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?

Wire Size Requirements