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
1 banner sensors out on grippers for tote acquisition
Flag (?) sensor for wide tote config

Stabilizer:

pneumatic on/off (single solenoid, dual acting cylinder)

Interface Circuits

Banner Photodetector Sensors:

Q10 Series (Q10AN6R Detector)
- Sensor is NPN open-collector output
- Sensor off-state leakage is 10uA max.
- Sensor on-state logic low is 0.5V max @ 10mA max
RoboRIO DIO [0..9]
- Have internal 40K pullup resistors to +3.3Vdc
- RoboRIO DIO VIL=0.8V max
- RoboRIO DIO VIH=2.0V min.
Interface Circuit
- Sensor off-state leakage of 10uA through RoboRIO pullup of 40K drops 0.4V, so logic high is 3.3V - 0.4V = 2.9V
- Logic high is safely above RoboRIO VIHmin of 2.0V
- Sensor on-state logic low of 0.5V is safely below RoboRIO VILmax of 0.8V.
- The current that the sensor must sink is (3.3V - 0.5V) / 40Kohms = 70uA, which is well below the max sinking capability of the sensor of 10mA.
- So no external interface circuit is required - the Banner Sensor detector of this type (NPN O.C.) may be wired directly to the RoboRIO DIO.
- If desired, however, a lower resistance pullup could be added to lower the impedance of the interface, which might help reduce susceptibility to electrical interference. (minimum value of pullup approx. 2.7Kohms to still give good margin for logic low condition, with 1mA current sink.)

Wire Bundle to Gripper Notes

IN CHANNEL WIRES

1 RS 550 Motor - 2-wire, 10/12 AWG

1 Encoder both phases - 4-wire (5V, GND, ENC-A, ENC-B) 20-22 AWG

2 Flag sensors - 2 shared wire for emitter, 1 wire ground share for detector, 1 wire each for detector signal

  TOTAL = 5 wires, 20-22 AWG

1 Banner sensor - 2 wire 12V for emitter & collector - 1 wire for detector signal - 20-22 AWG

  TOTAL = 3 wire

Cable Colors to Box Colors: White Orange - Blue

Orange - Orange

White Green - Black

Blue - Red

White Blue - Green

Green - Yellow

White Brown - Brown

Brown - White

Box to Box Connection (Split Ethernet)

Functions:

1) Encoder Phase

2) 5V

3) GND

4) 12V

5) Flag Left (secondary)

6) Flag Right (primary)

7) Encoder Phase

8) NC

Colors:

1) White Brown

2) Orange

3) White orange

4) White blue

5) White Green

6) Brown

7) Blue

8) Green

Signal/Power to Box Mapping: Black - Ground

Red - 12V

Orange - 5V

Blue - Banner Sensor Detector Signal

Green - Encoder A

Yellow - Encoder B

Brown - Gripper Flag Primary

White - Gripper Flag Secondary

10/12 AWG

+/- 12V for motor

9 -- 20/22 AWG (8 if common GND for all sensors) 5V Digital GND

Enc PA, Enc PB

12V for flag sensors (Robot2 used 5V for flag sensors), PD GND

3 Detector signals

PD GND and Digital GND the same

Robot Indicators

Lift Position
- "Bar Graph" style display on LED panel
- Adressable type LED strips so that can be turned on/off individually
Gripper Open Width
- "Bar Graph" style display from the center on LED panel
- Addressable type LED strips so that can be turned on/off individually
- When gripper Banner sensor is tripped (tote within grippers), LEDS change color
Other Functions
- LED strips at top of lift on front and back (just below cameras)
- Indicate drive shifter high gear or low gear
- Indicate strafing wheel down
LED Strip driver requirements
- 30LED/m strip is 2A/m (9.5W)
- 60LED/m strip is 3.6A/m (18W) - preferred for high resolution "bar graph" display
- Estimated total LED strip length for robot is 2.5m
- Total 5Vdc current requirement for 60LED/m is 10.8A for 3m
- 12v to 5v converter from previous year's robots (used for wireless gateway) can do 5A.