2014:Robot Sensors/Motors/Lights/Controls Map: Difference between revisions
Programming (talk | contribs) (added blocker solenoids) |
Programming (talk | contribs) |
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| Guard Actuator A<br/> | | Guard Actuator A<br/> | ||
| Solenoid<br/> | | Solenoid<br/> | ||
| ?<br/> | | ?<br/> | ||
| | | | ||
Relay | |||
| <span style="color:# | | <span style="color:#008000">'''Yes'''</span><br/> | ||
| pulls in just before shooting; stays out otherwise to keep ball secure<br/> | | pulls in just before shooting; stays out otherwise to keep ball secure<br/> | ||
| <br/> | | <br/> | ||
Line 337: | Line 337: | ||
| Solenoid<br/> | | Solenoid<br/> | ||
| ?<br/> | | ?<br/> | ||
| | | Relay<br/> | ||
| <span style="color:# | | <span style="color:#008000">'''Yes'''</span><br/> | ||
| Same as the other one<br/> | | Same as the other one<br/> | ||
| <br/> | | <br/> |
Revision as of 10:40, 1 February 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 |
||
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 ?) |
||
Shooter |
Detect kicker speed B |
Optical shaft encoder sensor |
E4P |
Digital |
Yes |
|||
Shooter |
Detect kicker gear teeth |
Optical flag sensor |
OPB815 |
Digital |
Yes |
additional check on kicker rotation to account for chain/gear slop |
||
Shooter | Detects kicker low position (home) |
Optical beam break |
Banner Sensor |
Digital |
Yes |
Senses kicker arm and detects whenever kicker is in low position |
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Shooter |
Detect kicker high position |
Optical flag sensor |
OPB815 |
Digital |
Yes |
Senses flag that's connected to gear and detects whenever kicker is in high position |
||
Intake |
Detects intake position |
Potentiometer |
3852A-282-104AL | Analog | Yes |
Sensor which detects the angle of the intake bar - redundant sensor | ||
Intake |
Detects ball presence on top of bumper |
Optical beam break |
Banner Sensor |
Digital |
Yes |
Detects if ball is on top of the bumper. | ||
Drivetrain | Left Encoder, Phase A | Shaft encoder | E4P | Digital | Yes |
Measure left drive side movement |
||
Drivetrain | Left Encoder, Phase B | Shaft encoder | E4P | Digital | Yes |
Measure left drive side movement |
||
Drivetrain |
Right Encoder, Phase A | Shaft encoder | E4P | Digital | Yes |
Measure right drive side movement |
||
Drivetrain |
Right Encoder, phase B | Shaft encoder | E4P | Digital | Yes |
Measure right drive side movement |
||
Camera |
Camera |
Network | Axis M1013 |
n/a |
Yes |
Faces out the kicker side of the robot. So it is facing the goals at the start of the match. It is powered on the entire time the robot is powered on. |
n/a | Connects to robot's router and needs 5V |
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 |
Run with tank drive controls |
|
Drivetrain | Left Rear Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Drivetrain | Right Front Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Drivetrain | Right Rear Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Shooter | front left Kicker arm | CIM | AM802 | CAN |
Yes |
spins at full power in one direction, spins to 2 points | Integration Meeting Thursday claimed CAN; |
Shooter | mid left Kicker arm | CIM | AM802 | CAN |
Yes |
spins at full power in one direction, spins to 2 points | Jaguars placed on robot model already |
Shooter | back left Kicker arm | Mini CIM | 2501BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points |
^ |
Shooter | right front Kicker arm | Mini CIM | 2493BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points | ^ |
Shooter | right mid Kicker arm | Mini CIM | 2493BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points | ^ |
Shooter | right back Kicker arm | Mini CIM | 2493BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points | ^ |
Intake |
roller |
550/775 |
TBD |
CAN |
Yes |
4 modes; stopped, spins in, spins out slow, out fast |
|
Shooter |
cradle lift |
775&PG71 |
TBD |
CAN |
Yes |
lifts cradle and intake arm between two points |
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 |
Shooter |
Guard Actuator A |
Solenoid |
? |
Relay |
Yes |
pulls in just before shooting; stays out otherwise to keep ball secure |
|
Shooter |
Guard Actuator B |
Solenoid |
? |
Relay |
Yes |
Same as the other one |
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)
Another Note: Places where lights should go by priority:
1) Front side of both the intake arms. the side facing outward. should be about 20 in. long starting at the top of the arms.
this goes in hand with lights on P012. these lights will go from about 1 inch from the top to where P109 meets P012. This is for both sides.
2)
Subsystem | Description (brief) |
Type | Model# | Controlled By (Relay/GPIO/I2C) |
IO Map Updated? |
Location |
Used By (driver/human/alliance) |
Operation |
Notes |
Camera | Camera Light | Green LED Ring | AE60-G15 |
TBD (PWM?) |
No |
mounted to the camera |
Robot |
Turned on in autonomous mode to 'light up' reflective tape so the robot can determine the hot goal | uses 12V. (http://www.superbrightleds.com/cgi-bin/store/index.cgi?action=DispPage&category=ACCENTS&Page2Disp=%2Fspecs%2FAE.htm) |
Lights |
Possession Lights |
RGB Led Strip |
TBD (PWM?) |
No |
All around the robot if weight permits. if weight does not permit then the most important place is on the back of the robot then on the arms of the intake. |
Drivers |
They light up blue when the ball is just barely within our possesion. This will be tripped when a sensor is tripped when the ball is squished between the bumpers and the wheels of the intake system. |
Important | |
Lights |
lights |
RGB Led Strip |
|
TBD (PWM?) |
No |
Everywhere |
Drivers |
These lights will turn green when the cradle is all the way up and we are ready to shoot. |
Important |
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 |
||
8 | |||
9 | |||
10 | Debug Kicker |
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11 |
Debug Miscellaneous |
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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 | Intake/Cradle Sensors Broken |
left most |
8 | Broken 2 | Kicker Sensors Broken |
. |
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. |
process_img; is_hot_goal; img_failed; |
raised by robot, lowered by dash to queue processing; dash raises if goal is hot; dash raises if bad image; |
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 | manual_power |
double: range 0 to 1 | |
Main | Team Number | Numberbox used to set the team number for the robot. This is used for the camera feed. Should remain constant until we change the IP address of the robot. Should not change very much. | Control should be disabled unless the user specifically 'asks' to change the number (e.g. have an Edit button, then an OK & Cancel button to make the change) | -- |
-- |
Main | Screen's background | When the robot has the ball (i.e. the sensor indicating the ball is 'on the bumper' is tripped), then majority of the background needs to be a color the driver can see (e.g. yellow). When the sensor is not tripped, the background returns to its default color. | flash_screen |
boolean: robot sets it; true means yellow, false is normal | |
Main | Sound | When the hip check button is pressed, the PC will play a sound. | If time permits, could add a control to pick the sound file; otherwise it will be hardcoded. | play_sound |
boolean: robot raises to initiate sound; dashboard lowers on encountering the signal |