FIRST ROBOTICS COMPETETION Introduction to Electrical Control System

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 Robo. RIO

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 HD 3000 plugs directly into the robo. RIO capable of capturing up to 1280 x 720 video at 30 FPS

Axis M 1013, M 1011 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, robo. RIO 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 robo. RIO 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, Bane. Bot, & 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 robo. RIO 3 blinks - Safe Mode, restart robo. RIO, reimage if not resolved 4 blinks - Software crashed twice without rebooting, reboot robo. RIO, 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?