2011:Electrical Main

Electrical Subteam Members

• Students

Alex Rozanov

Vaughn Thompson

Matthieu Dora

Henry Wagner

• Mentors

Dave Burlone

Dean Smith

Christian Stoeckl

Dave Schoepe

Master Task List

Design robot.

Build robot.

Test Robot.

Sub Task List

- Control Board in Inventor: The current drive train design is almost complete in Inventor this means that one of the kids can start drawing in the control board.

- Check all Batteries: The batteries should have the tape removed and crimps checked and redone if needed. Larry is talking about buying a power meter that will graph the battery.

- Experiment with Line Sensors: Pull out a power supply and scope, find out how the sensors work, and test range and sensitivity.

- Measure Mach 1511 Polycarb: This is the thickness of the polycarb to use on the control board and order a sheet.

- CAN Bus: Make two Serial to CAN converters, two CAN terminators, four CAN cables

- Safety Light: Wire up the Orange Safety Light

- Communication Signals: Plan and design human player communication lights, this is being discussed on the forums, may or may not be used.

- Motors: Inventory and test motors.

Links to Other Subteams' Important Stuff

2011:Robot IO Map

Robot Electromechanical Design Features 

OUTPUTS

1. Drivetrain motors
2. Arm elevation motor
3. Arm unfold/extend This is deprecated, unfolding is a mechanical ONLY 
4. Gripper rollers
5. Minibot deployment release

INPUTS

1. Gyro
2. Drivetrain motors speed and direction
3. Arm angle
4. Line tracking sensors

ARM PLACEMENT ACCURACY Need to determine the required resolution (accuracy) of the arm angular sensor.

This is a very, very rough determintaion, based on some assumptions (because I didn't have the robot & arm dimensions). -Dave S

• Placement accuracy required:

1. ubertube central hole is 12"
2. scoring peg foot is 2.75"
3. If perfectly centered, this leaves approx 4.5" gap between tube and scoring peg.
4. Let's cut this in half to have some safety margin, and say we need to place the tube within 2" during autonomous mode.

• Sensor resolution required:

1. Fully extended arm reaches to 9.5' (114")
2. ASSUME that arm is pivoted at a point 48" above ground in the center of the robot, then the arm's length is about 68".
3. the circumference of the arc the arm traces is 427"
4. so 2"/427" times 360 degrees for a full circle gives about 1.7 degrees as corresponding to 2" in arm rotation out at the gripper.
5. To allow for some margin of error, let's say we need to sense the arm angle at least within 1.0 degree.

So need to choose a sensor with 1 degree of angular resolution or better.

• IF use an analog sensor, cRio 9201 module is 12-bit ADC for a full scale input range of -10V to +10V. We would likely use less than its full range so we would not get its maximum  resolution - the reference voltage for the ADC is internal and not user selectable.

Robot Sensor Requirements

Drivetrain Sensors

• US Digital E4P Rotary Encoder (2) - Directly coupled to gearboxes
  
• Rockwell line following sensor (3+) - Mounted as close to center as possible
  
• Gyro (KOP)
  

Arm Sensors

• Some Calculations (Arm Placement Accuracy) show that we need 1-2 degree tolerance on the sensor
  
• If using a potentiometer we should fine 1% tolerance pots
  
• If using encoders must use both A & B phase for maximum accuracy
  
• Limit switches at extremes/home-position
  
• Potentially have 2 arm sensors for redundancy
  

Manipulator

• Needs at least 1 "Got It" Sensor (maybe 2?)
  
• Would be nice to make this sensor active low
  
• We should impose the mechanical team to design a mechanical stop
  
• Will drive the "Got It" Light
  

Motor Outputs

General Assumption:  CAN Based Motor Controls

Drivetrain

• 2 x Jaguar - CIM

Arm

• 1 x Jaguar - CIM?

Manipulator

• 2 x Jaguar - Continuous Rotation Servo

Visual Feed Back

Want-It-Indicator

• Used to relay to the human player what type of tube needs to be fed to the robot
• Needs to be viewable from all angles
• No breakables for this

Got-It-Indicator

• Used to tell the robot drive team that the robot is in "good" possession of a tube
• Needs to be viewable from all angles
• Needs to be viewable from far distances
• No breakables for this

Electrical Main Subteam's Engineering Notebook

Week 1

• 1/11/2011
• 1/12/2011
• 1/13/2011
• 1/14/2011
• 1/15/2011

Week 2

• 1/16/2011
• 1/18/2011
• 1/19/2011
• 1/20/2011
• 1/22/2011

Week 3

• 1/23/2011
• 1/25/2011
• 1/26/2011
• 1/27/2011
• 1/29/2011

Week 4

• 1/30/2011
• 2/1/2011
• 2/2/2011
• 2/3/2011
• 2/5/2011

Week 5

• 2/6/2011
• 2/8/2011
• 2/9/2011
• 2/10/2011
• 2/12/2011

Week 6

• 2/13/2011
• 2/14/2011
• 2/15/2011
• 2/16/2011
• 2/17/2011
• 2/18/2011
• 2/19/2011
• 2/20/2011
• 2/21/2011
• 2/22/2011

Engineering Notebook Templates Available at: Engineering_Notebook_Template

Please Label All Notebook Pages 2011:Electrical Main MM.DD to avoid confusion.

Component Specifications

Jaguar Speed Controllers

Jaguar Firmware Notes

Victor 884 Speed Controllers

File:2011 Motor Curves.pdf

2009 KOP Motors Spreadsheet (Chief Delphi)

Sensors

Servos

Micro Switches

Electrical Inventory

File:BDC24 RDK UM.pdf

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

File:Natl Instruments 9201 AnalogModule.pdf

Bill of Materials (Electrical)

Line Sensor Notes

US Digital Encoders

Archives

• 2010 Electrical Main
• 2009 Electrical Main