Overview of New Overview of New SystemSystem

Beta Team from Wilsonville1425 Wilsonville Robotics – Code

Xero2550 Oregon City Robotics

At a glanceAt a glanceIndustrial Controller from NIEverything else new except

Spikes

Advantages of New Advantages of New SystemSystemLabview environment

◦Teams with less SW experience can do more complex stuff than before

Support of NI and WindRiver for development and debug environments

Smaller footprint of power distribution modules

Several nifty new features

Disadvantages of New Disadvantages of New SystemSystemController Size/Weight/Form Factor

◦ Twice the footprint, weighs over 2 lbs.◦ Modules with bumpers not compact ◦ Will need to be protected from contact

Cost and availability◦ Equipping teams for parallel development

will be a challengeNew Jaguar speed controllers

◦ Larger footprintNew control system less tolerant of

low robot battery voltage

Elements of the New Elements of the New SystemSystemDigital SidecarPower Distribution BoardAnalog BumperPneumatics BumperDriver StationWireless Interface (802.11)CameraJaguar Speed Controller

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 for gaming adapter5V output for camera or other devicesLED’s for power supplies and blown

fuses

Power Distribution ModulePower Distribution Module

Power Distribution Power Distribution DiagramDiagram

Analog BumperAnalog Bumper5V/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

LED to indicate bumper has powerPower to bumper requires wiring to

power distribution module

Analog BumperAnalog Bumper

Pneumatics BumperPneumatics BumperReverse-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

Pneumatics BumperPneumatics Bumper

Driver StationDriver Station4 USB connections for joysticks of all

kinds2 Ethernet jacks

◦Network connection (competition)◦Switched connection for laptop

4 Analog Inputs on 3-pin connectors8 Digital Inputs on 3-pin connectors8 Digital Outputs on 3-pin connectorsWall wart for power (always required)Upgradeable via USB stick

Driver Station (DS)Driver Station (DS)

Operator Interface Operator Interface ConfigurationConfiguration

Wireless Interface – Wireless Interface – 802.11802.11

Radio on the robot is 802.11 gaming adapter ◦Wireless bridge: cRIO and Access Point

You will assign fixed IP addresses to your components, using team number

Use an AP during build season, connect to the wired network at the competition

Field will use 5 GHz band (802.11 a) to avoid overlap and interference

Network Diagram – Your Network Diagram – Your RobotRobot

Ethernet Camera – Axis Ethernet Camera – Axis 206206

Streaming color video

Connects to RJ45 on cRIO

Plays video on laptopAxis applicationLabview video

viewer

Jaguar Motor ControllerJaguar Motor ControllerLimit Switch InputsController Area Network BusIt’s bigger, but …..See Chief Delphi for more

details and blogs

Interesting Things to KnowInteresting Things to Know

But, don’t worry … .documentation is coming

Working the WagoWorking the Wago• Use the Wago tool provided• 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

Living in Harmony with Living in Harmony with 802.11802.11A couple of simple configs on the

Linksys AP will save you troubleWays to set up your development

network so it runs your robot, and gives you access to network drives/printers

Stay away from 802.11n settings on AP

Learn how to set static IP addresses on your PC