Electrical Subteam Members

Students

Vaughn

Justin B.

Shayna

Mo

Nick B.

Tommy M.

Mentors

Dave B.

Eric A.

Christian S.

Dean S.

Dave S.

Gafei S.

Carol E.

Master Task List

High Priority

Design layout for Electrical components (where side car, jaguars, etc, goes).
Come to agreement with mechanical on layout/placement
Position sensors '('and sensor flags) in inventor model
Collaborate with mechanical on the position and mounting of these sensors (need to know range of motion for mechanical actuators)
Should think about how big the flags have to be
Should think about how we couple together potentiometers, encoders, etc

Medium Priority

Homebrew sensor layout
Homebrew sensor construction
Once electrical layout & position/robot complete in inventor we can rough out wire lengths
Custom I/O board (for pullups, current limiting resistors, signal light drivers, etc).

Low Priority

Design/Build LED/Light driver board
Inventory current items

Sub Task List

Links to Other Important Stuff

2012:Robot IO Map

Electrical Bill of Materials (if updating, please update file in Harris Robotics as well!)

Robot Electromechanical Design Features

DRIVETRAIN

six wheel drive
four CIM motors, one per side on speed controllers

BRIDGE MANIPULATOR

bridge manipulator is the same as the guide wings of the ball collector

BALL ACQUISITION

guide wings plus input roller (beater bar)
one motor for roller - reversible and on speed controller?

BALL STORAGE

three-stage conveyor system
one motor for each conveyor segment (3 total), each on speed controller?
four beam-break sensors - one at each conveyor exit "parking" position and one at first conveyor entrance to stop input roller.

SHOOTER

two-wheel "pinch roller" shooter on rotating turret
two motors for shooter (one for each wheel) so that relative speeds can be varied for backspin.
an RPM sensor on each motor so that speeds can be matched, or purposely mismatched a known amount of backspin
one motor for turret rotation
a sensor for turrent position and flag sensors for endstops

IR Sensors

IR (infared) sensors are phototransistors that are used in conjunction with infareddiodes. They are cheap and can be made with parts that we already have.

http://penfieldrobotics.com/wiki/index.php?title=Image:IR_Sensor_schematic.png

Progress Report: A proto-type of the sensor has been soulder to a protoboard. A better design and layout out the sensor will come in the future pending the testing of the current protoboard.

Mounting created for IR semsor (2"x1"x1" aprox.). There are three holes: two for mounting one for the phototransistor to stick out.

Test Leads

About half a dozen teast leads were made some ends with clips and others with banana jacks. They can be used to test electrical circuits.

Mini Beam Sensors

These fiber optics use a red light that senses if the light stream is broken which is then sent back to the sensor. The range of the the sensor is 6in but a not optimal voltage (10V {<-- Used} but max was 30V) was used. Obtained for free by a mentor.

http://penfieldrobotics.com/wiki/images/f/f2/Banner_Sensor.jpg

Robot Sensor Requirements

Motor Outputs

Visual Feedback to Drivers - Robot-Mounted Indicators

File:LED control board.pdf

Wing deployer Down
- Must be visible from rear; side visibility also desireable
- Red flashing indicator when Wing is lower than "safe" level
- Safe level is the height which will not hit centerfield barrier

Ball Status
- three strips either vertical or horizontal on both sides of the robot.
- The stage three strip is bicolor yellow & blue
- First stripe indicates ball is in conveyor stage 1
- Second stripe indicates ball is at exit of conveyor stage 2
- Third stripe indicates:
  - Yellow flashing is when ball is at exit of conveyor 3 ready to shoot
  - Yellow solid is when ball is ready to shoot and shooters are up to speed
  - Blue flashing is when ball ready to shoot, shooter up to speed, and target tracking is in progress
  - Blue solid is when ball is ready to shoot, shooter up to speed, and target tracking is locked on

Co-opertition Bridge Annunciator
- must be visible from all sides
- white indicator
- signal to all teams that we are headed to the co-opertition bridge

Proposed Implementation of above ideas:
- 3 - stripes of RGB leds [1]
- Color is the same across all 3 stripes, but each could be on/off controlled independently
- Base function of the 3 is indicating balls in conveyor
- Coloring of the lit stages indicates the other needed items above. Coloring is priority-driven (highest one wins) as follows:
  - Shooter targeting active: Blue
  - Wings down: Red
  - Coopertition Desire: White
  - Simply indicating balls: Yellow
- Indicating wings down (red), coopertition (white) needs a specific way to light one or more lights for no balls in system. Flashing or pulsing one or more of them with the desired color.