2024:Electrical Main: Difference between revisions
From 1511Wookiee
Jump to navigationJump to search
| Line 3: | Line 3: | ||
== Sensors == | == Sensors == | ||
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 295px;" | {| class="wikitable" style="border-collapse: collapse; width: 100%; height: 295px;" | ||
|- style="height: 25px;" | |- style="height: 25px;" | ||
| style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Device'''</span><br> | | style="width: 25%; height: 25px;" | <span style="font-size: 12pt;">'''Device'''</span><br> | ||
| Line 11: | Line 11: | ||
|- style="height: 144px;" | |- style="height: 144px;" | ||
| style="width: 25%; height: 144px;" | | | style="width: 25%; height: 144px;" | | ||
<span style="font-size: 10pt;" >Diffuse retro-reflective sensor</span><br> | <span style="font-size: 10pt;">Diffuse retro-reflective sensor</span><br> | ||
<span style="font-size: 10pt;" >Allen Bradley 42EF-D2MPAK-F4</span> | <span style="font-size: 10pt;">Allen Bradley 42EF-D2MPAK-F4</span> | ||
| style="width: 25%; height: 144px;" | <span style="font-size: 10pt;" >Gamepiece - Intake</span><br> | | style="width: 25%; height: 144px;" | <span style="font-size: 10pt;">Gamepiece - Intake</span><br> | ||
| style="width: 25%; height: 144px;" | | | style="width: 25%; height: 144px;" | | ||
<span style="font-size: 10pt;" >Senses gamepiece</span><br><span style="font-size: 10pt;" >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.</span><br> | <span style="font-size: 10pt;">Senses gamepiece</span><br><span style="font-size: 10pt;">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.</span><br> | ||
| style="width: 25%; height: 144px;" | | | style="width: 25%; height: 144px;" | | ||
<span style="font-size: 10pt;" >Wire for Dark operating</span><br><span style="font-size: 10pt;" >Signal connects to roborio DIO</span> | <span style="font-size: 10pt;">Wire for Dark operating</span><br><span style="font-size: 10pt;">Signal connects to roborio DIO</span> | ||
<span style="font-size: 10pt;" >12V powered</span> | <span style="font-size: 10pt;">12V powered</span> | ||
<span style="font-size: 10pt;" >Voltage divider added to cable pigtail</span> | <span style="font-size: 10pt;">Voltage divider added to cable pigtail</span> | ||
<span style="font-size: 10pt;" >See circuit diagram below</span> | <span style="font-size: 10pt;">See circuit diagram below</span> | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="width: 25%; height: 57px;" | | | style="width: 25%; height: 57px;" | | ||
<span style="font-size: 10pt;" >Rev through-bore encoder</span><br><span style="font-size: 10pt;" >https://www.revrobotics.com/rev-11-1271/</span> | <span style="font-size: 10pt;">Rev through-bore encoder</span><br><span style="font-size: 10pt;">https://www.revrobotics.com/rev-11-1271/</span> | ||
| style="width: 25%; height: 57px;" | <span style="font-size: 10pt;" >Gamepiece - arm</span><br> | | style="width: 25%; height: 57px;" | <span style="font-size: 10pt;">Gamepiece - arm</span><br> | ||
| style="width: 25%; height: 57px;" | | | style="width: 25%; height: 57px;" | | ||
<span style="font-size: 10pt;" >Used in absolute position mode to indicate arm pivot angle.</span> | <span style="font-size: 10pt;">Used in absolute position mode to indicate arm pivot angle.</span> | ||
| style="width: 25%; height: 57px;" | | | style="width: 25%; height: 57px;" | | ||
<span style="font-size: 10pt;" >5V powered</span><br><span style="font-size: 10pt;" >Signal to roborio DIO</span> | <span style="font-size: 10pt;">5V powered</span><br><span style="font-size: 10pt;">Signal to roborio DIO</span> | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
<span style="font-size: 10pt;" >Leaf lever limit switch</span> | <span style="font-size: 10pt;">Leaf lever limit switch</span> | ||
| style="width: 25%; height: 23px;" | <span style="font-size: 10pt;" >Hang - brake</span><br> | | style="width: 25%; height: 23px;" | <span style="font-size: 10pt;">Hang - brake</span><br> | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
<span style="font-size: 10pt;" >Triggers when pawl on brake is fully lifted and clear of ratchet wheel</span><br><span style="font-size: 10pt;" >2 total; one on each brake assembly (left and right)</span> | <span style="font-size: 10pt;">Triggers when pawl on brake is fully lifted and clear of ratchet wheel</span><br><span style="font-size: 10pt;">2 total; one on each brake assembly (left and right)</span> | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
<span style="font-size: 10pt;" >roborio DIO</span><br><span style="font-size: 10pt;" >Wire for normally open</span> | <span style="font-size: 10pt;">roborio DIO</span><br><span style="font-size: 10pt;">Wire for normally open</span> | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
4x CANcoder | |||
<br> | <br> | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
Drivebase | |||
<br> | <br> | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
One per swerve module. Indicates pivot pointing of wheel | |||
<br> | <br> | ||
| style="width: 25%; height: 23px;" | | | style="width: 25%; height: 23px;" | | ||
Revision as of 11:17, 24 January 2024
Known Devices
List of devices that have been established by the various mechanism groups
Sensors
| Device |
Mechanism |
Detail |
Wiring notes |
|
Diffuse retro-reflective sensor |
Gamepiece - Intake |
Senses gamepiece |
Wire for Dark operating 12V powered Voltage divider added to cable pigtail See circuit diagram below |
|
Rev through-bore encoder |
Gamepiece - arm |
Used in absolute position mode to indicate arm pivot angle. |
5V powered |
|
Leaf lever limit switch |
Hang - brake |
Triggers when pawl on brake is fully lifted and clear of ratchet wheel |
roborio DIO |
|
4x CANcoder
|
Drivebase
|
One per swerve module. Indicates pivot pointing of wheel
|
|
|
|
|
|
|
Motors and Actuators
| 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) |
Circuit diagrams
Allen Bradley Diffuse Circuit
Allen Bradley 42EF-D2MPAK-F4
Daily Status
' 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
- Spike Relay Vex wired for solenoids on hang
