2014:Robot Sensors/Motors/Lights/Controls Map: Difference between revisions
Programming (talk | contribs) (→Joystick 3 (Aux Driver): update to current code) |
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| 3 | | 3 | ||
| Pass Ball | | Pass Ball Fast<br/> | ||
| Intake wheels spin such the ball is moved out of the robot.<br/>This will be | | | ||
Intake wheels spin such the ball is moved out of the robot.<br/>This will be the fastest it can be, allowing for a long pass. | |||
| <br/> | | <br/> | ||
|- | |- | ||
| 4 | | 4 | ||
| | | Set Kick Position<br/> | ||
| | | | ||
While pressed, intake stays at kick level | |||
| | | |
Revision as of 17:49, 13 February 2014
Sensors
NOTE: each of these should also have a line in the appropriate (e.g. or ) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (/) |
IO Map Updated? |
Operation Details (including when broken) |
Output Level |
Notes |
Intake | Detects intake position | Potentiometer | 3852A-282-104AL | Analog | Yes |
Sensor which detects the angle of the intake bar |
||
Shooter | Detect kicker speed A |
Optical shaft encoder sensor |
E4P |
Digital |
Yes |
Sensor detects shaft rotation to sense how fast the gear is rotating (Could also use shaft encoder on motor transmission ?) |
||
Shooter |
Detect kicker speed B |
Optical shaft encoder sensor |
E4P |
Digital |
Yes |
|||
Shooter |
Detect kicker gear teeth |
Optical flag sensor |
OPB815 |
Digital |
Yes |
additional check on kicker rotation to account for chain/gear slop |
||
Shooter | Detects kicker low position (home) |
Optical beam break |
Banner Sensor |
Digital |
Yes |
Senses kicker arm and detects whenever kicker is in low position |
||
Shooter |
Detect kicker high position |
Optical flag sensor |
OPB815 |
Digital |
Yes |
Senses flag that's connected to gear and detects whenever kicker is in high position |
Interfaced to Jaguar limit switch inputs - not DIO. | |
Intake |
Detects intake position |
Potentiometer |
3852A-282-104AL | Analog | Yes |
Sensor which detects the angle of the intake bar - redundant sensor | ||
Intake |
Detects ball presence on top of bumper |
Optical beam break |
Banner Sensor |
Digital |
Yes |
Detects if ball is on top of the bumper. | ||
Drivetrain | Left Encoder, Phase A | Shaft encoder | E4P | Digital | Yes |
Measure left drive side movement |
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Drivetrain | Left Encoder, Phase B | Shaft encoder | E4P | Digital | Yes |
Measure left drive side movement |
||
Drivetrain |
Right Encoder, Phase A | Shaft encoder | E4P | Digital | Yes |
Measure right drive side movement |
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Drivetrain |
Right Encoder, phase B |
Shaft encoder | E4P | Digital | Yes |
Measure right drive side movement |
||
Drivetrain |
Gyro |
Gyro |
?? |
Analog |
Yes |
Measure drivetrain rotation |
||
Camera |
Camera |
Network | Axis M1013 |
n/a |
Yes |
Faces out the kicker side of the robot. So it is facing the goals at the start of the match. It is powered on the entire time the robot is powered on. |
n/a | Connects to robot's router and needs 5V |
Motors
NOTE: each of these should also have a line in the appropriate (e.g. or or ) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (//) |
IO Map Updated? |
Operation Details (including when broken) |
Notes |
Drivetrain | Left Front Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Drivetrain | Left Rear Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Drivetrain | Right Front Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Drivetrain | Right Rear Drive | CIM | TBD | CAN | Yes |
Run with tank drive controls |
|
Shooter | front left Kicker arm | CIM | AM802 | CAN |
Yes |
spins at full power in one direction, spins to 2 points |
Note: The jaguars for the kicker motors will first be primed with a command and then commanded to start. Integration Meeting Thursday claimed CAN; |
Shooter | mid left Kicker arm | CIM | AM802 | CAN |
Yes |
spins at full power in one direction, spins to 2 points | Jaguars placed on robot model already |
Shooter | back left Kicker arm | Mini CIM | 2501BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points |
^ |
Shooter | right front Kicker arm | Mini CIM | 2493BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points | ^ |
Shooter | right mid Kicker arm | Mini CIM | 2493BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points | ^ |
Shooter | right back Kicker arm | Mini CIM | 2493BL | CAN |
Yes |
spins at full power in one direction, spins to 2 points | ^ |
Intake |
roller |
550/775 |
TBD |
CAN |
Yes |
4 modes; stopped, spins in, spins out slow, out fast |
|
Shooter |
cradle lift |
775&PG71 |
AM 0914 | CAN |
Yes |
lifts cradle and intake arm between two points |
Servors/Actuators
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (PWM/Relay) |
IO Map Updated? |
Operation Details (including when broken) |
Notes |
Shooter |
Guard Actuator A |
Solenoid |
? |
Relay |
Yes |
pulls in just before shooting; stays out otherwise to keep ball secure |
|
Shooter |
Guard Actuator B |
Solenoid |
? |
Relay |
Yes |
Same as the other one |
Lights (on robot)
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Relay or GPIO or I2C) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (Relay/GPIO/I2C) |
IO Map Updated? |
Location |
Used By (driver/human/alliance) |
Operation |
Notes |
Camera | Camera Light | Green LED Ring | AE60-G15 | GPIO | Yes |
mounted to the camera |
Robot |
Turned on in autonomous mode to 'light up' reflective tape so the robot can determine the hot goal | uses 12V. (http://www.superbrightleds.com/cgi-bin/store/index.cgi?action=DispPage&category=ACCENTS&Page2Disp=%2Fspecs%2FAE.htm) |
Intake |
Possession |
RGB Led Strip | TBD | GPIO | Yes |
Intake uprights facing kicker; on P012, about 1 inch from the top to where P109 meets P012. | Driver | They light up blue when the ball is just barely within our possession (i.e. the ball is squished between the bumpers and the wheels of the intake system) AND we are not Ready to Kick | There are a total of four strips of lights. These lights will be ganged/wired together with the Ready to Kick lights. Original request was for 'all around the robot'; this final layout was reviewed with Elliot D. |
Intake | Ready to Kick | RGB Led Strip | TBD | GPIO | Yes |
Front side of both intake uprights opposite kicker (side facing outward); about 20 in. long starting at the top of the arms. | Driver | They light up green when the cradle is all the way up and we are ready to shoot. This light takes precedence over the Possession light. |
There are a total of four strips of lights. These lights will be ganged/wired together with the Possession lights. Original request was 'everywhere'; this final layout was reviewed with Elliot D. |
Operator Controls
Joystick 1 (Driver Left) Attack3
Button/Axis | Description (brief) |
Operation | Notes |
1 | Turbo | Make da robot go fast | Both sides |
2 | Slow | Make da robot go slow | Both sides |
3 | |||
4 | |||
5 | |||
6 | Debug Drive |
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7 | Debug Intake |
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8 | |||
9 | |||
10 | Debug Kicker |
||
11 |
Debug Miscellaneous |
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12 | n/a |
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X-axis | |||
Y-axis | Left Wheels | Controls both left side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards. |
Shooter is the 'front' |
Z-axis |
Joystick 2 (Driver Right)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Turbo | Robot turbo | Controls both sides |
2 | Slow | robot slow | |
3 | |||
4 | |||
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | n/a | ||
X-axis | |||
Y-axis | Right Wheels | Controls both right side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards. |
Shooter is the 'front' |
Z-axis |
Joystick 3 (Aux Driver)
Button/Axis | Description (brief) |
Operation |
Notes |
1 | Acquire Ball | Intake wheels spin such the ball is moved onto the robot. | |
2 | Broken Mode Guard |
When pressed, open kicker guard; else keep it closed |
Only works when kicker broken switch is set. |
3 | Pass Ball Fast |
Intake wheels spin such the ball is moved out of the robot. |
|
4 | Set Kick Position |
While pressed, intake stays at kick level |
|
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
X-axis |
Broken Mode Kicker |
Motion to right turns kicker up; motion to left turns it down |
Only works when kicker broken switch is set. |
Y-axis | Intake |
Moves intake in/out (up/down) |
When joystick is pushed forward (away from driver) the intake will got out (extend away from robot). |
Z-axis |
Joystick 4 (Aux Controls/Extended IO)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Truss Shot | shoot with enough strength to get over the truss |
This will be the 3D printed lightning bolt). |
2 | High goal shot | Shott with enough strength to get into the high goal from a fixed distance. |
This will be the 3D printed Gear. |
3 | Manual shoot | Shoot at speed of manual power | this is the push in the push potentiometer |
4 | TBD | nothing yet | |
5 | Auto Choice 1 | will run auto mode 1 |
The 3 way switch has an up down and off |
6 | Auto Choice 2 | run auto mode 2 | |
7 | Broken 1 | Intake/Cradle Sensors Broken |
left most |
8 | Broken 2 | Kicker Sensors Broken |
. |
9 | Broken 3 | . | |
10 | Broken 4 | . | |
11 | Broken 5 | . | |
12 | reserved | For controls lights. | Right most |
X-axis | Manual Power | The amount of power for a manual shoot. | This is used when the Manual Shot button is pressed. |
Y-axis | Color adjustment | Adjust the color of the lights | silver knob (potentiometer) |
Z-axis | Hip check buton | Make noise and flash the noise | 0 When not pressed. 1 or higher is on. |
SmartDashboard
Screen | Description (brief) |
Operation | Notes |
Variable Name | Data Type |
Main | Camera Feed | This will be a direct feed from the camera. | The internet address will be based on the Team Number. |
process_img; is_hot_goal; img_failed; |
raised by robot, lowered by dash to queue processing; dash raises if goal is hot; dash raises if bad image; |
Main | Power meter | Meter next to the Camera Feed that shows the manual shooter's power. Would be a bar with a label next to it with a number representing power, scaling from 0 to 100 | manual_power |
double: range 0 to 1 | |
Main | Team Number | Numberbox used to set the team number for the robot. This is used for the camera feed. Should remain constant until we change the IP address of the robot. Should not change very much. | Control should be disabled unless the user specifically 'asks' to change the number (e.g. have an Edit button, then an OK & Cancel button to make the change) | -- |
-- |
Main | Screen's background | When the robot has the ball (i.e. the sensor indicating the ball is 'on the bumper' is tripped), then majority of the background needs to be a color the driver can see (e.g. yellow). When the sensor is not tripped, the background returns to its default color. | flash_screen |
boolean: robot sets it; true means yellow, false is normal | |
Main | Sound | When the hip check button is pressed, the PC will play a sound. | If time permits, could add a control to pick the sound file; otherwise it will be hardcoded. | play_sound |
boolean: robot raises to initiate sound; dashboard lowers on encountering the signal |