Known Devices

List of devices that have been established by the various mechanism groups

Sensors

Device	Mechanism	Detail	Wiring notes
Diffuse retro-reflective sensor Allen Bradley 42EF-D2MPAK-F4	Gamepiece - Intake	Senses gamepiece Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.	Wire for Dark operating Signal connects to roborio DIO 12V powered Voltage divider added to cable pigtail See circuit diagram below
Rev through-bore encoder https://www.revrobotics.com/rev-11-1271/	Gamepiece - arm	Used in absolute position mode to indicate arm pivot angle.	5V powered Signal to roborio DIO
Leaf lever limit switch	Hang - brake	Triggers when pawl on brake is fully lifted and clear of ratchet wheel 2 total; one on each brake assembly (left and right)	roborio DIO Wire for normally open
4x CANcoder	Drivebase	One per swerve module. Indicates pivot pointing of wheel

Device	Mechanism	Detail	Wiring notes
8 x NEOs	Drive	Swerve modules, one each corner of robot, each using 1 NEO for pivot and 1 NEO for propulsion
NEO 550	Gamepiece - intake	Runs intake to pull in or eject a game piece
2 x NEOs	Gamepiece - shooter	Runs shooter wheels. One NEO for top set of wheels One NEO for bottom set of wheels
NEO	Gamepiece - arm	Pivots arm
NEO 550	Gamepiece - arm	Actuates bicycle brake for arm pivot
2 x NEO	Hang	One NEO per hanging arm (one left, one right) Causes hang hook to go up or down
2 x electric solenoid	Hang	Actuates braking pawl against ratchet wheel. One solenoid per arm brake (one left, one right) Energizing lifts the pawl off the ratchet wheel. Integrated spring pushes pawl into ratchet wheel	Both solenoids controlled via one SPIKE relay (one on M+ and one on M- with common ground)

Allen Bradley Diffuse Circuit

Allen Bradley 42EF-D2MPAK-F4

' 1/20/2024

Disassembled old batteries
Assembled our 13 new batteries (yay!)
Wired the prototype Game Piece mechanism for testing
Wired the temporary test board for the new drive base for Programming to create/test swerve drive code

1/21/2024

1/27/2024

Updated IO Map per the Known Devices section - we should really update the PDH connections to be logical per the physical layout (see below)
Terminated 2x solenoids for hang ratchet/pawl mechanism
Investigated Solenoid/Spike Relay module, cleaned up solenoid-side terminations
Started initial layout of major control system components (\\penmediafs01\robotics$\2024\02 Build Season\01 Final Robot Assembly\A002 Drive Base Assembly Electrical.iam)

1/28/2024

Tested several sensors for performance using 3M reflective silver tape. Foil tape isn't as reliable and prone to damage. While testing sensors were powered with 7-12 volts.
- OPB720A-06Z Reflective Sensor:
  - Not Tripped: Signal voltage depended on the amount of voltage inputed for power
  - Tripped: Fluctuating signal voltage
  - Results varied between trials, seems unreliable
- EE-SPY415 Photomicrosensor (Reflective):
  - Not Tripped: Fluctuating signal voltage
  - Tripped: 0.003V
  - Range: 0in - ~12in
  - Interesting that the voltage kept increasing while reading the signal not tripped
- 42EF-D1MNAK-A2 Diffuse Sensor
  - Not Tripped: 0.73V
  - Tripped: 1.0V
  - Range: 0.5in - >20in
Looked into similar banners online
- Q20ND Diffused Sensor 25cm range NPN $104 AndyMark