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. &nbsp;See Jaguar [http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1358&chk=c65690a2c1f46d0a36e2ac6370ae68e6&Itemid=591 Getting Started Guide]&nbsp;page 22 for wiring guide. &nbsp;Note that it expects a <span style="color: rgb(255,0,0)">'''0-3V'''</span> input!!!&nbsp;
*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. &nbsp;See Jaguar [http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1358&chk=c65690a2c1f46d0a36e2ac6370ae68e6&Itemid=591 Getting Started Guide]&nbsp;page 22 for wiring guide. &nbsp;Note that it expects a <span style="color: rgb(255, 0, 0);">'''0-3V'''</span> input!!!&nbsp;  
*Save the Earth - it's the only planet with chocolate (as far as we know)<br><br>
*Save the Earth - it's the only planet with chocolate (as far as we know)<br><br>


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*Front spinner
*Front spinner


<br>
<br>  


Total Jaguars -&nbsp;6  
Total Jaguars -&nbsp;6  


Total Spike Relays -&nbsp;4
Total Spike Relays -&nbsp;4  


= '''IO Map 2009-2010'''<br> =
= '''IO Map 2009-2010'''<br> =


{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1"
{| cellspacing="1" cellpadding="1" border="1" style="width: 653px; height: 344px;"
|-
|-
| '''Pin Type / Function'''&nbsp;
| '''Pin Type / Function'''&nbsp;  
| '''Pin Number<br>'''
| '''Pin Number<br>'''  
|  
|  
'''Connected Device'''
'''Connected Device'''  


|-
|-
|  
|  
<span style="font-weight: bold">PWM&nbsp;Outputs</span>
<span style="font-weight: bold;">PWM&nbsp;Outputs</span>  


| &nbsp;&nbsp;&nbsp;<br>
| &nbsp;&nbsp;&nbsp;<br>  
| <br>
| <br>
|-
|-
|  
|  
<span>Drivetrain</span>
<span>Drivetrain</span>  


| &nbsp;&nbsp;&nbsp; 01<br>
| &nbsp;&nbsp;&nbsp; 01<br>  
| Jaguar #4 - LF (left front)<br>
| Jaguar #4 - LF (left front)<br>
|-
|-
|  
|  
Drivetrain
Drivetrain  


| &nbsp;&nbsp;&nbsp; 02<br>
| &nbsp;&nbsp;&nbsp; 02<br>  
| Jaguar #5 - LR (left rear)<br>
| Jaguar #5 - LR (left rear)<br>
|-
|-
|  
|  
Drivetrain
Drivetrain  


| &nbsp;&nbsp;&nbsp; 03<br>
| &nbsp;&nbsp;&nbsp; 03<br>  
| Jaguar #6 - RF (right front)<br>
| Jaguar #6 - RF (right front)<br>
|-
|-
|  
|  
Drivetrain
Drivetrain  


| &nbsp;&nbsp;&nbsp; 04<br>
| &nbsp;&nbsp;&nbsp; 04<br>  
| Jaguar #7 - RR (rail road)<br>
| Jaguar #7 - RR (rail road)<br>
|-
|-
|  
|  
<span>Lifting Winch</span>
<span>Lifting Winch</span>  


| &nbsp;&nbsp;&nbsp; 05<br>
| &nbsp;&nbsp;&nbsp; 05<br>  
| Jaguar #?<br>
| Jaguar #?<br>
|-
|-
|  
|  
Lifting Arm Tilt
Lifting Arm Tilt  


| &nbsp;&nbsp;&nbsp; 06<br>
| &nbsp;&nbsp;&nbsp; 06<br>  
| Jaguar #?<br>
| Jaguar #?<br>
|-
|-
|  
|  
Front Beater bar<br>
Front Beater bar<br>  


| &nbsp;&nbsp;&nbsp; 07<br>
| &nbsp;&nbsp;&nbsp; 07<br>  
| Jaguar??? this might just be a relay<br>
| Jaguar??? this might just be a relay<br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 08<br>
| &nbsp;&nbsp;&nbsp; 08<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 09<br>
| &nbsp;&nbsp;&nbsp; 09<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 10<br>
| &nbsp;&nbsp;&nbsp; 10<br>  
| <br>
| <br>
|-
|-
| '''Relay Outputs'''  
| '''Relay Outputs'''  
| <br>
| <br>  
| <br>
| <br>
|-
|-
|  
|  
Kicker
Kicker  


| &nbsp;&nbsp; &nbsp;01  
| &nbsp;&nbsp; &nbsp;01  
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|-
|-
|  
|  
Kicker
Kicker  


| &nbsp;&nbsp;&nbsp; 02<br>
| &nbsp;&nbsp;&nbsp; 02<br>  
| Window Motor (any)<br>
| Window Motor (any)<br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 03  
| &nbsp;&nbsp;&nbsp; 03  
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|-
|-
|  
|  
Kicker
Kicker  


| &nbsp;&nbsp;&nbsp; 04<br>
| &nbsp;&nbsp;&nbsp; 04<br>  
| Electromagnet<br>
| Electromagnet<br>
|-
|-
|  
|  
Front Beater Bar
Front Beater Bar  


| &nbsp;&nbsp;&nbsp; 05  
| &nbsp;&nbsp;&nbsp; 05  
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|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 06  
| &nbsp;&nbsp;&nbsp; 06  
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|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 07  
| &nbsp;&nbsp;&nbsp; 07  
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|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 08  
| &nbsp;&nbsp;&nbsp; 08  
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|-
|-
|  
|  
'''Analog Inputs'''
'''Analog Inputs'''  


|  
|  
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|-
|-
|  
|  
<br>
<br>  


| 01  
| 01  
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|-
|-
|  
|  
Kicker shaft angle<br>
Kicker shaft angle<br>  


| 02  
| 02  
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|-
|-
|  
|  
<br>
<br>  


| 03  
| 03  
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|-
|-
|  
|  
<br>
<br>  


| 04  
| 04  
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|-
|-
|  
|  
<br>
<br>  


| 05  
| 05  
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|-
|-
|  
|  
<br>
<br>  


| 06  
| 06  
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|-
|-
|  
|  
<br>
<br>  


| 07  
| 07  
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|-
|-
|  
|  
<br>
<br>  


| 08  
| 08  
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| 02  
| 02  
|  
|  
<br>Banebots rotary encoder - LR - channel A
<br>Banebots rotary encoder - LR - channel A  


|-
|-
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|}
|}


<br>
<br>  


== Electrical Main Subteam's Engineering Notebook  ==
== Electrical Main Subteam's Engineering Notebook  ==


'''Week 1'''<br>
'''Week 1'''<br>  


[[2010:Electrical Main 01.12]]<br>[[2010:Electrical Main 01.13]]<br>[[2010:Electrical Main 01.14]]<br>[[2010:Electrical Main 01.16]]<br>[[2010:Electrical Main 01.17]]<br>
[[2010:Electrical Main 01.12]]<br>[[2010:Electrical Main 01.13]]<br>[[2010:Electrical Main 01.14]]<br>[[2010:Electrical Main 01.16]]<br>[[2010:Electrical Main 01.17]]<br>  


<br>'''Week 2'''<br>
<br>'''Week 2'''<br>  


[[2010:Electrical Main 01.19]]<br>[[2010:Electrical Main 01.20]]<br>[[2010:Electrical Main 01.21]]<br>[[2010:Electrical Main 01.23]]<br>[[2010:Electrical Main 01.24]]<br>
[[2010:Electrical Main 01.19]]<br>[[2010:Electrical Main 01.20]]<br>[[2010:Electrical Main 01.21]]<br>[[2010:Electrical Main 01.23]]<br>[[2010:Electrical Main 01.24]]<br>  


<br>
<br>  


'''Week 3'''  
'''Week 3'''  


[[2010:Electrical Main 01.26|2010:Electrical Main 01.26]]<br>[[2010:Electrical Main 01.27|2010:Electrical Main 01.27]]<br>[[2010:Electrical Main 01.28|2010:Electrical Main 01.28]]<br>[[2010:Electrical Main 01.30|2010:Electrical Main 01.30]]<br>[[2010:Electrical Main 01.31|2010:Electrical Main 01.31]]<br><br>
[[2010:Electrical Main 01.26|2010:Electrical Main 01.26]]<br>[[2010:Electrical Main 01.27|2010:Electrical Main 01.27]]<br>[[2010:Electrical Main 01.28|2010:Electrical Main 01.28]]<br>[[2010:Electrical Main 01.30|2010:Electrical Main 01.30]]<br>[[2010:Electrical Main 01.31|2010:Electrical Main 01.31]]<br><br>
 
'''Week 4'''
 
[[2010:Electrical Main 02.02|2010:Electrical Main 02.02]]<br>[[2010:Electrical Main 02.03|2010:Electrical Main 02.03]]<br>[[2010:Electrical Main 02.04|2010:Electrical Main 02.04]]<br>[[2010:Electrical Main 02.06|2010:Electrical Main 02.06]]<br>[[2010:Electrical Main 02.07|2010:Electrical Main 02.07]]<br><br>  


Engineering Notebook Templates Available at: ''[[Engineering Notebook Template|Engineering_Notebook_Template]]''  
Engineering Notebook Templates Available at: ''[[Engineering Notebook Template|Engineering_Notebook_Template]]''  
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[[Inventory]]  
[[Inventory]]  


<br>
<br>  


== Links to Other Subteams' Important Stuff  ==
== Links to Other Subteams' Important Stuff  ==
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[[IO Map|IO_Map]] - Thunderplucker  
[[IO Map|IO_Map]] - Thunderplucker  


<br>
<br>  


== '''<u>Electrical Fun</u>'''  ==
== '''<u>Electrical Fun</u>'''  ==


[http://rollingthunder.smugmug.com/gallery/4284920_s4NWg#254727854_sMXFx-A-LB <span style="text-decoration: underline">Apples to Apples</span>]  
[http://rollingthunder.smugmug.com/gallery/4284920_s4NWg#254727854_sMXFx-A-LB <span style="text-decoration: underline;">Apples to Apples</span>]  


  [[Image:Kirby.jpg]]<span style="background-color: rgb(0,0,0)"><span style="color: rgb(255,153,204)">HIIIIIIIIIIIIIII!!!</span></span>  
  [[Image:Kirby.jpg]]<span style="background-color: rgb(0, 0, 0);"><span style="color: rgb(255, 153, 204);">HIIIIIIIIIIIIIII!!!</span></span>  


<br>
<br>  


== Archives  ==
== Archives  ==


[[2009:Electrical Main|2009 Electrical Main]]
[[2009:Electrical Main|2009 Electrical Main]]

Revision as of 09:04, 1 February 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 / Function  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


Banebots rotary encoder - LR - channel A

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

Week 4

2010:Electrical Main 02.02
2010:Electrical Main 02.03
2010:Electrical Main 02.04
2010:Electrical Main 02.06
2010:Electrical Main 02.07

Engineering Notebook Templates Available at: Engineering_Notebook_Template

Please Label All Notebook Pages 2010:Electrical Main MM.DD to avoid confusion.

Component/Component Specifications

Jaguar Speed Controllers

Victor 884 Speed Controllers

2009 KOP Motors Spreadsheet (Chief Delphi)

Motor Characteristics

Sensors

Servos

Micro Switches

Inventory


Links to Other Subteams' Important Stuff

IO_Map - Thunderplucker


Electrical Fun

Apples to Apples 

Kirby.jpgHIIIIIIIIIIIIIII!!!


Archives

2009 Electrical Main

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2010:Electrical_Main&oldid=2742"