Revision as of 14:09, 14 November 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)

BILL OF MATERIALS

Bill of Materials 2010

As these tasks are completed, mark them done and cross them out. Don't delete them!

1. Rough in Power Wires. We know the position of the board on the robot from our CAD drawings. We know where the motors are going to be from our CAD drawings. Come up with a good measurement in CAD, select the appropriate gauge of wire and terminate the end which goes to the speed controller (ring terminal) or spike relay (female fast-on). To organize it better maybe have someone come up with a "cut list" (how long of what gauge wire) and once that cut list is done break it up for a bunch of people to do this. Please check all of your connections carefully.

~~a.) Drive Motors~~

~~b.) Kicker Motors~~

c~~.) Lifter Mech. Motors~~

~~i.) Winch~~

~~ii.) Servo~~

~~iii.) Tilt~~

~~d.) Thrasher Motor~~

~~e.) Electromagnets~~

2. Rough in sensor Wires. Same idea as above. Most of the sensors will use the PWM wire we have. Be careful because some of these sensors will go directly to the cRIO (analog inputs) versus others which go to the actual electrical board. Again, only terminate one side of these cables.

~~a.) Drive Motor Encoders~~

~~b.) Magnetic Sensor for Kicker~~

~~c.) Gyro~~

~~d.) Lifter Limit Switch~~

~~e.) Banner Sensor~~

~~f.) Winch Pot~~

3. Gather pre-made PWM cables. There has been some talk of using the PWM interface for the speed controllers. We should find all the pre-made PWM cables we have and USE them. Remember in our drive train with the PWM interface we use the yellow/red/black-y-cables.

~~4. Find a leaf switch for Tom K. to model into the lifter design.~~

5. Sort of optional… We should be thinking of spares and the ability to have stuff ready to swap in and out… Fast-on connectors for any pots we're using would be a plus (pots like to break on our robots). Also switches… the leaf switch has some good give, however we should also have a few others ready to swap in (I assume that you'll just use female fast-ons to connect the switches). I'd like to see the pushbuttons on fast-on connectors as well because I'm not sure how much of a beat it will take with that arm pulling in the jam on it. Once you have extras made up, find a nice small box to put them in.

6. We're using window motors again… These are the ones that have the absolutely annoying connector that we can't find. Perhaps carefully cut away some of the plastic with a dremel and solder 6" pigtails onto the motor. If you key the pigtails (one with male fast-on one with female) make sure you do this exactly the same with the other motor.

7. ~~Work with programming to give node-ids to the new Jaguar speed controllers (you'll noticed they're currently labeled 4-7, keep those as they are) and remember to label the Jags with a sharpie.~~

~~8. Paint the battery box? Red? Black? Camo? (nice job on it Matt!)~~

~~9. If painted and ready mount battery box (need to wait for mech to install cross member).~~

~~10. The fisher-price motor for the front thrasher is presently wired to a 20A/30A slot - it needs to be changed to a 40A slot on the power distribution board~~.

11. Update BOM.<span style="color: rgb(255, 0, 0);" />

~~12. Remove all components from electrical board~~

~~13. Swiss Cheese electrical board with 1" holes (make sure you don't get too close to the perimeter of the board~~

14. Weigh Nylon HW against velcro to attach specific components. Determine which is lighter and use that to reattach components.

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: 2 Spike Relays
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 microwitches
Rotary Encoders on main drivetrain motors: (4) Banebots
Lifting mechanism endstop (max retract) (max extend not needed per T. Kanzler): microswitch
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

2 Kicker release (electromagnet)
2 Kicker motors (unless switch to Victor speed controllers)

Total Jaguars - 7 (maybe 9)

Total Spike Relays - 4 (maybe 2)

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 (right rear)
Lifting Winch	05	Jaguar CAN#8
Lifting Arm Tilt	06	Jaguar CAN#2
Front Thrasher	07	Jaguar CAN#3
	08
Lifting arm lock	09	servo (needs PWM power jumper)
Camera Tilt	10	Camera servo (needs PWM power jumper)
Relay Outputs
Kicker windup	01	LH motor
Kicker windup	02	RH motor
	03
Kicker release	04	Electromagnet
Kicker release	05	Electromagnet
	06
	07
	08
Analog Inputs
	01	Gyro
Kicker shaft angle	02	Magnetic rotary encoder (Austria Microsystems)
Lifting winch	03	Bourns 10-turn potentiometer (0-5V full scale, but we use less than full 10 turn range)
	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 interrupter sensor
kicker electromagnet contact	06	photoreflective 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