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roboRIO

2015 Beta Test

Kevin Selavko

FRC Team 3260

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Driver Station - DS

  • F1 - Remaps joysticks
  • ENTER - Disables the robot
  • SPACEBAR - Emergency Stops the robot
  • [ ] \ (Simultaneously) - Enables the robot
    • F1 will no longer enable the robot
    • Improves safety when using DS laptop for programming
    • Puts hand near disable when testing

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Important

  • Ports start at zero
    • CAN
    • USB
    • I2C

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  • Brownout protection
    • When battery voltage is low
      • EVERYTHING stops moving
      • Prevents radio brownout
    • Motors are restored when voltage is back up again

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Networking

  • You can now access your roboRIO with a USB cable
    • Always use USB to update the roboRIO

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  • The RoboRIO can be accessed at the following URL
    • roborio-XXYY.local

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Familiar

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roboRIO

  • cRIO’s younger brother
  • New communication protocols
  • Custom Electronics Port
  • Conformal coated
  • Has accident forgiveness
    • Will survive up to 24 volts
    • Survives most shorts

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PDP

Power Distribution Panel

  • Only 12 volt ports
  • Batt sent to roboRIO
  • Use the compression lug
  • CAN provides:
    • Currents
    • Temperature
    • Voltage

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Modules

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Modules

PCM(Pneumatic Control Module)

  • 12 or 24 volt solenoids
  • 24 volt default
  • Mosfet on low side
  • Powers the compressor
  • Multiple PCMs can be used
  • Can be renamed via webpage

VRM(Voltage Regulator Module)

  • No CAN communication
  • Powers radio
  • Software fuses
  • 5 volt short reboots radio
  • Both modules are on a single fuse
  • New Weidmuller connectors don’t like stranded wire
    • ⅜” exposed, press button
    • Try tinning or twisting
    • Ferrules may also help - Inventables PDV

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Polarity

  • Most of the new electronics are idiot freshmen-proof
    • Reverse polarity protection is on most devices
    • Still-check your wiring

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* FRC legal motor controllers do NOT have reverse polarity protection!

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Legal Motor Controllers

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New Motor Controllers

  • Everything is sealed, no more metal shavings
    • Still, cover up your electronics, really...
  • Wires are a part of the controller
    • A workable length, but you should put on reusable connectors to have them last more than a season
  • No fans should be needed with normal abuse
  • $20 Dollar price difference between Talon and Victor

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Talon

  • Smarter than Victor
  • Is able to use CAN or PWM
  • CAN is easy this year
  • Sensors interface directly for closed loop control
  • CAN sends the status of controller
  • Field upgradeable

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http://goo.gl/Rw4poI

$79.99

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Victor

  • Smallest controller
  • Cheaper
  • Super simple
  • Brake/Coast mode button
  • .23 pounds including wire

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http://goo.gl/xuKwZF

$59.99

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Reusable Connectors

For easy no crimp connecting to your new motor controllers, try LEVER NUTS

http://goo.gl/ovuz7C

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For a butt splice you can try,

Posi-Lock

http://goo.gl/rRyFFk

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For a more robust connection, but requires crimping, try Powerpoles

http://goo.gl/fOQiYa

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More Info

sharpbetatest@gmail.com

(724) 436-1442

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chiefdelphi.com

forums.usfirst.org

crosstheroadelectronics.com

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This presentation: goo.gl/Nb3mal