2009:DriverStationControls: Difference between revisions
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Programming (talk | contribs) (Add spare switches and LEDs, enable/disable switch, and a few other driver override switches) |
Programming (talk | contribs) (Add Joystick Controls table) |
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| Controls the speed at which the shooter wheel spins when ejecting balls from robot or into the hopper | | Controls the speed at which the shooter wheel spins when ejecting balls from robot or into the hopper | ||
|- | |- | ||
| Toggle Switch | | Toggle Switch | ||
| Enable/Disable Robot | | Enable/Disable Robot | ||
| Enables and disables robot - NOTE: Wires into competition port!!! | | Enables and disables robot - NOTE: Wires into competition port!!! | ||
|- | |- | ||
| Line 58: | Line 58: | ||
|- | |- | ||
| Toggle Switch | | Toggle Switch | ||
| Spare Toggle Switch #1 | | Spare Toggle Switch #1 | ||
| TBD | | TBD | ||
|- | |- | ||
| Toggle Switch | | Toggle Switch | ||
| Spare Toggle Switch #2 | | Spare Toggle Switch #2 | ||
| TBD | | TBD | ||
|- | |- | ||
| Toggle Switch | | Toggle Switch | ||
| Spare Toggle Switch #3 | | Spare Toggle Switch #3 | ||
| TBD | | TBD | ||
|- | |- | ||
| Toggle Switch | | Toggle Switch | ||
| Spare Toggle Switch #4 | | Spare Toggle Switch #4 | ||
| TBD | | TBD | ||
|- | |- | ||
| Line 142: | Line 142: | ||
|- | |- | ||
| LED | | LED | ||
| Spare LED | | Spare LED | ||
| TBD | | TBD | ||
|- | |- | ||
| 7-Segment Display | | 7-Segment Display | ||
| Autonomous Mode Number | | Autonomous Mode Number | ||
| Indicates autonomous mode number (0 - 7 or 1 - 8?) | | | ||
Indicates autonomous mode number (0 - 7 or 1 - 8?) | |||
|} | |||
= Joystick Controls = | |||
{| cellspacing="1" cellpadding="4" border="1" align="center" style="width: 901px; height: 711px;" | |||
|- | |||
! scope="col" | Joystick<br> | |||
! scope="col" | Control<br> | |||
! scope="col" | Function<br> | |||
! scope="col" | Operation Details<br> | |||
|- | |||
| L<br> | |||
| Y axis<br> | |||
| Tank drive - left<br> | |||
| Controls speed of left drive.<br> | |||
|- | |||
| R<br> | |||
| Y axis<br> | |||
| Tank drive - right<br> | |||
| Controls speed of right drive.<br> | |||
|- | |||
| L<br> | |||
| Trigger<br> | |||
| Turbo mode - left drive<br> | |||
| Left drive runs extra fast.<br> | |||
|- | |||
| R<br> | |||
| Trigger<br> | |||
| Turbo mode - right drive<br> | |||
| Right drive runs extra fast.<br> | |||
|- | |||
| L<br> | |||
| Buttons 2 & 3<br> | |||
| Slow mode - left drive<br> | |||
| Left drive runs slower - either button 2, button 3, or both may be pressed.<br> | |||
|- | |||
| R<br> | |||
| Buttons 2 & 3<br> | |||
| Slow mode - right drive<br> | |||
| Right drive runs slower - either button 2, button 3, or both may be pressed.<br> | |||
|- | |||
| R<br> | |||
| Throttle<br> | |||
| Left-right trim<br> | |||
| | |||
Fine adjustment of left-right motor speeds to make the robot go straight. See trim enable/disable buttons below. At startup, trim is enabled.<br> | |||
|- | |||
| L<br> | |||
| Throttle<br> | |||
| Acceleration limiter<br> | |||
| Limits acceleration to prevent wheel slip. Sets the minimum time for wheel motors to go from zero to full speed. Range: 0 (off - no limiting) to 8 (8 seconds from zero to max turbo speed). Decelleration is limited to 1/4 the acceleration limit. i.e. if accel limit is set to 3 sec, deceleration from full to zero would be limited to 0.75 sec.<br> | |||
|- | |||
| L<br> | |||
| Button 7<br> | |||
| Debug<br> | |||
| While button is held down, debugging info is written to console.<br> | |||
|- | |||
| R<br> | |||
| Button 8<br> | |||
| Trim disable<br> | |||
| Completely disables left-right trim function on right throttle. This function will eventually move to a toggle switch on the driver station panel<br> | |||
|- | |||
| R<br> | |||
| Button 9<br> | |||
| Trim enable<br> | |||
| Enables left-right trim function on right .<br> | |||
|- | |||
| L<br> | |||
| Button 10<br> | |||
| Override<br> | |||
| While this button is held down, all trim, acceleration limiting, and traction control is disabled. Not very useful if you have to keep holding the button down. It will be more useful when it s connected to a toggle switch.<br> | |||
|- | |||
| R<br> | |||
| Button 10<br> | |||
| Traction Control enable<br> | |||
| Enable automatic traction control. This compares the speeds of the wheels and tries to slow down wheels that are going faster than the others. This function will eventually move to a toggle switch on the driver station panel.<br> | |||
|- | |||
| R<br> | |||
| Button 11 <br> | |||
| Traction Control disable<br> | |||
| Disable traction control.<br> | |||
|- | |||
| L<br> | |||
| Button 11<br> | |||
| Reset button<br> | |||
| Currently unimplemented <br> | |||
|} | |} | ||
<br> | |||
<br> | |||
Revision as of 13:05, 31 January 2009
Below is a list of the controls that will be included on the main and secondary control box.
Main Box Controls
| Control/Display Type | Control Description | Operation Details |
|---|---|---|
| Analog Knob | Front Belt Speed Control | Controls front belt speed (power if "Broken Belt" on) |
| Analog Knob | Back Belt Speed Control | Controls back belt speed (power if "Broken Belt" on) |
| Analog Knob | Autonomous Delay | Delays autonomous start by a variable amount of time |
| Analog Knob | Shooter Speed Control | Controls the speed at which the shooter wheel spins when ejecting balls from robot or into the hopper |
| Toggle Switch | Enable/Disable Robot | Enables and disables robot - NOTE: Wires into competition port!!! |
| Digital Dial (8 Position) | Autonomous Mode | Selects the autonomous mode to run |
| Toggle Switch | Traction Control Disable | Master disable for traction control. Disables all traction control, overriding any traction control enable/disable on the joysticks. |
| Toggle Switch | Acceleration Limit Disable | Disable for acceleration limiting. Makes drive train accelerate 1-to-1 as joysticks are moved, rather than slowing acceleration. |
| Toggle Switch | Trim Disable | Disable left/right trim adjustment, making left/right drive train power control exactly equal rather than using trim knob setting. |
| Toggle Switch | Ball Queue Broken | Disables use of the ball queue sensor. This sensor is currently unused. |
| Toggle Switch | Belt Speed Broken | Disables the use of the belt speed sensors. When disabled, the belt speed dials will control belt power instead. |
| Toggle Switch | Shooter Speed Broken | Disables the use of the shooter speed sensors. When disabled, the shooter speed dial will control shooter motor power. |
| Toggle Switch | Spare Toggle Switch #1 | TBD |
| Toggle Switch | Spare Toggle Switch #2 | TBD |
| Toggle Switch | Spare Toggle Switch #3 | TBD |
| Toggle Switch | Spare Toggle Switch #4 | TBD |
| 3 Position Toggle Switch | Autonomous Start Position | Selects one of 3 starting robot positions (near, center, far) |
| Pushbutton | Robot Mode - Stop Mode | Puts ball system in to stop mode. Stops all ball system motors. Lower gates/doors remain in current position. |
| Pushbutton | Robot Mode - Dump | Puts ball system in to dump mode. Lowers the front door, closes the hopper door. Pressing fire will run belts downward, ejecting balls in belt. |
| Pushbutton | Robot Mode - Collect Belt | Puts ball system in to "Collect into Belt" mode. Lowers the front door, closes the hopper door. Belts run upward. Shooter wheel is stopped. If fire is pressed, shooter wheel spins to eject balls. |
| Pushbutton | Robot Mode - Collect Hopper | Puts ball system in to "Collect into Hopper" mode. Lowers the front door, closes the hopper door. Belts run upward. Shooter wheel runs to put balls in the hopper. If fire is pressed, shooter wheel changes directions to eject balls that are coming up conveyor. |
| Pushbutton | Robot Mode - Shoot | Puts ball system in to Shoot mode. Raises the front door, opens the hopper door. Belts run upward. Shooter wheel is stopped. If fire is pressed, the shooter wheel spins up and ejects balls. |
| Digital Dial (4 Position) | Trap Door Control | Four possible choices: Auto (trap doors controlled by robot modes - see mode button descriptions), Up (run motor so that front door goes up and hopper door goes down), Stop (stop trap door motor), and Down (run motor so that front door goes down and hopper door goes up). |
| Pushbutton | Fire | Action depends on robot mode. See robot mode button descriptions. |
| Big Green LED | Traction Control On | Indicates the traction control is enabled. |
| Big Red LED | Traction Loss | Indicates that a traction loss is detected and being corrected for. |
| LED | Robot Mode - Stop Mode | Indicates robot is in Stop Mode. |
| LED | Robot Mode - Dump | Indicates robot is in Dump Mode. |
| LED | Robot Mode - Collect Belt | Indicates robot is in Collect into Belt Mode. |
| LED | Robot Mode - Collect Hopper | Indicates robot is in Collect balls in to hopper. |
| LED | Robot Mode - Score | Indicates robot is in Scoring Mode. |
| LED | Trap Door Up | Indicates front door is fully up and hopper door is fully down. |
| LED | Trap Door Down | Indicates front door is fully down and hopper door is fully up. |
| LED | Spare LED | TBD |
| 7-Segment Display | Autonomous Mode Number |
Indicates autonomous mode number (0 - 7 or 1 - 8?) |
Joystick Controls
| Joystick |
Control |
Function |
Operation Details |
|---|---|---|---|
| L |
Y axis |
Tank drive - left |
Controls speed of left drive. |
| R |
Y axis |
Tank drive - right |
Controls speed of right drive. |
| L |
Trigger |
Turbo mode - left drive |
Left drive runs extra fast. |
| R |
Trigger |
Turbo mode - right drive |
Right drive runs extra fast. |
| L |
Buttons 2 & 3 |
Slow mode - left drive |
Left drive runs slower - either button 2, button 3, or both may be pressed. |
| R |
Buttons 2 & 3 |
Slow mode - right drive |
Right drive runs slower - either button 2, button 3, or both may be pressed. |
| R |
Throttle |
Left-right trim |
Fine adjustment of left-right motor speeds to make the robot go straight. See trim enable/disable buttons below. At startup, trim is enabled. |
| L |
Throttle |
Acceleration limiter |
Limits acceleration to prevent wheel slip. Sets the minimum time for wheel motors to go from zero to full speed. Range: 0 (off - no limiting) to 8 (8 seconds from zero to max turbo speed). Decelleration is limited to 1/4 the acceleration limit. i.e. if accel limit is set to 3 sec, deceleration from full to zero would be limited to 0.75 sec. |
| L |
Button 7 |
Debug |
While button is held down, debugging info is written to console. |
| R |
Button 8 |
Trim disable |
Completely disables left-right trim function on right throttle. This function will eventually move to a toggle switch on the driver station panel |
| R |
Button 9 |
Trim enable |
Enables left-right trim function on right . |
| L |
Button 10 |
Override |
While this button is held down, all trim, acceleration limiting, and traction control is disabled. Not very useful if you have to keep holding the button down. It will be more useful when it s connected to a toggle switch. |
| R |
Button 10 |
Traction Control enable |
Enable automatic traction control. This compares the speeds of the wheels and tries to slow down wheels that are going faster than the others. This function will eventually move to a toggle switch on the driver station panel. |
| R |
Button 11 |
Traction Control disable |
Disable traction control. |
| L |
Button 11 |
Reset button |
Currently unimplemented |
