2023:Electrical Main

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General Electrical Info:

Terminating Wires:

For CAN: Green is Left/Ground, Yellow is Right

For Power: Black is Left/Ground, Red is Right

Breakers(All should be in the MPT):

With PDH:

20amp SnapAction

30amp SnapAction

40amp REV

Pneumatics:

Green: Changing Pressures

Yellow: High Pressure

Blue: Low Pressure

White: Extend

Black: Retract

Electrical Wiring Diagrams:

Optek Flag Sensor Wiring Diagram:


Optek Flag Sensor Wiring Diagram.png

Q10 Series Banner Sensor Wiring Diagram:

Q10 Series Banner Sensor Wiring Diagram.png

Wiring Diagram with Rev PDH

PDH.png

Wire Routing

  • Lift
    • Using the 1in IGUS chain x2 (1 for pneumatics and 1 for electrical) for extension
  • Gripper
    • Drive

Potential CAN Chain (1/21/23)

Current CAN Chain Plan (2/11/2023)

2-11 can bus.jpg

Daily Status

1/21/2023

  • Accomplished
    • Added power poles to shopping list
    • Added CANcoders to shopping list
    • Inspected Homer's swerve modules, found 2 suspect
    • Inventoried IGUS chain
      • Found 3 sets of end pieces
      • Pulled 2 44in lengths for use on 2023 robot (on black shelves)
    • Decided to use IGUS chain for extension
    • Rewired CANcoder B (on black shelves)
      • Discussed with Nick L and Berkeley about battery placement
  • To-Do
    • Finish rewiring CANcoder A (on black shelves)
    • Terminate and Label Motor Side and CAN Connection of Swerve Drive Spark Max (45A)
    • Terminate and Label Motor Side and CAN Connection of Swerve Rotation Spark Max (30A)
    • Continue to work with Lift/Gripper on sensor placement (ensure some level of adjustability)
    • Rough out locations of Speed Controllers
    • Update IO Map

1/22/2023

  • Accomplished
    • Wired, labeled, and CAN IDed the 8 drive motor controllers
    • Figuring out Battery Things
    • Talked with Acquire about beam break placement
    • Electrical Component placement in CAD started
    • Found an Ethernet Switch (not the right one)
  • To-Do
    • Update IO Map
    • Figure out sensors with Lift
    • Quality check motor controllers
    • Finish rewiring CANcoder A (on black shelves)
    • Order a more industrial Ethernet Switch

1/24/2023

  • Accomplished
    • Quality checked drive motor controllers
    • Finished rewiring CANcoder A (on black shelves) (questionable condition).
  • To-Do
    • Update IO Map
    • Figure out sensors with Lift
    • Test CANcoder A (on black shelves) to confirm integrity of the components
    • Order a more industrial Ethernet Switch

1/25/2023

  • MEETING CANCELLED

1/26/2023

  • Accomplished
  • To-Do

1/28/2023

  • Accomplished
    • Order a more industrial Ethernet Switch
    • Put away some stuff
    • Post testing, install CAN Encoders to the swerve modules
    • Fixed batteries
    • Test CANcoder A (on black shelves) to confirm integrity of the components
      • Both Encoders A & B work with the modules
    • Figure out sensors with Lift
      • Flag sensors at either side of the base telescope
  • To-Do
    • Update IO Map
    • Finalize motor controllers for the not drive base mechanisms and prep them
    • Give a PSA about battery usage (Planning to do it Dinner on Tuesday)

1/29/2023

  • Accomplished
    • Talked about alternate component places
  • To-Do
    • Update IO Map
    • Finalize motor controllers for the not drive base mechanisms and prep them
    • Check up with Gripper about Beam Break mounting

1/31/2023

  • Accomplished
    • 3d printed Beam Break mount for Gripper
    • Continued Component Placement
  • To-Do
    • Update IO Map
    • Finalize motor controllers for the not drive base mechanisms and prep them

2/1/2023

  • Accomplished
    • Continued component placement
      • Need more info to finalize accumulators
  • To-Do
    • Update IO Map
    • Finalize motor controllers for the not drive base mechanisms and prep them

2/2/2023

  • Accomplished
  • To-Do

2/4/2023

  • Accomplished
    • Accumulators are horizontal with 3d printed triangle brackets being made
    • Electrical placements are mostly finalized
    • Finalize motor controllers for the not drive base mechanisms and prep them
    • Worked with DB on Protective/Sponsor Pannels
  • To-Do
    • Update IO Map
    • Terminate the batteries when the terminator things come in
    • Id non drive base motor controllers

2/5/2023

  • Accomplished
    • Id non drive base motor controllers
    • Prepared the compressor
    • Terminated 5 of the batteries that we had the lugs for
  • To-Do
    • Update IO Map
    • Terminate the batteries when the terminator things come in
    • Figure out how to mount compressor
    • Prepare the rest of the pneumatics

2/7/2023

  • Accomplished
    • Disassembled 3 port manifold and PCM from 2022
    • Worked on potential mountings for components
  • To-Do
    • Update IO Map
    • Terminate the batteries when the terminator things come in
    • Figure out how to mount compressor
    • Prepare the rest of the pneumatics

2/8/2023

  • Accomplished
    • Terminated gripper motors
    • Beam Break on gripper is mounted
    • Working on figuring out electrical paneling
  • To-Do
    • Update IO Map
    • Terminate the batteries when the terminator things come in
    • Figure out how to mount compressor
    • Prepare the rest of the pneumatics
    • Map out placement for components

2/9/2023

  • Accomplished
  • To-Do

2/11/2023

  • Accomplished
    • Mounted a lot of electrical components
    • Planned out component placement
    • Updating physical copy of the robot IO map
    • Mounting compressor to the belly pan
    • Planned Manifold (6, I believe we are doing 4 doubles with 2 blocks)
    • Put together manifold solenoids and blocks
    • Wiring Drive Base motors to PDH
    • Figured out motor controller placement for Acquisition
    • Figured out IGUS situation
    • Situated the Ball Screw motor controllers
    • Terminated some Batteries
    • Mounted the breaker
  • To-Do
    • Update IO Map
    • Finish terminating the batteries
    • Mount compressor
    • Prepare the rest of the pneumatics
      • mount manifold and pcm
    • Test the compressor for air retention
    • Mount accumulator panel
    • Mount radio on lift posts
    • Wire CAN Chain with new plan
    • Plug CAN encoders into vrm
    • Mount Gripper motor controllers
    • Figure out Flag sensors
    • Talk to gripper about beam breaks
    • Mount ethernet switch and Pi
    • Build in a quick disconnect for the pneumatics
    • Regulate IGUS chain length
    • Put the accumulators on the panel and make them work
    • Put in the pneumatics regulators
    • Figure out what is going on with the LEDs (sponsor panels?)

2/12/2023

  • Accomplished
    • 2023 Competition batteries are done
    • Plug CAN encoders into vrm
    • Gripper had the addition of a second piston for the wrist- we're going to have to do some silly things
    • Finished drive base plus ball screw can chain
    • Ethernet Switch, Pi, and VRM are on robot
    • Lift had to remove posts from robot so the motor controller at the base is offline at the moment
  • To-Do
    • Update IO Map
    • Mount compressor
    • Prepare the rest of the pneumatics
      • mount manifold and pcm
    • Test the compressor for air retention
    • Mount accumulator panel
    • Mount radio on lift posts
    • Wire CAN Chain with new plan
    • Mount Gripper motor controllers
    • Figure out Flag sensors
    • Talk to gripper about beam breaks
    • Build in a quick disconnect for the pneumatics
    • Regulate IGUS chain length
    • Put the accumulators on the panel and make them work
    • Put in the pneumatics regulators
    • Figure out what is going on with the LEDs (sponsor panels?)

2/14/2023

  • Accomplished
    • IO Map is up to date (probably)
    • Compressor has been mounted
    • IGUS chain is all set
    • Accumulator panel is being implements, worked out issues with the 3d printed triangle supports, discussed potential support from the superstructure or lift bridge
    • Lift has reimplemented the posts which makes life easier
  • To-Do
    • Prepare the rest of the pneumatics
      • mount manifold and pcm
    • Test the compressor for air retention
    • Mount accumulator panel
    • Mount radio on lift posts
    • Wire CAN Chain with new plan ?
    • Mount Gripper motor controllers
    • Figure out Flag sensors
    • Talk to gripper about beam breaks
    • Build in a quick disconnect for the pneumatics
    • Put the accumulators on the panel and make them work
    • Put in the pneumatics regulators
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Update IO Map

2/15/2023 - The Robot Turned On!

  • Accomplished
    • Test the compressor for air retention
    • Mount accumulator panel
    • Can Chain is wired in without the Gripper motor controllers
    • PCM, Manifold, Accumulators, Compressor, and Regulators are connected
    • Prepare the rest of the pneumatics
      • mount manifold and pcm
  • To-Do
    • Mount accumulator panel with new working parts + add the horizontal attachment(?)
    • Fully explore another contact point for accumulator panel
    • Mount radio on lift posts
    • Wire CAN Chain with new plan
    • Mount Gripper motor controllers
    • Figure out Flag sensors
    • Talk to gripper about beam breaks
    • Build in a quick disconnect for the pneumatics
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Update IO Map -> PCM with Parking Break
    • Wire the power for PCM
    • Manage the RIO and VRM power connections
    • Double check all breakers

2/16/2023

  • Accomplished
    • Wire the power for PCM
    • Manage the RIO and VRM power connections
    • Fixed motor controller
  • To-Do
    • Mount accumulator panel with new working parts + add the horizontal attachment(?)
    • Fully explore another contact point for accumulator panel
    • Mount radio on lift posts
    • Wire CAN Chain with new plan
    • Mount Gripper motor controllers
    • Figure out Flag sensors
    • Talk to gripper about beam breaks
    • Build in a quick disconnect for the pneumatics
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Update IO Map -> PCM with Parking Break
    • Double check all breakers

2/18/2023

  • Accomplished
    • Checked routing and breakers a bit
    • Accumulator panel is now planned to be mounted on the ribs\
    • Build in a quick disconnect for the pneumatics
    • Started pressure release valve placement
    • Tested the pneumatic system
    • Wired and routed everything on gripper, with quick disconnect for beam break
    • Mount radio on lift posts
    • Figure out Flag sensors, are on lift right now with the lovely resistors
    • Double check all breakers
    • Finalize pressure release valve placement, on top of bridge kinda
    • Discussed potential plans for LEDs
    • I actually updated the IOmap
    • Trying out magnetic burglar alarm for lift hard stop/home sensor
  • To-Do
    • Fully explore another contact point for accumulator panel
    • Wire CAN Chain with new plan
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Route IGUS chain
    • Update IO Map

2/19/2023

  • Accomplished
    • Gripper is fully prepared to connect with igus chain things
    • Pneumatic igus chain (x2) is on lift and partially routed
    • Improved accessibility to breaker
  • To-Do
    • Fully explore another contact point for accumulator panel
    • Wire CAN Chain with new plan
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Route IGUS chain
    • Update IO Map

2/20/2023

  • Accomplished
    • All wires/pneumatics are through the 3 igus chains
    • Majority of quick disconnects have been routed
      • Wire CAN Chain with new plan
  • To-Do
    • Fully explore another contact point for accumulator panel
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Update IO Map
    • Figure out issues with igus chain

2/21/2023

  • Accomplished
    • Figure out issues with igus chain
    • Fixed intake sensor kinda
  • To-Do
    • Fully explore another contact point for accumulator panel
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Update IO Map

2/22/2023

  • Accomplished
    • Fixed pneumatic leak
    • Worked with 3d printed IMU holder
    • Put signal light/camera mount things on robot (not final)
  • To-Do
    • Fully explore another contact point for accumulator panel
    • Figure out what is going on with the LEDs (sponsor panels?)
    • Update IO Map

2/23/2023

  • Accomplished
  • To-Do

2/24/2023

  • Accomplished
  • To-Do

2/25/2023

  • Accomplished
  • To-Do

2/26/2023

  • Accomplished
  • To-Do

Archives

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