Overview of ElectronicsOverview of Electronics

1425 Wilsonville Robotics

Tim Bennington-Davistbenningtondavis@ixiacom.com

(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.