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" cellspacing="1" cellpadding="1" border="1" | ||
|- | |- | ||
| '''Pin Type / Function''' | | '''Pin Type / Function''' | ||
| '''Pin Number<br>''' | | '''Pin Number<br>''' | ||
| | | | ||
'''Connected Device''' | '''Connected Device''' | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold | <span style="font-weight: bold">PWM Outputs</span> | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<span>Drivetrain</span> | <span>Drivetrain</span> | ||
| 01<br> | | 01<br> | ||
| Jaguar CAN#4 - LF (left front)<br> | | Jaguar CAN#4 - LF (left front)<br> | ||
|- | |- | ||
| | | | ||
Drivetrain | Drivetrain | ||
| 02<br> | | 02<br> | ||
| Jaguar CAN#5 - LR (left rear)<br> | | Jaguar CAN#5 - LR (left rear)<br> | ||
|- | |- | ||
| | | | ||
Drivetrain | Drivetrain | ||
| 03<br> | | 03<br> | ||
| Jaguar CAN#6 - RF (right front)<br> | | Jaguar CAN#6 - RF (right front)<br> | ||
|- | |- | ||
| | | | ||
Drivetrain | Drivetrain | ||
| 04<br> | | 04<br> | ||
| Jaguar CAN#7 - RR (rail road)<br> | | Jaguar CAN#7 - RR (rail road)<br> | ||
|- | |- | ||
| | | | ||
<span>Lifting Winch</span> | <span>Lifting Winch</span> | ||
| 05<br> | | 05<br> | ||
| Jaguar CAN#?<br> | | Jaguar CAN#?<br> | ||
|- | |- | ||
| | | | ||
Lifting Arm Tilt | Lifting Arm Tilt | ||
| 06<br> | | 06<br> | ||
| Jaguar CAN#?<br> | | Jaguar CAN#?<br> | ||
|- | |- | ||
| | | | ||
Front | Front Thrasher<br> | ||
| 07<br> | | 07<br> | ||
| Jaguar CAN#?<br> | | Jaguar CAN#?<br> | ||
|- | |- | ||
| | | | ||
<br> | Kicker Left<br> | ||
| 08<br> | | 08<br> | ||
| <br> | | Victor - Window Motor left side<br> | ||
|- | |- | ||
| | | | ||
<br> | Kicker Right<br> | ||
| 09<br> | | 09<br> | ||
| <br> | | Victor - Window Motor right side<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 10<br> | | 10<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| '''Relay Outputs''' | | '''Relay Outputs''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
Kicker | Kicker | ||
| 01 | | 01 | ||
| | | reserved in case switch from Victor to relay | ||
|- | |- | ||
| | | | ||
Kicker | Kicker | ||
| 02<br> | | 02<br> | ||
| | | reserved in case switch from Victor to relay<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03 | | 03 | ||
Line 146: | Line 146: | ||
|- | |- | ||
| | | | ||
Kicker | Kicker | ||
| 04<br> | | 04<br> | ||
| Electromagnet<br> | | Electromagnet<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05 | | 05 | ||
Line 158: | Line 158: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06 | | 06 | ||
Line 164: | Line 164: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07 | | 07 | ||
Line 170: | Line 170: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08 | | 08 | ||
Line 176: | Line 176: | ||
|- | |- | ||
| | | | ||
'''Analog Inputs''' | '''Analog Inputs''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01 | | 01 | ||
Line 188: | Line 188: | ||
|- | |- | ||
| | | | ||
Kicker shaft angle<br> | Kicker shaft angle<br> | ||
| 02 | | 02 | ||
Line 194: | Line 194: | ||
|- | |- | ||
| | | | ||
Lifting winch<br> | Lifting winch<br> | ||
| 03 | | 03 | ||
Line 200: | Line 200: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04 | | 04 | ||
Line 206: | Line 206: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05 | | 05 | ||
Line 212: | Line 212: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06 | | 06 | ||
Line 218: | Line 218: | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07 | | 07 | ||
Line 224: | Line 224: | ||
|- | |- | ||
| | | | ||
<br> | RESERVED<br> | ||
| 08 | | 08 | ||
Line 230: | Line 230: | ||
|- | |- | ||
| '''Digital Outputs (GPIO)''' | | '''Digital Outputs (GPIO)''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
Line 240: | Line 240: | ||
| 02 | | 02 | ||
| | | | ||
<br>Banebots rotary encoder - LR - channel A | <br>Banebots rotary encoder - LR - channel A | ||
|- | |- | ||
Line 271: | Line 271: | ||
| switch | | switch | ||
|- | |- | ||
| | | | ||
| 10 | | 10 | ||
| | | | ||
|- | |- | ||
| <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 | [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) | [[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- 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 |
|
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
2009 KOP Motors Spreadsheet (Chief Delphi)
Links to Other Subteams' Important Stuff
IO_Map - Thunderplucker
Electrical Fun
HIIIIIIIIIIIIIII!!!