Download - First fare 2011 overview of electronics-2012
Overview of ElectronicsOverview of Electronics
1425 Wilsonville Robotics
(503) 449-9507
At a glanceAt a glance New NI controller (cRIO)◦ Smaller, 4 slots, less weight, less cost
Microsoft Xbox Kinect adapter
Robot SchematicRobot Schematic
Elements of the SystemElements of the System National Instruments cRIO Digital Sidecar Power Distribution Board Analog Bumper Pneumatics Bumper Netbook Driver Station Wireless Interface (802.11) Camera Motor controllers and relays
cRIO cRIO Modular Controller, Industrial Strength Comes with multiple interface modules◦ 2 Analog Input Modules Plus 2 Analog Breakout
◦ 2 Digital Input/Output Modules Connect via really big cable to Digital Sidecar
◦ 1 Digital Output Module Use with Solenoid Breakout
Veteran teams do not get new cRIO’s and modules
Rookie teams will get new smaller cRIO
cRIO and ModulescRIO and Modules
Legacy Teams have 8-slot cRIO chassis
Rookie teams will get new 4-slot cRIO
Digital SidecarDigital Sidecar Connects to cRIO9403 with 32-pin cable Provides◦ 10 PWM outputs (Victors, Jaguars, RC
servos) Can be configured on a per-output basis to drive
6V RC servos with jumpers
◦ 14 GPIO with +5V on each ◦ 16 Relay Outputs ◦ I2C headers (Standard and NXT-compatible)◦ 12V supply, Provides +5V output Reverse polarity protected
Digital SidecarDigital Sidecar
Power Distribution ModulePower Distribution Module Custom Design by FIRST 6-15 VDC, reverse polarity protected Metric shanks, not SAE! 8 outputs for 40A breakers 12 outputs for 30A/20A breakers 24VDC output for CompactRIO 12V output 5V output for camera LED’s for power supplies and open
breakers
Power Distribution ModulePower Distribution Module
Power Distribution DiagramPower Distribution Diagram
Analog BreakoutAnalog Breakout 5V/3A for powering sensors 8 Analog Inputs, 3 pin PWM cable config. Mounts to NI 9201 Analog Module Configurable to make one input capable
of measuring battery voltage - mandatory LED to indicate bumper has power Power to bumper requires wiring to
power distribution module
Analog BumperAnalog Bumper
Pneumatics BreakoutPneumatics Breakout Reverse-battery protection 8 Outputs to directly drive solenoids Mounts to NI 9472 Digital Module Means you don’t have to use Spikes to
drive solenoids anymore◦ Save weight, space and money
LED to indicate bumper has power Power to bumper requires wiring to
power distribution module, can tolerate 12v or 24v to match solenoids
Pneumatics BreakoutPneumatics Breakout
Wireless Interface – 802.11Wireless Interface – 802.11 Radio on the robot is 802.11 wireless
bridge Check for how to power it correctly from
your robot You will assign fixed IP addresses to your
components, using team number Use as AP during build season, connect to
the wired field at the competition Field will use 5 GHz band to avoid overlap
and interference
Ethernet Camera – Axis M1011Ethernet Camera – Axis M1011 Streaming video for drive-
time control has been challenging
Connects to RJ45 on cRIO Can be used to track colors
Jaguar Motor ControllerJaguar Motor Controller Replaces the venerable Victor CAN bus interface, limit features Do NOT remove the power screws They are “swaged” on the end, which is
meant to keep them from coming out Removing them drops metal shavings
into the guts
Operator InterfaceOperator Interface Classmate Computer or equivalent
Must run supplied software IP connected Communicates constantly with cRIO
USB expansion hub Joysticks (USB) Cypress pSOC I/O expansion device
Operator InterfaceOperator Interface Typically a 48” x 8” console Joysticks or other driving interface Buttons, switches, dials, lights Your team designs and builds it Effective driving operation is enabled by
careful ergonomic design, especially when it comes to controlling the non-drive functions
Operator InterfaceOperator Interface Cypress board provides 16 configurable
digital pins, 8 analog inputs Plug into proto board, or build/buy
carrier board Digital and analog functions map to
software
Typical OI FunctionsTypical OI Functions switch (on/off) – 1 digital input 3 position switch (on/off/on) – 2 digital
inputs Potentiometer (variable position) – 1
analog input Push button switch (momentary
contact) – 1 digital input Indication (LED) – 1 digital output
Link between OI and cRIOLink between OI and cRIO Default software causes cRIO and
classmate computer to update each other several times a second
All OI data is fed to cRIO automatically If they don’t talk, your robot disables
itself Status of communication shown in
classmate GUI
Other Handy PartsOther Handy Parts 10-turn potentiometers
Not supplied – Norvac, Fry’s, Digi-Key Wire to analog input
US Digital Quadrature Encoders Mount in many transmissions Count transmission rotation, direction
3-axis accelerometer (supplied) Gyro (supplied) Analog Ultrasonic detectors
For measuring close distances
Helpful HintsHelpful Hints
Working the WagoWorking the Wago• Find a Wago tool (Newark Electronics)• Take care to insert directly at a fixed angle, pressing straight in• Do not pry. The goal is to open the spring by pressing in the screwdriver, not by prying
802.11 Radio Link802.11 Radio Link The AP and bridge have changed over the
years. Learn how to set static IP addresses on
your PC, and how to log into AP and adapter to configure them manually
Turn off “Wireless Protection”, so that inadvertent presses of external buttons don’t change settings unexpectedly
Other ideas worth rememberingOther ideas worth remembering Solder your terminals – prevent failure Keep large gauge wiring as short as possible Lay your electronics out so you can
troubleshoot it – 2 layers sometimes works Make a battery charging record ◦ During tournaments, know which one is charged
Read the inspection rules early – a great “cheat sheet” for guiding you
Label your wires or use color markings, to make troubleshooting easier
Robot frame is NOT connected to ground
Wrapping UpWrapping Up Go to the FIRST website, navigate◦ FRC◦ Game and Season Info◦ Competition◦ Competition Manual and Related Docs
Check out the schematics, rules and manuals from last year◦ Wire gauge requirements, terminals, etc.