2015:Electrical Main: Difference between revisions

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*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two encoders (left and right)</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two encoders (left and right)</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">one channel for each encoder</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two&nbsp;channels for each encoder</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">one gyro</span></span></span></span>
*<font size="3"><span style="line-height: 28.444446563720703px;">gyro and accelerometer compound board (am-2067, containing&nbsp;ADXL245 &&nbsp;ADW22307)</span></font>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">Need to use strafing in autonomous</span></span></span></span><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">​!</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">Need to use strafing in autonomous</span></span></span></span><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">​!</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">2-speed shifter (pneumatic)</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">2-speed shifter (pneumatic)</span></span></span></span>
Line 20: Line 20:


*<span style="font-size:medium;">flag sensor at bottom/home for calibration</span>
*<span style="font-size:medium;">flag sensor at bottom/home for calibration</span>
*<span style="font-size:medium;">flag sensor highest extent</span>
*<span style="font-size:medium;">flag sensor at&nbsp;highest extent</span>
*<font size="3"><span style="line-height: 28.444446563720703px;">63R256 encoder for interpolation between top/bottom</span></font>
*<span style="font-size:medium;">do we need hard stops?</span>
*<span style="font-size:medium;">do we need hard stops?</span>
*<span style="font-size:medium;">lifter needs to be physically removed</span>
*<span style="font-size:medium;">lifter needs to be physically removed</span>
*<span style="font-size:medium;">motor (2)(775)</span>
*<span style="font-size:medium;">2 RS775-18 motors</span>
*<span style="font-size:medium;">1 Camera (Stationary)</span>
*<span style="font-size:medium;">1 Camera (Stationary)</span>
*<span style="font-size:medium;">bike brake with pneumatic actuation (double acting cylinder, single solenoid)</span>


<span style="font-size:medium;">​<span style="font-size:large;">Gripper:</span></span>
<span style="font-size:medium;">​<span style="font-size:large;">Gripper:</span></span>


*<span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">encoder on one</span></span></span>
*<span style="font-size: medium; line-height: 28.444446563720703px;">63R256&nbsp;</span><span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">encoder after gearbox output</span></span></span>
*<span style="font-size:medium;">flag sensor for inner home position</span>
*<span style="font-size:medium;">flag sensor for inner home position</span>
*<span style="font-size:medium;">the motor is a 550</span>
*<span style="font-size:medium;">the motor is a&nbsp;RS550</span>
*<span style="font-size:medium;">2 (or 1?) banner sensors out on grippers for tote acquisition (previously ultrasonic distance sensor)</span>
*<span style="font-size:medium;">2 (or 1?) banner sensors out on grippers for tote acquisition (previously ultrasonic distance sensor)</span>
*<span style="font-size:medium;">Flag (?) sensor for wide tote config</span>
*<span style="font-size:medium;">Flag (?) sensor for wide tote config</span>
*


<span style="font-size:medium;"><span style="font-size:large;">​Stabilizer:</span></span>
<span style="font-size:medium;"><span style="font-size:large;">​Stabilizer:</span></span>


*<span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">pneumatic on/off</span></span></span>
*<span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">pneumatic on/off (single solenoid, dual acting cylinder)</span></span></span>


= Robot Indicators =
= Robot Indicators =

Revision as of 09:58, 26 January 2015

IO Interface Map

2015:Robot IO Map


Sensors

Drive Base:

  • two encoders (left and right)
  • two channels for each encoder
  • gyro and accelerometer compound board (am-2067, containing ADXL245 & ADW22307)
  • Need to use strafing in autonomous​!
  • 2-speed shifter (pneumatic)

​Lifter:

  • flag sensor at bottom/home for calibration
  • flag sensor at highest extent
  • 63R256 encoder for interpolation between top/bottom
  • do we need hard stops?
  • lifter needs to be physically removed
  • 2 RS775-18 motors
  • 1 Camera (Stationary)
  • bike brake with pneumatic actuation (double acting cylinder, single solenoid)

​Gripper:

  • 63R256 encoder after gearbox output
  • flag sensor for inner home position
  • the motor is a RS550
  • 2 (or 1?) banner sensors out on grippers for tote acquisition (previously ultrasonic distance sensor)
  • Flag (?) sensor for wide tote config

​Stabilizer:

  • pneumatic on/off (single solenoid, dual acting cylinder)

Robot Indicators

  • Lift Position
    • LED strips on rear of lift which indicate gripper height position
    • "Bar Graph" style display
    • Adressable type LED strips so that can be turned on/off individually
  • Gripper Open Width
    • LED strips on rear of lift at the gripper leadscrew 
    • "Bar Graph" style display from the center
    • Addressable type LED strips so that can be turned on/off individually
    • When gripper Banner sensor is tripped (tote within grippers), LEDS change color

Component Specifications

File:Talon-SRX-Info-Sheet.pdf

File:RoboRIO User Manual.pdf

File:PCM-Users-Guide.pdf

File:RevRoboticsMoreBoard.pdf

File:2013 Motor Data Table.xls

File:2013 MotorCurves.xls

Sensors

Servos

LED Strips

Micro Switches

Electrical Inventory

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

US Digital Encoders Link

Electrical Indicators Reference Link

Archives

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