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Transcript
FIRST ROBOTICS COMPETETION Introduction to Electrical & Control System Power and Signal Distribution/Interconnection Sensors, Motors, Speed Controllers, Pneumatic Control Valves, etc Paul Ulland – Engineering Mentor Battery Charger Battery Power Connectors 120 Amp Main Circuit Breaker Power Distribution Board Circuit Breakers NI RoboRIO Voltage Regulator Module Linksys Bridge/Access Point Driver Control “Sarah” the Lap Top Computer Cabling Legend + 12 Vdc Ground CAN Ethernet PWM Signal USB Microsoft Lifecam HD3000 plugs directly into the roboRIO capable of capturing up to 1280x720 video at 30 FPS Axis M1013, M1011 and Axis 206 Ethernet camera with Servos Limit Switches Photo Switch Sonar Range Finder Rotary Encoder Linear Encoder Shaft Encoder Gyro and Accelerometer There are 10 kinds of people: Those who know binary and those that don’t. Robot Signal Light (RSL) ROBOT SAFETY LIGHT Solid ON - Robot On and Disabled Blinking - Robot On and Enabled Off - Robot Off, roboRIO not powered or RSL not wired properly. Spike H-Bridge Relay Motor provides On/Off control in both the forward and reverse directions Custom robot electronics provides power to up to 2 circuits connected to a relay output of the roboRIO powered from the Power Distribution Panel. Victor speed control with fan Talon Speed Control Victor SP Speed Control PWM motor controller Motor Speed Controller Jaguar Yellow Red Green Talon SRX Speed Control CAN-enabled "smart motor controller“ Controlled over CAN bus or PWM interface Accepts inputs from limit switches, potentiometers, encoders, or similar in order to perform advanced control such as limiting or PID(F) closed loop control CIM, BaneBot, & Door Motors, etc Confirm that motor choices appear in robot rules Speed Reduction Pneumatics Control Module Compressor & Pressure Limit Switch Pneumatic Control Valve Pneumatic Cylinder with end of stroke limit switches Pneumatic Rotary Actuator end of stroke limit switches Status Light Quick Reference Power Green - Power is good Amber - Brownout protection tripped, outputs disabled Red - Power fault, check user rails for short circuit Status On while the controller is booting, then should turn off 2 blinks - Software error, reimage roboRIO 3 blinks - Safe Mode, restart roboRIO, reimage if not resolved 4 blinks - Software crashed twice without rebooting, reboot roboRIO, reimage if not resolved Constant flash or stays solid on - Unrecoverable error Status Light Quick Reference Radio Not currently implemented Comm Off - No Communication Red Solid - Communication with DS, but no user code Red Blinking - E-stop Green Solid - Good communication with DS Mode Off - Outputs disabled (robot in Disabled, brown-out, etc.) Amber/Orange - Autonomous Enabled Green - Teleop Enabled Red - Test Enabled RSL See above Pneumatics Control Module QUESTIONS?