2013:Electrical Main: Difference between revisions

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= Robot Electromechanical Design Features  =
= Robot Electromechanical Design Features  =
== Climbing Mechanism ==
== Climbing Mechanism ==
* Starting Position
*sensors for climbing arms locked on: optical beam break (mechanical lever switch is backup solution)
**sensor for robot V at pyramid corner: optical beam break (Banner?)
**microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much).  Travel at tip from resting to engagement is about 0.1875" (3/16").
* Deploy
**Measured last years optical sensor to have angle of operation of around +- 10 Degrees
**Release stationary arms: 2x servo
* Climb
**Extend & retract climbing arms
***motor type: 2x CIM
***motor drive: variable speed Jaguar
***motor speed sensor: rotary encoder (used to maintain sped under load)
***arm position sensor: slotted optical sensor senses mechanical flag on shuttle - top, bottom, and home (middle). Redundant top and bottom?
**sensors for climbing arms locked on: optical beam break (mechanical lever switch is backup solution)
***microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much).  Travel at tip from resting to engagement is about 0.1875" (3/16").
***Measured last years optical sensor to have angle of operation of around +- 10 Degrees
 
== Drivetrain ==
* 4 wheel or 6 wheel (?)
**motor type: 2x CIM
**variable speed motor controllers: 2x Jaguars
**sensor for motor RPM: rotary encoders
*Gyro


== Robot Visual Indicators (pretty lights) ==
== Robot Visual Indicators (pretty lights) ==

Revision as of 18:59, 30 January 2013

Electrical Subteam Members

  • Students



  • Mentors



Master Task List

High Priority

Medium Priority

Low Priority

Sub Task List

Links to Other Important Stuff

2013:Robot IO Map


Robot Electromechanical Design Features 

Climbing Mechanism

  • sensors for climbing arms locked on: optical beam break (mechanical lever switch is backup solution)
    • microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much). Travel at tip from resting to engagement is about 0.1875" (3/16").
    • Measured last years optical sensor to have angle of operation of around +- 10 Degrees

Robot Visual Indicators (pretty lights)

  • ready to feed frisbee - at feed slot - green for OK to feed, red for don't feed
  • how many frisbees loaded - visible from all sides - four stripes
  • shooter at selected angle
  • robot in position to climb - on top & sides of climber structure
  • climber deployed - on top & sides of climber structure
  • climber arms fully hooked on pyramid horizontal bar - on top of climber stucture
  • climber at full extension - on top & sides of climber structure
  • climber at full retract - on top & sides of climber structure
  • robot front direction indicator - arrows (?) on sides that point forward

Electrical Main Subteam's Engineering Notebook

Engineering Notebook Templates Available at: Engineering_Notebook_Template

Please Label All Notebook Pages 2013:Electrical Main MM.DD to avoid confusion.


Component Specifications

Jaguar Speed Controllers

Jaguar Firmware Notes

File:Jaguar BDC-COMM.pdf

File:2013 Motor Data Table.xls

File:2013 MotorCurves.xls

Victor 884 Speed Controllers

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

Line Sensor Notes

US Digital Encoders

File:GRS2011SwitchMomentary.pdf

IO Maps for Old Robots

Archives

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