electronics and controls basics of an frc robot’s control system. robotics 101
TRANSCRIPT
Electronics and ControlsBasics of an FRC Robot’s control system.
Robotics 101
The Control System
• The Control System is the “Brain” of the robot
• The control system receives input from the driver station and tells the robot what to do (e.g. drive forward, back up, shoot ball, etc.)
• It is very important to have a well-organized and wired control system
− A wiring issue can cost a match, or even a medal (Finals at the Buckeye Regional 2013)
− Finding issues with the control system would ideally be easy and quick
• Easy access to the control system should always be considered in the design process
Pre-2015 Controls and Wiring
• Major Components:− NI cRio− Sidecar− Power Distribution Panel− D-Link (wireless router)− Speed Controllers
2015 and Future Controls and Wiring
• Major Components:− NI roboRio− Power Distribution Panel− D-Link (wireless router)− Speed Controllers
Drive Station
• Joysticks, USB multiplexer, Laptop/Classmate
Battery and Power
• Rated: 12V, 18 Amps-Hours
• Battery can provide 18 amps for one hour− From our driving experience how long can a good charged battery drive
our robot?
• Robot requires a minimum amount of power to turn due to friction of wheels on carpet
• Power = Volts X Amps so Amps = Power/Volts
• Charged good battery = 12.5 Volts
• Voltage drops as battery charge is consumed− As voltage drops what happens to:
• Power?
• Amps?
Speed Controller
• Functions− Backwards/Forwards− Faster/Slower− Pulse Width Modulation (PWM)
Motor
Talon SR Controller (Newer)
Victor Controller
Jaguar Controller (Old)
Talon SRX Controller (Newest)
Electrical Devices
• Camera− Aiming, scoring− Goal Tracking
• Limit Switch− Control fixed position
• Potentiometer− Variable control
Electrical Devices
• Photoelectric Limit Switch− Non contact sensing/limit switch− Sensing plunger back, Frisbee present
• Encoders− Measure rotational speed− Computer counts and adds pulses
• Gyro− Measure robot direction/angle− Used to drive straight or turn in auto
Motor List from 2012 Robot
Description/Function Qty Motor Sensor rqmt. /desireMain robot drive 4 CIM Would like encodersMech to lower bridge 1 AndyMark Potentiometer & Limit SwitchExtended front roller 1 Banebots None1st stage roller front 1 AndyMark None1st stage roller rear 1 Window NoneUpper roller/shooter feed 1 Banebots NoneBall shooter wheel 2 FP RPMShooter turret rotate 1 Window PotentiometerBall singulator 1 Window Limit SwitchWheel brake 1 Window None