General Electrical Info:

Terminating Wires:

For CAN: Green is Left/Ground, Yellow is Right

For Power: Black is Left/Ground, Red is Right

Breakers(All should be in the MPT):

With PDH:

20amp SnapAction

30amp SnapAction

40amp REV

Electrical Wiring Diagrams:

Optek Flag Sensor Wiring Diagram:

Q10 Series Banner Sensor Wiring Diagram:

Wiring Diagram with Rev PDH

Wire Routing

Lift
- Using the 1in IGUS chain x2 (1 for pneumatics and 1 for electrical) for extension
Gripper
- Drive

Potential CAN Chain (1/21/23)

Daily Status

1/21/2023

Accomplished
- Added power poles to shopping list
- Added CANcoders to shopping list
- Inspected Homer's swerve modules, found 2 suspect
- Inventoried IGUS chain
  - Found 3 sets of end pieces
  - Pulled 2 44in lengths for use on 2023 robot (on black shelves)
- Decided to use IGUS chain for extension
- Rewired CANcoder B (on black shelves)
  - Discussed with Nick L and Berkeley about battery placement
To-Do
- Finish rewiring CANcoder A (on black shelves)
- Terminate and Label Motor Side and CAN Connection of Swerve Drive Spark Max (45A)
- Terminate and Label Motor Side and CAN Connection of Swerve Rotation Spark Max (30A)
- Continue to work with Lift/Gripper on sensor placement (ensure some level of adjustability)
- Rough out locations of Speed Controllers
- Update IO Map

1/22/2023

Accomplished
- Wired, labeled, and CAN IDed the 8 drive motor controllers
- Figuring out Battery Things
- Talked with Acquire about beam break placement
- Electrical Component placement in CAD started
- Found an Ethernet Switch (not the right one)
To-Do
- Update IO Map
- Figure out sensors with Lift
- Quality check motor controllers
- Finish rewiring CANcoder A (on black shelves)
- Order a more industrial Ethernet Switch

1/24/2023

Accomplished
- Quality checked drive motor controllers
- Finished rewiring CANcoder A (on black shelves) (questionable condition).
To-Do
- Update IO Map
- Figure out sensors with Lift
- Test CANcoder A (on black shelves) to confirm integrity of the components
- Order a more industrial Ethernet Switch

1/25/2023

MEETING CANCELLED

1/26/2023

Accomplished
To-Do

1/28/2023

Accomplished
- Order a more industrial Ethernet Switch
- Put away some stuff
- Post testing, install CAN Encoders to the swerve modules
- Fixed batteries
- Test CANcoder A (on black shelves) to confirm integrity of the components
  - Both Encoders A & B work with the modules
- Figure out sensors with Lift
  - Flag sensors at either side of the base telescope
To-Do
- Update IO Map
- Finalize motor controllers for the not drive base mechanisms and prep them
- Give a PSA about battery usage (Planning to do it Dinner on Tuesday)

1/29/2023

Accomplished
- Talked about alternate component places
To-Do
- Update IO Map
- Finalize motor controllers for the not drive base mechanisms and prep them
- Check up with Gripper about Beam Break mounting

1/31/2023

Accomplished
- 3d printed Beam Break mount for Gripper
- Continued Component Placement
To-Do
- Update IO Map
- Finalize motor controllers for the not drive base mechanisms and prep them

2/1/2023

Accomplished
- Continued component placement
  - Need more info to finalize accumulators
To-Do
- Update IO Map
- Finalize motor controllers for the not drive base mechanisms and prep them

2/2/2023

Accomplished
To-Do

2/4/2023

Accomplished
- Accumulators are horizontal with 3d printed triangle brackets being made
- Electrical placements are mostly finalized
- Finalize motor controllers for the not drive base mechanisms and prep them
- Worked with DB on Protective/Sponsor Pannels
To-Do
- Update IO Map
- Terminate the batteries when the terminator things come in
- Id non drive base motor controllers

2/5/2023

Accomplished
- Id non drive base motor controllers
- Prepared the compressor
- Terminated 5 of the batteries that we had the lugs for
To-Do
- Update IO Map
- Terminate the batteries when the terminator things come in
- Figure out how to mount compressor
- Prepare the rest of the pneumatics

2/7/2023

Accomplished
- Disassembled 3 port manifold and PCM from 2022
- Worked on potential mountings for components
To-Do
- Update IO Map
- Terminate the batteries when the terminator things come in
- Figure out how to mount compressor
- Prepare the rest of the pneumatics

2/8/2023

Accomplished
- Terminated gripper motors
- Beam Break on gripper is mounted
- Working on figuring out electrical panneling
To-Do
- Update IO Map
- Terminate the batteries when the terminator things come in
- Figure out how to mount compressor
- Prepare the rest of the pneumatics
- Map out placement for components

2/9/2023

Accomplished
To-Do

2/11/2023

Accomplished
- Mounted a lot of electrical components
- Planned out component placement
- Updating physical copy of the robot IO map
- Mounting compressor to the belly pan
- Planned Manifold (6, I believe we are doing 4 doubles with 2 blocks)
- Put together manifold solenoids and blocks
- Wiring Drive Base motors to PDH
- Figured out motor controller placement for Acquisition
- Figured out IGUS situation
- Situated the Ball Screw motor controllers
- Terminated some Batteries
- Mounted the breaker
To-Do
- Update IO Map
- Finish terminating the batteries
- Mount compressor
- Prepare the rest of the pneumatics
  - mount manifold and pcm
- Test the compressor for air retention
- Mount accumulator panel
- Mount radio on lift posts
- Wire CAN Chain with new plan
- Plug CAN encoders into vrm
- Mount Gripper motor controllers
- Figure out Flag sensors
- Talk to gripper about beam breaks
- Mount ethernet switch and Pi
- Build in a quick disconnect for the pneumatics
- Regulate IGUS chain length
- Put the accumulators on the panel and make them work
- Put in the pneumatics regulators
- Figure out what is going on with the LEDs (sponsor panels?)

2/12/2023

Accomplished
To-Do

2023:Electrical Main

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