alpha - 2015 control system therobettes.com. alpha test porject the robettes spent the fall season...
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Alpha - 2015 Control System
TheRobettes.com
Alpha Test Porject• The Robettes spent the fall season setting up
and trying out the new components and features of the 2015 Control System.
• In November, representatives convened with other testing teams New Hampshire to talk about problems and solutions, and play some matches on the field.
Overview
• New Power Distribution Panel (PDP)
• New Voltage Regulator Module (VRM)
• New Pneumatics Control Module (PCM)
• New roboRIO controller (replaces cRIO)
• PCM and PDP monitoring circuits connect to roboRio through improved native CAN bus
2013-2014 Block Diagram
Driver Station (Laptop
)
cRIO
Processor(where your code runs)
Joystick
Joystick
Joystick
Switches
WiFi radio link (or
Ethernet)
Digital Module
Analog Module
Solenoid
Module
Digital Sidecar
PW
Ms
Relays Dig IO RSL
I2C
Potentiometers
GyroAccelerometer
Limit SwitchesEncodersPressure Switch
SpikesCompressorMotors
Motor Controller
s(Victors, Talons, or Jaguars)
MotorsSeri
al
Jaguars
(CAN)
Motors
CameraCo-
processor
Solenoids
RSL
I2C Sensor
sPower Dist
Board
Battery
2015 Block Diagram
Driver Station (Laptop
)
Joystick
Joystick
Joystick
Switches
WiFi radio link (or
Ethernet) Pneumatics Control
Module
roboRIO
PW
Ms
Relays Dig IO
RSL
I2C
Limit SwitchesEncoders
SpikesMotors
Motor Controller
s(Victors, Talons, or Jaguars)
CAN
Jaguars
(CAN)
Motors
CameraCo-
processor
Solenoids
PneumaticActuators
(Cylinders)
RSL
I2C Sensor
s
Power Dist
Panel
Battery
Analogs
Potentiometers
Gyro
Processor(where your code
runs)
Pressure
SwitchCompress
or
USB
USB Sensor
s
TLM
Expansi
on
Voltage Reg Modul
e
roboRIO• Combines cRIO + Modules + Digital Sidecar into a single
small unit• OS: Linux with real-time extensions• Processor: Dual-Core ARM Cortex-A9 at 667 MHz• Memory: 256 MB RAM, 256 MB flash storage• Size 5.7 in x 5.6 in, Weight under 12 oz• IO: 10 PWM, 10 digital I/O, 4 relay outputs, 1 SPI, 1 I2C, 4
analog– Expansion port adds even more
• 2 USB ports• Native CAN bus• Integrated 3-axis accelometer
roboRIO
•
Voltage Regulator Module (VRM)• Ensures constant voltage to sensors, camera, etc.
– Takes battery 12V and provides regulated 12V and 5V– Ideal for custom sensors, camera power, etc.– (radio now USB powered)
Pneumatics Control Module (PCM)
Provides all-in-one pneumatics system control: pressure switch input, compressor relay output• 8 Solenoids outputs• Uses CAN• Button connectors
Power Distribution Board
• Smaller • only 8 20-30 amp wago ports (fewer, but less are needed)
• CAN capability– Channel monitoring (unclear at present whether just voltage or both
voltage+current)
Radio
• USB • Smaller size
Programming• LabVIEW, C++, and Java continue to be supported• For Java & C++, much of WPILib will be unchanged:
Removed: “module” number in constructors (as modules no longer exist)New classes for new features
• For C++ -- Development environment changes from Wind River Workbench (custom version of Eclipse) to latest Eclipse (currently Kepler)
• For Java -- Development environment changes from NetBeans to Eclipse.
Glossary, Q&A
• Time for