2010 Platform spec

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	A	B	C	D	E	F	G	H	I	J	K
1									installed on 3,213

2	Drive	Motors	Gearbox	Sprockets	Wheels	Max speed	Encoder	Other	3213	1294	2087
3	1294, six wheel, chain drive, tank steer	2 per gearbox, CIMple, nominal RPM 4320	Andymark CIMple, Ratio; 5.6:1	Drive:Driven ratio, 15:34	Andymark, 6" rear & center:Plaction. Front grey rubber	5-8 fps	2 encoders, 360 count, coupled to gearbox output shaft.	Jags controlled via CAN
4	3213, Six wheel, chain drive.	1 or 2 per gearbox, CIM, nominal RPM 4320	Andymark TOUGH BOX, Ratio; 12.76:1	Drive:Driven ratio, 15:26	8" Dia. Andymark: Center plaction, Rear & Front Gray ruber	5-8 fps depending on sprockets chosen	2 encoders, 360 count, coupled to gearbox output shaft.	Jags controlled via CAN	Y
5	2087 info goes here
6	NI 9201 #1
7	Analog inputs	Input name	sensor	Span	scale	zero point	slope	Wiring Diag
8	AI 1	Gyroscope (z axis)	AD22304	0.75-4.25v	± 250 deg/s	2.5V	7mv/deg/sec (cw)	2 1x3 offset shells	Y
9	AI 2	Gyroscope (x axis)	AD22304	0.75-4.25v	± 250 deg/s	2.5V	7mv/deg/sec (cw)	combined
10	AI 3
11	AI 4
12	AI 5
13	AI 6	IR range, fwd	http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf				negative, nonlinear	SEN-08733	?
14	AI 7	SONAR, Right	LV-MaxSonar ® -EZ1™	0-5v	6-254 in	58mV	9.8mV per inch	1x7 to standard 1x3	N
15	AI 8	Battery voltage	Analog bumper	0-10v	0-10v = 0-16.8v	0v	positive	jumper	Y
16	NI 9201 #2
17	Analog inputs	Input name	sensor	Span	scale	zero point	slope	Wiring Diag
18	AI 9
19	AI 10
20	AI 11
21	AI 12
22	AI 13
23	AI 14
24	AI 15
25	AI 16
26
27	Sidecar #1							Wiring Diag
28	GPIO	Signal name	Device	Input, Output
29	DIO 1	Left side drive encoder (channel A)	US Digital E4P-360-250-S4149	I	360 counts per turn			2x3 keyed	N	N
30	DIO 2	(channel B)	US Digital E4P-360-250-S4149	I	360 counts per turn			combined	N	N
31	DIO 3	Right side drive encoder (channel A)	US Digital E4P-360-250-S4149	I	360 counts per turn			2x3 keyed	N	N
32	DIO 4	(channel B)	US Digital E4P-360-250-S4149	I	360 counts per turn			combined	N	N
33	DIO 5	Left front drive encoder (channel A)	US Digital E4P-360-250-S4149	I	360 counts per turn	Mecanum only		2x3 keyed	N	N
34	DIO 6	(channel B)	US Digital E4P-360-250-S4149	I	360 counts per turn	Mecanum only		combined	N	N
35	DIO 7	Right front drive encoder (channel A)	US Digital E4P-360-250-S4149	I	360 counts per turn	Mecanum only		2x3 keyed	N	N
36	DIO 8	(channel B)	US Digital E4P-360-250-S4149	I	360 counts per turn	Mecanum only		combined	N	N
37	DIO 9
38	DIO 10
39	DIO 11	Photosensor 1	Rockwell	I	Dark out			1x3	Y
40	DIO 12	Photosensor 2	Rockwell	I	Dark out			1x3	Y
41	DIO 13	Photosensor 3	Rockwell	I	Dark out			1x3	Y
42	DIO 14	Pneumatics Pressure Switch	SM-2B-115R/443	I	Opens 115psi, Closes 95psi				N	N
43
44	Sidecar #1 PWM OUTPUTS	Signal name	motor description	controller type	breaker current capacity	break / coast	limits?
45	PWM 1	Left rear drive	CIM on Left gearbox	jaguar	40A	Relay 7A	jumper	1x3	N	N
46	PWM 2	Right rear Drive	CIM on Right gearbox	jaguar	40A	Relay7B	jumper	1x3	N	N
47	PWM 3	Left front drive	CIM on Left gearbox	jaguar	40A	Relay 7A	jumper	1x3	N	N
48	PWM 4	Right front Drive	CIM on Right gearbox	jaguar	40A	Relay7B	jumper	1x3	N	N
49	PWM 5	Tube Grab							Y
50	PWM 6	Tube Eject							Y
51	PWM 7	camera pan	pan servo on gimble	servo	none			1x3 with sleeve	N
52	PWM 8	camera tilt	tilt servo on gimble	servo	none			1x3 with sleeve	N
53	PWM 9	left shift	servo on Left gearbox	servo	none			1x3 with sleeve	N
54	PWM 10	right shift	servo on Right gearbox	servo	none			1x3 with sleeve	N
55
56	Sidecar #1 RELAY OUTPUTS	Signal name	Device	controller type	breaker current capacity
57	RELAY 1 A							1x3
58	RELAY 1 B	--
59	RELAY 2, A							1x3
60	RELAY 2, B
61	RELAY 3, A							1x3
62	RELAY 3, B
63	RELAY 4, A							1x3
64	RELAY 4, B
65	RELAY 5, A
66	RELAY 5, B
67	RELAY 6, A
68	RELAY 6, B
69	RELAY 7, A	coast (left drive)	see PWM 1to 4	none	none				N	N
70	RELAY 7, B	coast (right drive)	see PWM 1 to 4	none	none				N	N
71	RELAY 8, A	air compressor		Spike	20A			1x3	N	N
72	RELAY 8, B	none
73	Sidecar #1 I2C Interface	purpose	device
74		speed/position	accelerometer					rj-12	Y	Y
75
76
77	NI 9472
78	Solenoid Outputs	Piston name
79	Solenoid 1								N	N
80	Solenoid 2								N	N
81	Solenoid 3								N	N
82	Solenoid 4								N	N
83	Solenoid 5								N	N
84	Solenoid 6								N	N
85	Solenoid 7								N	N
86	Solenoid 8								N	N
87
88	CAN enumeration	Axis name				Mode	Feedback	Limits
89	1	Default		jaguar
90	11	Left rear drive	CIM on Left gearbox	jaguar	40A	Speed	encoder	NA	Y
91	12	Right rear Drive	CIM on Right gearbox	jaguar	40A	Speed	encoder	NA	Y
92	13	Left front motor	CIM on Left gearbox	jaguar	40A	Vcomp	CAN	NA	Y
93	14	Right Front Motor	CIM on Right gearbox	jaguar	40A	Vcomp	CAN	NA	Y
94
95	21	Boom raise/lower		jaguar	40A	Position	Pot	up/down hard limit	Y
96	22	Wrist		jaguar	30A	Position	Pot	up/down hard limit	Y
97	23	minibot deploy		jaguar	20A	% Vbus		open/shut hard limit	Y
98
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