Team 2554 Robotics Documentation study guide

RoboRIO

the motherboard of the robot.

PDH

Power Distribution Hub, use this to distribute power to the entire robot.

What does VRM stand for?

Voltage Regulator Module

What is the function of a VRM?

It can increase or decrease (step up or step down) voltage.

In which devices is a VRM commonly used?

Network switch and radio.

What does PCM stand for?

Pneumatics Control Module

What components does the PCM control?

The compressor, the pressure switch, and the solenoids.

How is the PCM powered?

Powered directly by the PDH.

What communication protocol does the PCM use?

CAN to communicate with the e-Board.

What is the function of the radio in a robot?

The radio lets us wirelessly communicate with the robot.

What does the network switch provide in a robotic system?

The network switch gives us access to more ethernet ports.

What type of camera do color sensors use to detect color?

IR Camera

What is the power requirement for the color sensor?

3.3 volts

What is the effective range of the color sensor?

One to ten centimeters

What type of LED is located on the color sensor?

White LED

How can the white LED on the color sensor be toggled?

With a hardware switch

What does VRM stand for?

Voltage Regulator Module

What is the power requirement for the VRM?

12 volts

To what is the VRM wired?

A dedicated connector on the PDP

What types of outputs does the VRM provide?

Regulated 12V and 5V outputs

What is the purpose of the VRM?

To provide regulated power for the robot radio, custom circuits, and IP vision cameras

What is the Spike H-Bridge Relay used for?

The Spike H-Bridge Relay is used for controlling power to motors or other custom robot electronics.

What type of control does the Spike H-Bridge Relay provide when connected to a motor?

The Spike provides On/Off control in both the forward and reverse directions.

How many custom electronic circuits can the Spike H-Bridge Relay power?

The Spike can power up to 2 custom electronic circuits.

Where should the Spike H-Bridge Relay be connected?

The Spike H-Bridge Relay should be connected to a relay output of the roboRIO.

What is the power source for the Spike H-Bridge Relay?

The Spike H-Bridge Relay should be powered from the Power Distribution Panel.

What can the Servo Power Module do

The Servo Power Module is capable of expanding the power available to servos beyond what the roboRIO integrated power supply is capable of.

How much power does the Servo Power Module provide?

The Servo Power Module provides up to 90W of 6V power across 6 channels.

Where do the control signals from the Servo Power Module Go?

All control signals are passed through directly from the roboRIO

What are the Axis M1013, M1011, and Axis 206 Ethernet cameras used for?

They are used for capturing images for vision processing and/or sending video back to the Driver Station laptop.

How should the Axis Ethernet cameras be powered?

The camera should be wired to a 5V power output on the Voltage Regulator Module.

Where should the Axis Ethernet cameras be connected for data transmission?

They should be connected to an open ethernet port on the robot radio.

What are the models of the OpenMesh radios used for the robot?

OpenMesh OM5P-AN or OpenMesh OM5P-AC

What functionality does the OpenMesh radio provide to the robot?

Wireless communication functionality

How can the OpenMesh radio be configured for home use?

As an Access Point for direct connection of a laptop

How can the OpenMesh radio be configured for use in the field?

As a bridge

What power output should be used to power the robot radio?

One of the 12V/2A outputs on the VRM

How is the robot radio connected to the roboRIO controller?

Over Ethernet

What are limit switches used for?

They act as stop switches or indicate when a part reaches a certain 'checkpoint'.

What type of switch is a limit switch?

It is a switch that either opens or closes, categorized as normally closed (NC) or normally open (NO).

Where can limit switches be placed?

They can be placed in locations where a game object might pass through.

What is a gyroscope used for in robotics?

To measure orientation and angular velocity.

What is the NavX2?

A sensor that provides orientation and motion data for robotics.

How do you connect the NavX2 to the roboRIO?

Line it up with the 34 pins in the middle of the roboRIO and plug it in.

What is the function of a compressor?

It compresses the air to create more pressure.

What is the maximum pressure that the compressor we use can reach?

120 PSI (pounds per square inch).

What happens if the pressure exceeds 120 PSI in the compressor?

The relief valve will automatically open.

What are two characteristics of the compressor's operation?

It generates a lot of heat and vibration.

What is the function of a pressure switch in a robot?

It helps control the compressor.

At what pressure does the pressure switch close?

It is closed until the robot exceeds 115 PSI.

At what pressure does the pressure switch reopen?

It reopens at 95 PSI.

What happens if the pressure exceeds a certain PSI?

The pressure switch stops the compressor.

What does the air tank contain?

The compressed air generated by the compressor.

What is the maximum pressure the air tank can withstand?

125 psi.

What material is the air tank made of?

Plastic.

Is the air tank designed for pressure or ruptures?

No, it is not made for pressure or ruptures.

What is the purpose of a pressure relief valve?

To ensure that the psi is under 120.

What is the pressure relief valve connected to?

The compressor.

Regulator

A regulator is another relieving device that limits the working psi to 60.

What is a solenoid?

A solenoid is a device used to direct the flow of air to hardware in a circuit.

What types of solenoids are there?

There are double solenoids and single solenoids.

What is the function of a double solenoid?

A double solenoid has two coils; energizing the 'A' side coil moves the valve to the A position, and energizing the 'B' side coil moves it to the B position.

What is the function of a single solenoid?

A single solenoid has one coil; energizing it moves the valve to the B position, while not energizing it moves the valve to the A position.

What does a gauge measure in a system?

The psi of the air running through the system.

How many gauges should be present in the system?

Two gauges.

What does the first gauge display?

The working pressure.

What does the second gauge display?

The compressed air.

What is the maximum safe working pressure for the system?

60 PSI.

Piston

part that does the moving.

What must be done carefully to prevent air leakages when working with tubing?

Tubing must be done carefully to prevent air leakages.

What type of cut should be made when cutting tubing to prevent leakage?

A clean straight cut.

What should be used to seal all Parker fittings on the threads?

Teflon tape.

What is the function of the Arc Shooter in a robot?

It allows the robot to aim and launch balls.

What is the top conveyor of the Arc Shooter made of?

A set of six wheels placed on two bars of extruded aluminum.

How many motors control the top conveyor of the Arc Shooter?

Two motors.

What type of motor controllers are used for the wheels in the Arc Shooter's top conveyor?

Talon SRXs.

What material is the shooter of the Arc Shooter made from?

A sheet of bent aluminum from an aircraft simulator.

How many lime-green compliant wheels does the Arc Shooter have?

Eight lime-green compliant wheels.

How are the wheels in the Arc Shooter controlled?

By a belt attached to a motor located behind the aluminum.

What is the function of the Top Conveyor in the intake system?

It grips the ball to compress them and allows the ball to reach higher speed when exiting into the shooter.

How many wheels are in the Horizontal Intake?

Seven wheels.

What type of wheels are used in the Horizontal Intake?

Six Omni wheels that redirect the ball toward the top conveyor.

What controls the wheels in the Horizontal Intake?

An SPX.

What does PDP stand for?

Power Distribution Panel

What is the primary function of a Power Distribution Panel (PDP)?

To distribute power from a 12VDC battery to various robot components.

What type of circuit breakers does the PDP use?

Auto-resetting circuit breakers

How many output pairs rated for 40A continuous current does the PDP provide?

8 output pairs

How many output pairs rated for 30A continuous current does the PDP provide?

8 pairs

What connectors does the PDP provide for the roboRIO?

Dedicated 12V connectors

What additional connectors are provided by the PDP?

Connectors for the Voltage Regulator Module and Pneumatics Control Module.

What is a motor controller?

A motor controller is a device that we can program, in order to control a motor. We can change the direction of motors, and their speed using motor controllers.

What types of motors can the SPARK MAX Motor Controller control?

The SPARK MAX can control either brushed DC motors or brushless REV Robotics NEO Brushless Motors.

What are the control methods for the SPARK MAX Motor Controller?

The SPARK MAX can be controlled over PWM, CAN, or USB (for configuration/testing only).

What size breaker is used with the SPARK MAX Motor Controller on the PDH?

A 40Amp breaker is used with the SPARK MAX Motor Controller on the PDH.

What interfaces can the Talon SRX be controlled over?

The Talon SRX can be controlled over the CAN bus or PWM interface.

What types of inputs can the Talon SRX take when using CAN bus control?

The Talon SRX can take inputs from limit switches, potentiometers, encoders, or similar sensors.

What advanced control features does the Talon SRX support?

The Talon SRX supports limiting and PID(F) closed loop control.

What type of motors can the Talon SRX be used with?

The Talon SRX can only be used for brushed DC motors.

What is the recommended breaker size for use with the Talon SRX?

We will use a 40Amp or smaller breaker with the Talon SRX.

What type of motor controller is the Victor SPX?

The Victor SPX is a CAN or PWM controlled motor controller.