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Electronics and Controls

Basics of an FRC Robot control system

Robotics 101

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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

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Pre-2015 Controls and Wiring

  • Major Components:
    • NI cRio
    • Sidecar
    • Power Distribution Panel
    • D-Link (wireless router)
    • Speed Controllers

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2015 and Future Controls and Wiring

  • Major Components:
    • NI roboRio
    • Power Distribution Panel
    • D-Link (wireless router)
    • Speed Controllers

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Drive Station

  • Joysticks, USB multiplexer, Laptop/Classmate

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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?

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Speed Controller

  • Functions
    • Backwards/Forwards
    • Faster/Slower
    • Pulse Width Modulation (PWM)

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Motor

Talon SR Controller (Newer)

Victor Controller

Talon SRX Controller (Newest)

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Electrical Devices

  • Camera
    • Aiming, scoring
    • Goal Tracking

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  • Limit Switch
    • Control fixed position

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  • Potentiometer
    • Variable control

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Electrical Devices

  • Photoelectric Limit Switch
    • Non contact sensing/limit switch
    • Sensing plunger back, Frisbee present

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  • Encoders
    • Measure rotational speed
    • Computer counts and adds pulses

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  • Gyro
    • Measure robot direction/angle
    • Used to drive straight or turn in auto

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Motor List from 2012 Robot

Description/Function Qty Motor Sensor rqmt. /desire

Main robot drive 4 CIM Would like encoders

Mech to lower bridge 1 AndyMark Potentiometer & Limit Switch

Extended front roller 1 Banebots None

1st stage roller front 1 AndyMark None

1st stage roller rear 1 Window None

Upper roller/shooter feed 1 Banebots None

Ball shooter wheel 2 FP RPM

Shooter turret rotate 1 Window Potentiometer

Ball singulator 1 Window Limit Switch

Wheel brake 1 Window None