2014:Robot Sensors/Motors/Lights/Controls Map

Sensors

NOTE: each of these should also have a line in the appropriate (e.g. or ) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (/)	IO Map Updated?	Operation Details (including when broken)	Output Level	Notes
Intake	Detects intake position	Potentiometer	3852A-282-104AL	Analog	Yes	Sensor which detects the angle of the intake bar
Shooter	Detect kicker speed A	Optical shaft encoder sensor	E4P	Digital	Yes	Sensor detects shaft rotation to sense how fast the gear is rotating (Could also use shaft encoder on motor transmission ?)
Shooter	Detect kicker speed B	Optical shaft encoder sensor	E4P	Digital	Yes
Shooter	Detect kicker gear teeth	Optical flag sensor	OPB815	Digital	Yes	additional check on kicker rotation to account for chain/gear slop
Shooter	Detects kicker low position (home)	Optical beam break	Banner Sensor	Digital	Yes	Senses kicker arm and detects whenever kicker is in low position
Shooter	Detect kicker high position	Optical flag sensor	OPB815	Digital	Yes	Senses flag that's connected to gear and detects whenever kicker is in high position		Interfaced to Jaguar limit switch inputs - not DIO.
Intake	Detects intake position	Potentiometer	3852A-282-104AL	Analog	Yes	Sensor which detects the angle of the intake bar - redundant sensor
Intake	Detects ball presence on top of bumper	Optical beam break	Banner Sensor	Digital	Yes	Detects if ball is on top of the bumper.
Drivetrain	Left Encoder, Phase A	Shaft encoder	E4P	Digital	Yes	Measure left drive side movement
Drivetrain	Left Encoder, Phase B	Shaft encoder	E4P	Digital	Yes	Measure left drive side movement
Drivetrain	Right Encoder, Phase A	Shaft encoder	E4P	Digital	Yes	Measure right drive side movement
Drivetrain	Right Encoder, phase B	Shaft encoder	E4P	Digital	Yes	Measure right drive side movement
Drivetrain	Gyro	Gyro	??	Analog	Yes	Measure drivetrain rotation
Camera	Camera	Network	Axis M1013	n/a	Yes	Faces out the kicker side of the robot. So it is facing the goals at the start of the match. It is powered on the entire time the robot is powered on.	n/a	Connects to robot's router and needs 5V

 

 

Motors

NOTE: each of these should also have a line in the appropriate (e.g. or or ) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (//)	IO Map Updated?	Operation Details (including when broken)	Notes
Drivetrain	Left Front Drive	CIM	TBD	CAN	Yes	Run with tank drive controls
Drivetrain	Left Rear Drive	CIM	TBD	CAN	Yes	Run with tank drive controls
Drivetrain	Right Front Drive	CIM	TBD	CAN	Yes	Run with tank drive controls
Drivetrain	Right Rear Drive	CIM	TBD	CAN	Yes	Run with tank drive controls
Shooter	front left Kicker arm	CIM	AM802	CAN	Yes	spins at full power in one direction, spins to 2 points	Note: The jaguars for the kicker motors will first be primed with a command and then commanded to start. Integration Meeting Thursday claimed CAN;
Shooter	mid left Kicker arm	CIM	AM802	CAN	Yes	spins at full power in one direction, spins to 2 points	Jaguars placed on robot model already
Shooter	back left Kicker arm	Mini CIM	2501BL	CAN	Yes	spins at full power in one direction, spins to 2 points	^
Shooter	right front Kicker arm	Mini CIM	2493BL	CAN	Yes	spins at full power in one direction, spins to 2 points	^
Shooter	right mid Kicker arm	Mini CIM	2493BL	CAN	Yes	spins at full power in one direction, spins to 2 points	^
Shooter	right back Kicker arm	Mini CIM	2493BL	CAN	Yes	spins at full power in one direction, spins to 2 points	^
Intake	roller	550/775	TBD	CAN	Yes	4 modes; stopped, spins in, spins out slow, out fast
Shooter	cradle lift	775&PG71	AM 0914	CAN	Yes	lifts cradle and intake arm between two points

Servors/Actuators

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (PWM/Relay)	IO Map Updated?	Operation Details (including when broken)	Notes
Shooter	Guard Actuator A	Servo	?	PWM	Yes	pulls in just before shooting; stays out otherwise to keep ball secure
Shooter	Guard Actuator B	Servo	?	PWM	Yes	Same as the other one

Lights (on robot)

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Relay or GPIO or I2C) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (Relay/GPIO/I2C)	IO Map Updated?	Location	Used By (driver/human/alliance)	Operation	Notes
Camera	Camera Light	Green LED Ring	AE60-G15	GPIO	Yes	mounted to the camera	Robot	Turned on in autonomous mode to 'light up' reflective tape so the robot can determine the hot goal	uses 12V. (http://www.superbrightleds.com/cgi-bin/store/index.cgi?action=DispPage&category=ACCENTS&Page2Disp=%2Fspecs%2FAE.htm)
Intake	Possession	RGB Led Strip	TBD	GPIO	Yes	Intake uprights facing kicker; on P012, about 1 inch from the top to where P109 meets P012.	Driver	They light up blue when the ball is just barely within our possession (i.e. the ball is squished between the bumpers and the wheels of the intake system) AND we are not Ready to Kick	There are a total of four strips of lights. These lights will be ganged/wired together with the Ready to Kick lights. Original request was for 'all around the robot'; this final layout was reviewed with Elliot D.
Intake	Ready to Kick	RGB Led Strip	TBD	GPIO	Yes	Front side of both intake uprights opposite kicker (side facing outward); about 20 in. long starting at the top of the arms.	Driver	They light up green when the cradle is all the way up and we are ready to shoot. This light takes precedence over the Possession light.	There are a total of four strips of lights. These lights will be ganged/wired together with the Possession lights. Original request was 'everywhere'; this final layout was reviewed with Elliot D.

Operator Controls

Joystick 1 (Driver Left) Attack3 

Button/Axis	Description (brief)	Operation	Notes
1	Turbo	Make da robot go fast	Both sides
2	Slow	Make da robot go slow	Both sides
3
4
5
6	Debug Drive
7	Debug Intake
8
9
10	Debug Kicker
11	Debug Miscellaneous
12	n/a
X-axis
Y-axis	Left Wheels	Controls both left side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards.	Shooter is the 'front'
Z-axis

Joystick 2 (Driver Right)

Button/Axis	Description (brief)	Operation	Notes
1	Turbo	Robot turbo	Controls both sides
2	Slow	robot slow
3
4
5
6
7
8
9
10
11
12	n/a
X-axis
Y-axis	Right Wheels	Controls both right side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards.	Shooter is the 'front'
Z-axis

Joystick 3 (Aux Driver)

Button/Axis	Description (brief)	Operation	Notes
1	Acquire Ball	Intake wheels spin such the ball is moved onto the robot.
2	Broken Mode Guard	When pressed, open kicker guard; else keep it closed	Only works when kicker broken switch is set.
3	Pass Ball Fast	Intake wheels spin such the ball is moved out of the robot. This will be the fastest it can be, allowing for a long pass.
4	Set Kick Position	While pressed, intake stays at kick level
5
6
7
8
9
10
11
12
X-axis	Broken Mode Kicker	Motion to right turns kicker up; motion to left turns it down	Only works when kicker broken switch is set.
Y-axis	Intake	Moves intake in/out (up/down)	When joystick is pushed forward (away from driver) the intake will got out (extend away from robot).
Z-axis

Joystick 4 (Aux Controls/Extended IO)

Button/Axis	Description (brief)	Operation	Notes
1	Truss Shot	shoot with enough strength to get over the truss	This will be the 3D printed lightning bolt).
2	High goal shot	Shott with enough strength to get into the high goal from a fixed distance.	This will be the 3D printed Gear.
3	Manual shoot	Shoot at  speed of manual power	this is the push in the push potentiometer
4	TBD	nothing yet
5	Auto Choice 2	will run auto mode 2	The 3 way switch has an up down and off
6	Auto Choice 1	run auto mode 1
7	Broken 1	Intake/Cradle Sensors Broken	left most
8	Broken 2	Kicker Sensors Broken	.
9	Broken 3		.
10	Broken 4		.
11	Broken 5		.
12	reserved	For controls lights.	Right most
X-axis	Manual Power	The amount of power for a manual shoot.	This is used when the Manual Shot button is pressed.
Y-axis	Color adjustment	Adjust the color of the lights	silver knob (potentiometer)
Z-axis	Hip check buton	Make noise and flash the noise	0 When not pressed. 1 or higher is on.

SmartDashboard

Screen	Description (brief)	Operation	Notes	Variable 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.	process_img; is_hot_goal; img_failed;	raised by robot, lowered by dash to queue processing; dash raises if goal is hot; dash raises if bad image;
Main	Power meter	Meter next to the Camera Feed that shows the manual shooter's power. Would be a bar with a label next to it with a number representing power, scaling from 0 to 100		manual_power	double: range 0 to 1
Main	Team Number	Numberbox used to set the team number for the robot. This is used for the camera feed. Should remain constant until we change the IP address of the robot. Should not change very much.	Control should be disabled unless the user specifically 'asks' to change the number (e.g. have an Edit button, then an OK & Cancel button to make the change)	--	--
Main	Screen's background	When the robot has the ball (i.e. the sensor indicating the ball is 'on the bumper' is tripped), then majority of the background needs to be a color the driver can see (e.g. yellow). When the sensor is not tripped, the background returns to its default color.		flash_screen	boolean: robot sets it; true means yellow, false is normal