2010:Electrical Main: Difference between revisions

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Total Spike Relays - 3  (maybe 1)
Total Spike Relays - 3  (maybe 1)


= '''IO Map 2010 Thunderfoot'''<br> =
= '''IO Map 2010 Thunderfoot'''<br> =


{| cellspacing="1" cellpadding="1" border="1" style="width: 653px; height: 344px;"
{| style="width: 653px; height: 344px" cellspacing="1" cellpadding="1" border="1"
|-
|-
| '''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 CAN#4 - LF (left front)<br>
| Jaguar CAN#4 - LF (left front)<br>
|-
|-
|  
|  
Drivetrain  
Drivetrain


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


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


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


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


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


| &nbsp;&nbsp;&nbsp; 07<br>  
| &nbsp;&nbsp;&nbsp; 07<br>
| Jaguar CAN#?<br>
| Jaguar CAN#?<br>
|-
|-
|  
|  
<br>  
Kicker Left<br>


| &nbsp;&nbsp;&nbsp; 08<br>  
| &nbsp;&nbsp;&nbsp; 08<br>
| <br>
| Victor - Window Motor left side<br>
|-
|-
|  
|  
<br>  
Kicker Right<br>


| &nbsp;&nbsp;&nbsp; 09<br>  
| &nbsp;&nbsp;&nbsp; 09<br>
| <br>
| Victor - Window Motor right side<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  
| Window Motor (any)
| reserved in case switch from Victor to relay
|-
|-
|  
|  
Kicker  
Kicker


| &nbsp;&nbsp;&nbsp; 02<br>  
| &nbsp;&nbsp;&nbsp; 02<br>
| Window Motor (any)<br>
| reserved in case switch from Victor to relay<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>
|-
|-
|  
|  
<br>  
<br>


| &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'''


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


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


| 02  
| 02  
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|-
|-
|  
|  
Lifting winch<br>  
Lifting winch<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>  
RESERVED<br>


| 08  
| 08  
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|-
|-
| '''Digital Outputs (GPIO)'''  
| '''Digital Outputs (GPIO)'''  
| <br>  
| <br>
| <br>
| <br>
|-
|-
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| 02  
| 02  
|  
|  
<br>Banebots rotary encoder - LR - channel A  
<br>Banebots rotary encoder - LR - channel A


|-
|-
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| switch
| switch
|-
|-
| lifting arm fully extended
|  
| 10  
| 10  
| switch
|  
|-
|-
| <br>  
| <br>
| 11  
| 11  
| <br>
| <br>
|-
|-
| <br>  
| <br>
| 12  
| 12  
| <br>
| <br>
|-
|-
| <br>  
| <br>
| 13  
| 13  
| <br>
| <br>
|-
|-
| <br>  
| <br>
| 14  
| 14  
| <br>
| <br>
|}
|}


<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'''  


<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>  
<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'''<br><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>  
'''Week 4'''<br><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>


'''Week 5'''  
'''Week 5'''  


[[2010:Electrical Main 02.09|2010:Electrical Main 02.09]]<br>[[2010:Electrical Main 02.10|2010:Electrical Main 02.10]]<br>[[2010:Electrical Main 02.11|2010:Electrical Main 02.11]]<br>[[2010:Electrical Main 02.13|2010:Electrical Main 02.13]]<br>[[2010:Electrical Main 02.14|2010:Electrical Main 02.14]]<br><br>  
[[2010:Electrical Main 02.09|2010:Electrical Main 02.09]]<br>[[2010:Electrical Main 02.10|2010:Electrical Main 02.10]]<br>[[2010:Electrical Main 02.11|2010:Electrical Main 02.11]]<br>[[2010:Electrical Main 02.13|2010:Electrical Main 02.13]]<br>[[2010:Electrical Main 02.14|2010:Electrical Main 02.14]]<br><br>


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


'''''Please Label All Notebook Pages <u>2010:Electrical Main MM.DD</u> to avoid confusion'''''.
'''''Please Label All Notebook Pages <u>2010:Electrical Main MM.DD</u> to avoid confusion'''''.  


== Component/Component Specifications  ==
== Component/Component Specifications  ==
Line 338: Line 338:
[[Inventory]]  
[[Inventory]]  


<br>  
<br>


== Links to Other Subteams' Important Stuff  ==
== Links to Other Subteams' Important Stuff  ==
Line 344: Line 344:
[[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 04:51, 12 February 2010

Master Task List

  • Consolidate the IO Maps! There are two IO maps now -- one on this page (below), and one blank template one linked off main page at 2010:IO Map! Move the info here to there, or remove the other page and link mainpage here! Also, add CAN device id assignments with pwm assignments as backups.
  • Build 2 display boards for the field  (No longer being done)
  • 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 (or 2 Victor speed controllers if necessary) 
  • Electromagnet: 1 Spike Relay
  • Front Thrasher: 1 Fisher-Price - 1 Jaguar
  • 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 not needed: microswitch or pushbutton switch
  • Lifting winch:  Bourns 10-turn potentiometer (analog) 

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 (unless switch to Victor speed controllers)


Total Jaguars - 7 (maybe 9) 

Total Spike Relays - 3  (maybe 1)

IO Map 2010 Thunderfoot

Pin Type / Function  Pin Number

Connected Device

PWM Outputs

   

Drivetrain

    01
Jaguar CAN#4 - LF (left front)

Drivetrain

    02
Jaguar CAN#5 - LR (left rear)

Drivetrain

    03
Jaguar CAN#6 - RF (right front)

Drivetrain

    04
Jaguar CAN#7 - RR (rail road)

Lifting Winch

    05
Jaguar CAN#?

Lifting Arm Tilt

    06
Jaguar CAN#?

Front Thrasher

    07
Jaguar CAN#?

Kicker Left

    08
Victor - Window Motor left side

Kicker Right

    09
Victor - Window Motor right side


    10

Relay Outputs

Kicker

    01 reserved in case switch from Victor to relay

Kicker

    02
reserved in case switch from Victor to relay


    03

Kicker

    04
Electromagnet


    05


    06


    07


    08

Analog Inputs




01 Gyro

Kicker shaft angle

02 Magnetic rotary encoder (Austria Microsystems)

Lifting winch

03 Bourns 10-turn potentiometer


04


05


06


07

RESERVED

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
10

11

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 01.27
2010:Electrical Main 01.28
2010:Electrical Main 01.30
2010:Electrical Main 01.31

Week 4

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

Week 5

2010:Electrical Main 02.09
2010:Electrical Main 02.10
2010:Electrical Main 02.11
2010:Electrical Main 02.13
2010:Electrical Main 02.14

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