2024:Electrical Main
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 |
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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 |
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NEO 550 |
Gamepiece - intake |
Runs intake to pull in or eject a game piece |
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2 x NEOs |
Gamepiece - shooter |
Runs shooter wheels.
One NEO for top set of wheels
One NEO for bottom set of wheels |
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NEO
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Gamepiece - arm
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Pivots arm
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NEO 550
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Gamepiece - arm
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Actuates bicycle brake for arm pivot
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2 x NEO |
Hang |
One NEO per hanging arm (one left, one right) Causes hang hook to go up or down |
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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