2015:Electrical Main
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IO Interface 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:2013 Motor Data Table.xls
Electrical Indicators Reference Link
