Circuit Breakers2012

An Objective and ComponentView

(Not included Drive: Balance and Turret: Axis Camera)

Robot

Funnel

Do Nothing

Drop Funnel

Lift Funnel

Drive

Drive w/ Joysticks

Forward

Reverse

Left

Right

Turret

Stop Feed Shoot Rotate Set Position Vision

Do Nothing

Passive Track

Active Track

Collection

Stop

Accept Balls

Reject Balls

Elevator

Stop

Raise Balls

Lower Balls

Subsystem

Default

Autonomous

FunnelInputs

• Controls• Button to raise arm

up• Button to lower the

arm• Sensors

• Upper Limit Switch stops arm.

• Lower Limit Switch stops arm.

Functions• Lower Arm

• Lower Button is pressed

• Lower Limit is hit when the functions is complete

• Switches to do nothing

• Raise Arm• Raise Button is

pressed• Upper Limit is hit

when the functions is complete

• Switches to do nothing

Outputs• Lower Arm

• Raise Button triggers the victor to apply negative voltage to window motor lowering arm

• Victor stops applying voltage when limit switch is hit

• Lower Arm• Lower Button

triggers the victor to apply voltage to window motor lowering arm

• Victor stops applying voltage when limit switch is hit

Drive(Tele-op)Inputs

• Controls• Left Joystick Controls

Motion of Left Tread• Right Joystick

Controls Motion of Right Tread

Outputs• Drive Forward

• Variable Voltage is applied to both Jaguars

• Voltage is released to stop the robot

• Drive Reverse• Negative Voltage is

applied to both Jaguars• Voltage is released to

stop the robot• Turn Left

• Negative Voltage is applied to Right Jaguar and Positive Voltage is applied to Left Jaguar

• Voltage is released to stop the robot

• Turn Right• Negative Voltage is

applied to Left Jaguar and Positive Voltage is applied to Right Jaguar

• Voltage is released to stop the robot

Functions(cont)Drive With Joystick• Turn Left

• Forward Pressure is applied to left joystick and Reverse Pressure is applied to the right joystick causing the robot to turn left in place

• Pressure is released and robot comes to halt

• Turn Right• Forward Pressure is

applied to right joystick and Reverse Pressure is applied to the left joystick causing the robot to turn right in place

• Pressure is released and robot comes to halt

FunctionsDrive With Joystick• Drive Forward

• Equal Pressure is applied to both joysticks forward causing the robot to drive forward

• Pressure is released and robot comes to halt

• Drive Reverse• Equal Pressure is

applied to both joysticks backwards causing the robot to drive in reverse

• Pressure is released and robot comes to halt

Drive(Autonomous)Inputs

• Controls• Autonomous Coding

Functions• Drive Forward• Drive Reverse• Turn Left• Turn Right

Outputs• Drive Forward

• Positive Voltage is applied to both Jaguars

• Voltage is stopped to stop the robot

• Drive Reverse• Negative Voltage is

applied to both Jaguars• Voltage is stopped to

stop the robot• Turn Left

• Negative Voltage is applied to Right Jaguar and Positive Voltage is applied to Left Jaguar

• Voltage is stopped to stop the robot

• Turn Right• Negative Voltage is

applied to Left Jaguar and Positive Voltage is applied to Right Jaguar

• Voltage is stopped to stop the robot

Turret(Manual)Inputs

• Controls• Axis Camera has a

lock on basketball hoop.

• Trigger launches ball.• Button raises and

lowers speed.• Sensors

• Left Limit Switch stops Turret Rotation.

• Right Limit Switch stops arm.

OutputsRotate Right• Button sends constant

signal to Turn Spike which sends positive voltage to the gear motor.

• Signal ends when button is released stopping turn.

Rotate Left• Button sends constant

signal to Turn Spike which sends negative voltage to the gear motor.

• Signal ends when button is released stopping turn.

Functions(cont)Rotate Right• Button is held which turns

the turret right until the button is released

Rotate Left• Button is held which turns

the turret left until the button is released

FunctionsFire Ball• Trigger is pulled and

released launching ball out of turret.

Launch Speed• Throttle is adjusted to

adjust speed.

OutputsFire• Trigger sends an electronic

signal to Upper Belt Victor which activates upper belt move ball into the path of the roller.

Launch Speed• Throttle sends variable

voltage to a the Launcher Jaguar which adjusts the speed of the CIM.

CollectionInputs

• Controls• Button to toggle

between Accept and spit out

• Sensors• None

OutputsAccept Balls• Button switches to Accept

mode and sends positive voltage to Fisher-Price motor.

Spit Out Balls• Button switches to Spit

Out mode and sends negative voltage to Fisher-Price motor.

FunctionsAccept Balls• Button is pressed causing

roller to suck balls into the robot

Spit Out Balls• Button is pressed causing

the roller to spin backwards and keep balls from getting into the frame perimeter.

ElevatorInputs

• Controls• Button to toggle

between Stop, Raise and Lower

• Sensors• IR 3(work in progress)

OutputsRaise Balls• Button sends signal to

spike which sends positive voltage to window motor.

Lower Balls• Button sends signal to

spike which sends negative voltage to window motor.

Stop• Button is pressed stopping

the transfer of all voltage

FunctionsRaise Balls• Button is pressed causing

Belt to lift balls to the turret.

Lower Balls• Button is pressed causing

Belt to lower balls to the collector.

Stop• Button is pressed causing

Belt to stop

Brought to you ByBrought to you by:

• Flow Chart Creation– Justin Patridge

• Information Creators– James Womack– Justin Patridge– Collector– Elevator– Zinger– Balance/Bridge– Chassis