1. Alpha Control System
TheRobettes.com

2. 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.

3. 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

4. 2013-2014 Block Diagram Joystick Driver Station (Laptop) cRIO
WiFi radio link (or Ethernet)
Joystick
Processor
(where your code runs)
Joystick
Camera
Co-processor
Switches
Jaguars (CAN)
Digital Module
Analog Module
Solenoid Module
Motors
Serial
Solenoids
Potentiometers
Gyro
Accelerometer
Motor Controllers
(Victors, Talons, or Jaguars)
Digital Sidecar
I2C
I2C Sensors
Motors
PWMs
Power Dist Board
RSL
RSL
Relays
Dig IO
Compressor
Motors
Spikes
Limit Switches
Encoders
Pressure Switch
Battery

5. 2015 Block Diagram Jaguars (CAN) Joystick Driver Station (Laptop)
Motors
Pressure Switch
WiFi radio link (or Ethernet)
Compressor
Joystick
Pneumatics Control Module
Camera
Co-processor
Joystick
Switches
USB Sensors
Solenoids
roboRIO
USB
CAN
Expansion
Pneumatic
Actuators
(Cylinders)
Processor
(where your code runs)
I2C
I2C Sensors
Motor Controllers
(Victors, Talons, or Jaguars)
TLM
PWMs
RSL
RSL
Power Dist Panel
Relays
Dig IO
Analogs
Voltage Reg Module
Motors
Spikes
Limit Switches
Encoders
Potentiometers
Gyro
Battery

6. 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

7. roboRIO

8. 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)

9. Pneumatics Control Module (PCM)
Provides all-in-one pneumatics system control: pressure switch input, compressor relay output
8 Solenoids outputs
Uses CAN
Button connectors

10. Power Distribution Board
Smaller
only amp wago ports (fewer, but less are needed)
CAN capability
Channel monitoring (unclear at present whether just voltage or both voltage+current)

11. Radio
USB
Smaller size

12. 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.

13. Glossary, Q&A
Time for