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Overview of ElectronicsOverview of Electronics
1425 Wilsonville Robotics
(503) 449-9507
At a glanceAt a glanceNew NI controller (cRIO)
◦Smaller, 4 slots, less weight, less cost
Microsoft Xbox Kinect adapter
Robot SchematicRobot Schematic
Elements of the SystemElements of the SystemNational Instruments cRIODigital SidecarPower Distribution BoardAnalog BumperPneumatics BumperNetbook Driver StationWireless Interface (802.11)CameraMotor controllers and relays
cRIO cRIO Modular Controller, Industrial StrengthComes with multiple interface modules
◦ 2 Analog Input Modules Plus 2 Analog Breakout
◦ 2 Digital Input/Output Modules Connect via really big cable to Digital Sidecar
◦ 1 Digital Output Module Use with Solenoid Breakout
Veteran teams do not get new cRIO’s and modules
Rookie teams will get new smaller cRIO
cRIO and ModulescRIO and Modules
Legacy Teams have 8-slot cRIO chassis
Rookie teams will get new 4-slot cRIO
Digital SidecarDigital SidecarConnects to cRIO9403 with 32-pin cableProvides
◦10 PWM outputs (Victors, Jaguars, RC servos) Can be configured on a per-output basis to drive
6V RC servos with jumpers
◦14 GPIO with +5V on each ◦16 Relay Outputs ◦I2C headers (Standard and NXT-compatible)◦12V supply,
Provides +5V output Reverse polarity protected
Digital SidecarDigital Sidecar
Power Distribution ModulePower Distribution ModuleCustom Design by FIRST6-15 VDC, reverse polarity protected Metric shanks, not SAE!8 outputs for 40A breakers12 outputs for 30A/20A breakers24VDC output for CompactRIO12V output 5V output for camera LED’s for power supplies and open
breakers
Power Distribution ModulePower Distribution Module
Power Distribution Power Distribution DiagramDiagram
Analog BreakoutAnalog Breakout5V/3A for powering sensors8 Analog Inputs, 3 pin PWM cable
config.Mounts to NI 9201 Analog ModuleConfigurable to make one input
capable of measuring battery voltage - mandatory
LED to indicate bumper has powerPower to bumper requires wiring to
power distribution module
Analog BumperAnalog Bumper
Pneumatics BreakoutPneumatics BreakoutReverse-battery protection8 Outputs to directly drive solenoidsMounts to NI 9472 Digital ModuleMeans you don’t have to use Spikes to
drive solenoids anymore◦Save weight, space and money
LED to indicate bumper has powerPower to bumper requires wiring to
power distribution module, can tolerate 12v or 24v to match solenoids
Pneumatics BreakoutPneumatics Breakout
Wireless Interface – Wireless Interface – 802.11802.11
Radio on the robot is 802.11 wireless bridge
Check for how to power it correctly from your robot
You will assign fixed IP addresses to your components, using team number
Use as AP during build season, connect to the wired field at the competition
Field will use 5 GHz band to avoid overlap and interference
Ethernet Camera – Axis Ethernet Camera – Axis M1011M1011
Streaming video for drive-time control has been challenging
Connects to RJ45 on cRIO
Can be used to track colors
Jaguar Motor ControllerJaguar Motor ControllerReplaces the venerable VictorCAN bus interface, limit featuresDo NOT remove the power
screwsThey are “swaged” on the end,
which is meant to keep them from coming out
Removing them drops metal shavings into the guts
Operator InterfaceOperator InterfaceClassmate Computer or
equivalentMust run supplied softwareIP connectedCommunicates constantly
with cRIOUSB expansion hubJoysticks (USB)Cypress pSOC I/O expansion
device
Operator InterfaceOperator InterfaceTypically a 48” x 8” consoleJoysticks or other driving
interfaceButtons, switches, dials, lightsYour team designs and builds itEffective driving operation is
enabled by careful ergonomic design, especially when it comes to controlling the non-drive functions
Operator InterfaceOperator InterfaceCypress board provides 16
configurable digital pins, 8 analog inputs
Plug into proto board, or build/buy carrier board
Digital and analog functions map to software
Typical OI FunctionsTypical OI Functionsswitch (on/off) – 1 digital input3 position switch (on/off/on) – 2
digital inputsPotentiometer (variable
position) – 1 analog inputPush button switch (momentary
contact) – 1 digital inputIndication (LED) – 1 digital
output
Link between OI and cRIOLink between OI and cRIODefault software causes cRIO
and classmate computer to update each other several times a second
All OI data is fed to cRIO automatically
If they don’t talk, your robot disables itself
Status of communication shown in classmate GUI
Other Handy PartsOther Handy Parts10-turn potentiometers
Not supplied – Norvac, Fry’s, Digi-Key
Wire to analog inputUS Digital Quadrature Encoders
Mount in many transmissionsCount transmission rotation,
direction3-axis accelerometer (supplied)Gyro (supplied)Analog Ultrasonic detectors
For measuring close distances
Helpful HintsHelpful Hints
Working the WagoWorking the Wago• Find a Wago tool (Newark Electronics)• Take care to insert directly at a fixed angle, pressing straight in• Do not pry. The goal is to open the spring by pressing in the screwdriver, not by prying
802.11 Radio Link802.11 Radio LinkThe AP and bridge have changed
over the years.Learn how to set static IP
addresses on your PC, and how to log into AP and adapter to configure them manually
Turn off “Wireless Protection”, so that inadvertent presses of external buttons don’t change settings unexpectedly
Other ideas worth Other ideas worth rememberingrememberingSolder your terminals – prevent failureKeep large gauge wiring as short as possibleLay your electronics out so you can
troubleshoot it – 2 layers sometimes worksMake a battery charging record
◦ During tournaments, know which one is chargedRead the inspection rules early – a great
“cheat sheet” for guiding you Label your wires or use color markings, to
make troubleshooting easierRobot frame is NOT connected to ground
Wrapping UpWrapping UpGo to the FIRST website, navigate
◦FRC◦Game and Season Info◦Competition◦Competition Manual and Related
DocsCheck out the schematics, rules
and manuals from last year◦Wire gauge requirements, terminals,
etc.
