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 

Climbing Mechanism

• Starting Position
  • sensor for robot V at pyramid corner: optical beam break (Banner?)
• Deploy
  • 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)

• 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

• 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