1. Electronics and Controls
Robotics 101
Electronics and Controls
Basics of an FRC Robot’s control system.

2. 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

3. Pre-2015 Controls and Wiring
Major Components:
NI cRio
Sidecar
Power Distribution Panel
D-Link (wireless router)
Speed Controllers

4. 2015 and Future Controls and Wiring
Major Components:
NI roboRio
Power Distribution Panel
D-Link (wireless router)
Speed Controllers

5. Drive Station
Joysticks, USB multiplexer, Laptop/Classmate

6. 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?

7. Speed Controller Functions Jaguar Controller (Old)
Backwards/Forwards
Faster/Slower
Pulse Width Modulation (PWM)
Jaguar Controller (Old)
Talon SR Controller (Newer)
Motor
Victor Controller
Talon SRX Controller (Newest)

8. Electrical Devices Camera Limit Switch Potentiometer Aiming, scoring
Goal Tracking
Limit Switch
Control fixed position
Potentiometer
Variable control

9. Electrical Devices Photoelectric Limit Switch Encoders Gyro
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

10. Motor List from 2012 Robot
Description/Function Qty Motor Sensor rqmt. /desire Main robot drive 4 CIM Would like encoders Mech to lower bridge 1 AndyMark Potentiometer & Limit Switch Extended front roller 1 Banebots None 1st stage roller front 1 AndyMark None 1st stage roller rear 1 Window None Upper roller/shooter feed 1 Banebots None Ball shooter wheel 2 FP RPM Shooter turret rotate 1 Window Potentiometer Ball singulator 1 Window Limit Switch Wheel brake 1 Window None