2015:Electrical Main

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IO Interface Map

2015:Robot IO 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: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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