2015:Electrical Main

IO Interface Map

2015:Robot IO Map

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Sensors

Drive Base:

• two encoders (left and right)
• one channel for each encoder
• one gyro
• Need to use strafing in autonomous​!
• 2-speed shifter (pneumatic)

​Lifter:

• flag sensor at bottom/home for calibration
• flag sensor highest extent
• do we need hard stops?
• lifter needs to be physically removed
• motor (2)(775)
• 1 Camera (Stationary)

​Gripper:

• encoder on one
• flag sensor for inner home position
• the motor is a 550
• 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

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:Talon-SRX-Info-Sheet.pdf

File:RoboRIO User Manual.pdf

File:PCM-Users-Guide.pdf

File:RevRoboticsMoreBoard.pdf

File:2013 Motor Data Table.xls

File:2013 MotorCurves.xls

Sensors

Servos

LED Strips

Micro Switches

Electrical Inventory

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

US Digital Encoders Link

Electrical Indicators Reference Link

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