2025:Electrical Main
Daily Log
1/11/2025
Made a board with all the electrical components needed for Alpha bot.
Programming tried to test drive code on the Alpha bot but 1 of the Kraken motors had a faulty connection.
Unscrewed the cap of the Kraken connection adapter and retightened all the screws that made a connection. The motor was then fixed.
The CANchain was also broken.
Went around the entire can chain testing connections with a digital multimeter. Through re-doing all the CANchain connections we fixed the CANchain.
Programming checked to make sure the computer could see all the components. All components are visible.
YAY CANCHAIN!
1/12/2025
Configured the new radios. They should all have their firmware updated. There are 3 configured radios and 1 radio that was a dud out of the box. Put new radio on AlphaBot.
1/15/2025
Tested different retroreflective sensors with CORAL and ALGAE at different positions
Observations :
Allen Bradley retroreflective sensor: Works for both CORAL and ALGAE, shows orange light if tripped, uses 12V
Long Distance Reflective Switch (OPB720A-06Z): Works with both ALGAE and CORAL, accurate when tripped, smaller than Allen Bradley sensor, uses 12V
OMRON retroreflective sensor: Works with CORAL well, could be mounted with a cutout underneath the CORAL intake
Decisions: We are leaning to use the OMRON retro reflected sensor (image 3) for CORAL. Mounting it in the back by either the top of the middle plate facing down or the bottom of the bottom plate facing up. It would need to be mounted such that it's face is flush with the plate. Needs a mounting plate that can accomplish this and also provides back and forth adjustability.
Leaning to use the big diffuse retroreflecting sensor (image 1) for ALGAE. Mounting it on either left or right side of the middle plate. Mounting it on the underside of the middle plate sideways such that you can access the adjusting screw. It's mounting situation also needs to be adjustable back and forth.
Communicated all of this to game piece for them to keep it in mind for their design.
Fixed one diffuse sensor lmao because the signal wire broke off. i inhaled so many fumes :(
-meow
1/16/2025
Discussed sensors for game piece again. Probably will need 2 separate sensors for either game piece. Discussed the algae perhaps having 2 sensors so the motors can switch to a slower speed for gripping after initially intake at a higher speed. This should also be for noticing if the algae was slipping and needed to be intook and regripped again.
1/19/25
Measured enough PWM cable for the elevator
Looked at Magnetic Limit Switches and IGUS Chain for the elevator
Talked about absolute encoders for the write of Coralge
1/25/25
Tested Magnetic Limit Switch REV 31-1462: possible sensor for elevator to sense MIN and MAX
Switch works 10mm on top (front part) and 5mm on the sides(front part), the back doesn't sense (where the wires connect), two identical points to connect signal
We are thinking about getting a stronger or bigger magnet so that it is more consistent when mounted
Searched for 180 degree turn potentiometers; found those that turn around 270 degrees
Sorted the rest of the potentiometers
Sorted new electrical parts(AND FIXED THE ZIPTIE BOX)
1/26/25
Thinking about switching to a REV Through Bore Encoder (REV 11-1817) instead of a potentiometer because we don't have to make a mount for it...
2/1/25
Pondered the slinky wire management compared to IGUS chain.
Pros: Lighter, less wire, only 1 slinky, creative ^-^
Cons: Current slinky is a bit weak (it's bendy plastic), Wobbly when extended (but depending on how taught you pull it, it will be less wobbly. Also it's toward the inside of the robot so...), what if something catches on it? (but again it's towards the inside of the robot so maybe we're chillin)
Having mechanical design put in a place for the slinky for now, but keep the IGUS design as a backup
Sorta tested the wires being attached to the slinky for extending and retracting, tautness, wobbliness, and whatnot .
S(p)linky Pictures:
Started placing electrical components on final CAD robot design.
We are going to convert our signal, 5V and ground into ethernet to carry it all up on one cable: using a Modular Surface Mount Box with 8 Screw Terminals (Junction Box). This makes the cables easier to run up the S(p)linky.
On this cable we are carrying OMRON signal, OPTEK signal, Through Bore Encoder signal, 5V cable, ground and PWM signal for the Wrist and the Calge motors (we will confine the motors to one speed controller).
We tested the PWM (in place of the CAN cables) by hooking up a speed controller and motor to a Power supply; we used a chip that produces signal, which we could use to make the motor go faster or slower (either direction).
Ordered ethernet cable and connectors for transferring signals up the elevator in bulk.
Made a cover/mounting box for the Junction Box. Place the cover/mount into the final Robot CAD Assembly.
Link to Junction Box
2/4/25
Got in the Ethernet Terminal Block and tweaked the dimensions before printing
V1 print: ultimately a success but minor tweaks had to be made for the pegs on the inside of the box and more material was added to the outside where it will be bolted to the robot.
Discussed the placing for the RIO, PDH, Radio, and Signal Light, (Hinge (No), Lexan Panels on Elevator (Yes))
Components placed successfully on CAD
2/8/25
Terminated and connect CAN for each individual swerve module. Didn't connect the CAN between each module yet. Waiting on lexan mounting plates for the PDH, RoboRIO, radio, signal light etc...
There's only CAN locking connectors for each individual swerve module locally. All other CAN connections (when needed) will be solder connections. Specifically from one module to the next.
Prepared and labeled all the Spark Max controllers needed for the robot. On the electrical shelf.
Archives
- 2024 Electrical Main
- 2023 Electrical Main
- 2022 Electrical Main
- 2020 Electrical Main
- 2019 Electrical Main
- 2018 Electrical Main
- 2017 Electrical Main
- 2016 Electrical Main
- 2015 Electrical Main
- 2014 Electrical Main
- 2013 Electrical Main
- 2012 Electrical Main
- 2011 Electrical Main
- 2010 Electrical Main
- 2009 Electrical Main