2013:Electrical Main

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Electrical Subteam Members

• Students

• Mentors

Links to Other Important Stuff

2013:Robot IO Map

Robot Electromechanical Design Features 

Frisbee Scorer (Shooter/Dumper)

• Shooter
  • motor type: mini-CIM
  • variable speed motor drive: Jaguar
  • sensor for motor RPM: rotary encoder
• Loader
  • rotary carousel motor type: snowblower
  • motor drive: variable speed or just maximum speed (relay)?
  • sensor for how many frisbees have been loaded
  • actuator for feeding frisbee to shooter: solenoid?
• Dumper
• Tilt
  • motor type: ?
  • variable speed motor drive: Jaguar
  • sensors?

Climbing Mechanism

• Starting Position
  • sensor for robot V at pyramid corner: optical beam break (Banner?)
• Deploy
  • Release stationary arms: solenoid or servo
• Climb
  • Extend & retract climbing arms
    • motor type: 2x CIM
    • motor drive: variable speed Jaguar
    • 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: microswitches or optical (need to prototype)
    • microswitch with 2" lever arm measured to have 0.25" travel at tip after switch engages before bottoming out (not much). Travel at tip from resting to engagement is about 0.1875".

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)

• 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
• shooter up to speed and ready?
• robot in position to climb - at top & sides of climber structure
• climber deployed - at top & sides of climber structure
• climber arms fully hooked on pyramid horizontal bar - at top of climber stucture
• climber at full extension - at top & sides of climber structure
• climber at full retract - at 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

• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots

Archives

• 2012 Electrical Main
• 2011 Electrical Main
• 2010 Electrical Main
• 2009 Electrical Main