2010:Electrical Main: Difference between revisions
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== Master Task List<br> | == Master Task List<br> == | ||
*[[Build 2 display boards for the field]] | *[[Build 2 display boards for the field]] | ||
*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 [http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1358&chk=c65690a2c1f46d0a36e2ac6370ae68e6&Itemid=591 Getting Started Guide] page 22 for wiring guide. Note that it expects a <span style="color: rgb(255, 0, 0) | *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 [http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1358&chk=c65690a2c1f46d0a36e2ac6370ae68e6&Itemid=591 Getting Started Guide] page 22 for wiring guide. Note that it expects a <span style="color: rgb(255,0,0)">'''0-3V'''</span> input!!! | ||
*Save the Earth - it's the only planet with chocolate (as far as we know)<br><br> | |||
== Electrical Components the Robot Design is Using == | == Electrical Components the Robot Design is Using == | ||
Revision as of 16:59, 31 January 2010
Master Task List
- Build 2 display boards for the field
- 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
- Electromagnet: 1 Spike Relay
- Front Spinner Beaterbar: 1 Fisher-Price - 1 Spike Relay (BUT, this might have to be a speed controller if it can't be geared down in the space available)
- 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: US Digital rotary encoder (can be used to determine absolute extension of arm?) or multiturn potentiometer or ?
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 - 6
Total Spike Relays - 4
IO Map 2009-2010
| Pin Type | Pin Number |
Connected Device |
|
PWM Outputs |
|
|
|
Drivetrain |
01 |
Jaguar #4 - LF (left front) |
|
Drivetrain |
02 |
Jaguar #5 - LR (left rear) |
|
Drivetrain |
03 |
Jaguar #6 - RF (right front) |
|
Drivetrain |
04 |
Jaguar #7 - RR (rail road) |
|
Lifting Winch |
05 |
Jaguar #? |
|
Lifting Arm Tilt |
06 |
Jaguar #? |
|
Front Beater bar |
07 |
Jaguar??? this might just be a relay |
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
Kicker |
01 | Window Motor (any) |
|
Kicker |
02 |
Window Motor (any) |
|
|
03 | |
|
Kicker |
04 |
Electromagnet |
|
Front Beater Bar |
05 | Motor |
|
|
06 | |
|
|
07 | |
|
|
08 | |
|
Analog Inputs |
||
|
|
01 | Gyro |
|
Kicker shaft angle |
02 | Magnetic rotary encoder (Austria Microsystems) |
|
|
03 | |
|
|
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 |
|
| 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 |
| lifting winch encoder | 11 | US Digital rotary encoder |
| 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
Engineering Notebook Templates Available at: Engineering_Notebook_Template
Please Label All Notebook Pages 2010:Electrical Main MM.DD to avoid confusion.
Component/Component Specifications
2009 KOP Motors Spreadsheet (Chief Delphi)
Links to Other Subteams' Important Stuff
IO_Map - Thunderplucker
Electrical Fun
HIIIIIIIIIIIIIII!!!
