2014:Robot Sensors/Motors/Lights/Controls Map
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 ?) |
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Shooter |
Detect kicker speed B |
Optical shaft encoder sensor |
E4P? |
Digital |
Yes |
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Shooter |
Detect high kicker gear teeth |
Optical flag |
Limit Switch |
Digital |
Yes |
additional check on kicker rotation to account for chain/gear slop |
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Shooter | Detects kicker low position |
Optical flag sensor |
Banner Sensor |
Digital |
yes |
Senses flag that's connected to gear and detects whenever kicker is in low position |
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Shooter |
Detect kicker high position |
Optical flag sensor |
Limit Switch |
Digital |
yes |
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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 flag |
Banner Sensor |
Digital |
yes |
Detects if ball is on top of the bumper. | ||
Drivetrain | Left Encoder, Phase A | Shaft encoder | E4P | Digital | yes | |||
Drivetrain | Left Encoder, Phase B | Shaft encoder | E4P | Digital | yes | |||
Drivetrain |
Right Encoder, Phase A | Shaft encoder | E4P | Digital | yes | |||
Drivetrain |
Right Encoder, phase B | Shaft encoder | E4P | Digital | yes |
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Camera | Network | Axis TBD | n/a | n/a | 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 | TBD | |
Drivetrain | Left Rear Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Right Front Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Right Rear Drive | CIM | TBD | CAN | Yes | TBD | |
Shooter | front left Kicker arm | CIM | AM802 | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | PWM / CAN TBD shortly |
Shooter | mid left Kicker arm | CIM | AM802 | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | PWM / CAN TBD shortly |
Shooter | back left Kicker arm | Mini CIM | 2501BL | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | PWM / CAN TBD shortly |
Shooter | right front Kicker arm | Mini CIM | 2493BL | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | PWM / CAN TBD shortly |
Shooter | right mid Kicker arm | Mini CIM | 2493BL | CAN or PWM | Yes | spins at full power in one direction, spins to 2 points | PWM / CAN TBD shortly |
Shooter | right back Kicker arm | Mini CIM | 2493BL | CAN or PWM | yes | spins at full power in one direction, spins to 2 points | PWM / CAN TBD shortly |
Intake |
roller |
550/775 |
TBD |
CAN or PWM |
Yes |
TBD |
|
Shooter |
cradle lift |
775&PG71 |
TBD |
CAN or PWM |
YES |
TBD |
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 |
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 | TBD | No | 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) |
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 |
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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 | |||
3 | Pass Ball Slow | Intake wheels spin such the ball is moved out of the robot. This will be a 'slow' rate to allow for a short pass to a close by robot. |
|
4 | Pass Ball Fast |
Intake wheels spin such the ball is moved out of the robot. |
|
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
X-axis | |||
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 | Really called the missle switch but i couldnt call it that because of mr byers. |
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 | Broken 6 | 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 | Future use | This is not used for anything at this time. But is available if needed. | 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. | n/a | n/a |
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 | Manualpower | TBD | |
Setup Dialog (TBD) | Team Number | Numberbox | Sets the team number for the robot to set the camera feed. Should remain constant until we change the IP address of the robot. Should not change very much. | n/a | n/a |