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