alpha - 2015 control system therobettes.com. alpha test porject the robettes spent the fall season...

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