2013:Electrical Controls Subteam

Electrical Controls Design

To Do List When Metalwork Arrives

Control Board Layout

Block Diagram

Resources

Operator Controls:

Joystick 1 (Drive Left)

Button/Axis	Function
1	Turbo
2	Slow
3	Change to Shooter or Climber Mode (press and hold for Climber mode)
4
5
6	Debug Shooter
7	Debug Climber
8
9
10	Debug Target
11	Debug Drive
X-axis
Y-axis	Drive Forward/Drive Backwards (Left Wheels)

Joystick 2 (Drive Right)

Button/Axis	Function
1	Turbo
2	Slow
3	Change to Shooter or Climber Mode (press and hold for Climber mode)
4
5
6
7
8
9
10
11
X-axis
Y-axis	Drive Forward/Drive Backwards (Right Wheels)

Joystick 3 (Aux)

Button/Axis	Function
1	Shoot Disc
2	Feed Mode
3	Index Disc (Manually control index motor; only used when Storage Broken Switch is set)
4	Tilt Camera Down
5	Tilt Camera Up
6	Deploy
7	Climb (press and hold during entire climb; climb will stop when released; only used when Auto-Climb Broken Switch is NOT set)
8	Control Light Ring
9
10
11
X-axis
Y-axis	Manually climb for arm (up/down; only used when Auto-Climb Broken Switch is set)

Joystick 4 (Extended IO)

Button/Axis	Function
1	Storage Broken Switch (When broken, the aux driver will use a joystick button to move the fan blade motor (motor moves at constant speed and for the duration the button is pressed.)
2	Shooter Broken Switch (allow manual power input to shoot)
3	Lift (Angle Mech) Broken Switch. (When broken, the angle mech can still move either "up" or "down" if over dead center position.
4	Shooter/Storage Broken Switch (not allowed to shoot mode, control angle, or move storage motor!)
5	Auto-Climb Broken Switch (When broken, the primary driver will need to align arms with horizontal bars and aux driver will use buttons to move lifting arms.
6	Arm Pot Broken Switch (Auto-climb moves arms up/down at set constant speed, no PID)
7	Climbing Completely Broken Switch (Not allowed to climb mode; Set broken when any motors/servors/actuators are broken)
8
9
10
11
X-axis	Power potentiometer (Slider)
Y-axis	Angle Potentiometer (Slider)

SmartDashboard

Area	Description	Operation	Notes	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	Camera Crosshairs	The Crosshairs that show the center of the shooter, to help align shooter to fire discs appropriatly.	This would mostly be a simple line down the middle of the Camera Feed and across the middle of it to help line up where the disc will shoot.	n/a	n/a
Main	Power meter	Meter next to the Camera Feed that shows the robot shooter's current power. Would be a bar with a label next to it with a number representing power, scaling from 0 to 100 (???)	There is no real delay for desired power, so this is just shown as a one green bar.	Shooterpower	TBD
Main	Angle meter	Meter next to the Power Meter that displays what angle the robot is currently at and the desired angle (i.e. slider position). Would be a bar with a two labels next to it.	There are two colors for the bar, red and green. The green will go towards the red (the red will get smaller) as you reach your desired angle. The tip of where the red is is the desired angle, and the green is the current angle. There are also two numbers, one showing desired angle and one showing current angle.	Actualangle, Desiredangle	TBD
Setup Dialog	Discs in Robot	Set by driver prior to match to indicate how many discs they put in the robot for the match		Startdisks	TBD
Setup Dialog	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
Setup Dialog	Numeric Up/Down (aka spin box)	Autonomous Delay	Number of seconds before the auto mode starts. The number is from 0 to 9.	Delay	TBD
Setup Dialog	Auto-Mode	Select which autonomous mode to run. The number is from 0 to 3.	0 means no autonomous is run	Automode	TBD

Electrical Controls's Engineering Notebook

Week 6

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