | E4P | Digital | yes | Digital | ||
Drivetrain | Left Encoder, Phase B | Shaft encoder | E4P | Digital | yes | Digital | ||
Drivetrain |
Right Encoder, Phase A | Shaft encoder | E4P | Digital | yes | Digital | ||
Drivetrain |
Right Encoder, phase B | Shaft encoder | E4P | Digital | yes |
Digital |
Motors
NOTE: each of these should also have a line in the appropriate (e.g. or or ) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (//) |
IO Map Updated? |
Operation Details (including when broken) |
Notes |
Drivetrain | Left Front Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Left Rear Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Right Front Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Right Rear Drive | CIM | TBD | CAN | Yes | TBD | |
Shooter | front left Kicker arm | CIM | TBD | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | |
Shooter | mid left Kicker arm | CIM | TBD | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | |
Shooter | back left Kicker arm | Mini CIM | TBD | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | |
Shooter | right front Kicker arm | Mini CIM | TBD | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | |
Shooter | right mid Kicker arm | Mini CIM | TBD | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | |
Shooter | right back Kicker arm | Mini CIM | TBD | CAN or PWM | yes | spins at full power in one direction, spins to 2 points | |
Intake |
roller |
550/775 |
TBD |
CAN or PWM |
Yes |
TBD |
|
Shooter |
cradle lift |
775&PG71 |
TBD |
CAN or PWM |
YES |
TBD |
Servors/Actuators
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (PWM/Relay) |
IO Map Updated? |
Operation Details (including when broken) |
Notes |
Lights (on robot)
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Relay or GPIO or I2C) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (Relay/GPIO/I2C) |
IO Map Updated? |
Location | Used By (driver/human/alliance) |
Operation | Notes |
Storage | OK to feed | GPIO | Yes | Near feed slot on the storage mech | Human player | Will be 'green' when in Feed mode and it is ok for the human player to feed a disc. Will be 'red' when in Feed mode and it is NOT ok to feed a disc. Will be off when not in Feed mode. It is OK to feed when the entire mech is at the proper angle AND there are less than 4 discs in the robot AND the fan blades are in the feed position. | THIS IS JUST AN EXAMPLE |
Operator Controls
Joystick 1 (Driver Left) Attack3
Button/Axis | Description (brief) |
Operation | Notes |
1 | Turbo | Make da robot go fast | Both sides |
2 | Slow | Make da robot go slow | Both sides |
3 | |||
4 | |||
5 | |||
6 | Debug Drive |
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7 | Debug Intake |
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8 | |||
9 | |||
10 | Debug Kicker |
||
11 |
Debug Miscellaneous |
||
12 | n/a |
||
X-axis | |||
Y-axis | Left Wheels | Controls both left side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards. |
Shooter is the 'front' |
Z-axis |
Joystick 2 (Driver Right)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Turbo | Robot turbo | Controls both sides |
2 | Slow | robot slow | |
3 | |||
4 | |||
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | n/a | ||
X-axis | |||
Y-axis | Right Wheels | Controls both right side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards. |
Shooter is the 'front' |
Z-axis |
Joystick 3 (Aux Driver)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Acquire Ball | Intake wheels spin such the ball is moved onto the robot. | |
2 | |||
3 | Pass Ball Slow | Intake wheels spin such the ball is moved out of the robot. This will be a 'slow' rate to allow for a short pass to a close by robot. |
|
4 | Pass Ball Fast |
Intake wheels spin such the ball is moved out of the robot. |
|
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
X-axis | |||
Y-axis | Intake |
Moves intake in/out (up/down) |
When joystick is pushed forward (away from driver) the intake will got out (extend away from robot). |
Z-axis |
Joystick 4 (Aux Controls/Extended IO)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Truss Shot | shoot with enough strength to get over the truss |
This will be the 3D printed lightning bolt). |
2 | High goal shot | Shott with enough strength to get into the high goal from a fixed distance. |
This will be the 3D printed Gear. |
3 | Manual shoot | Shoot at speed of manual power | this is the push in the push potentiometer |
4 | TBD | nothing yet | Really called the missle switch but i couldnt call it that because of mr byers. |
5 | Auto Choice 1 | will run auto mode 1 |
The 3 way switch has an up down and off |
6 | Auto Choice 2 | run auto mode 2 | |
7 | Broken 1 | left most | |
8 | Broken 2 | . | |
9 | Broken 3 | . | |
10 | Broken 4 | . | |
11 | Broken 5 | . | |
12 | Broken 6 | Right most | |
X-axis | Manual Power | The amount of power for a manual shoot. | This is used when the Manual Shot button is pressed. |
Y-axis | Future use | This is not used for anything at this time. But is available if needed. | silver knob (potentiometer) |
Z-axis | Hip check buton | Make noise and flash the noise | 0 When not pressed. 1 or higher is on. |
SmartDashboard
Screen | Description (brief) |
Operation | Notes | Variable Name | Data Type |
Main | Camera Feed | This will be a direct feed from the camera. | The internet address will be based on the Team Number. | n/a | n/a |
Main | Power meter | Meter next to the Camera Feed that shows the manual shooter's power. Would be a bar with a label next to it with a number representing power, scaling from 0 to 100 | Manualpower | TBD | |
Setup Dialog (TBD) | Team Number | Numberbox | Sets the team number for the robot to set the camera feed. Should remain constant until we change the IP address of the robot. Should not change very much. | n/a | n/a |