Overview of new system
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Overview of New System. Beta Team from Wilsonville 1425 Wilsonville Robotics – Code Xero 2550 Oregon City Robotics. At a glance. Industrial Controller from NI Everything else new except Spikes. Advantages of New System. Labview environment

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Overview of new system

Overview of New System

Beta Team from Wilsonville

1425 Wilsonville Robotics – Code Xero

2550 Oregon City Robotics


At a glance

At a glance

  • Industrial Controller from NI

  • Everything else new except Spikes


Advantages of new system

Advantages of New System

  • Labview 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 system

Disadvantages of New System

  • Controller 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 challenge

  • New Jaguar speed controllers

    • Larger footprint

  • New control system less tolerant of low robot battery voltage


Elements of the new system

Elements of the New System

  • Digital Sidecar

  • Power Distribution Board

  • Analog Bumper

  • Pneumatics Bumper

  • Driver Station

  • Wireless Interface (802.11)

  • Camera

  • Jaguar Speed Controller


Digital sidecar

Digital Sidecar

  • Connects to cRIO9403 with 32-pin cable

  • Provides

    • 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 sidecar1

Digital Sidecar


Power distribution module

Power Distribution Module

  • Custom Design by FIRST

  • 6-15 VDC, reverse polarity protected

  • Metric shanks, not SAE!

  • 8 outputs for 40A breakers

  • 12 outputs for 30A/20A breakers

  • 24VDC output for CompactRIO

  • 12V output for gaming adapter

  • 5V output for camera or other devices

  • LED’s for power supplies and blown fuses


Power distribution module1

Power Distribution Module


Power distribution diagram

Power Distribution Diagram


Analog bumper

Analog Bumper

  • 5V/3A for powering sensors

  • 8 Analog Inputs, 3 pin PWM cable config.

  • Mounts to NI 9201 Analog Module

  • Configurable to make one input capable of measuring battery voltage

  • LED to indicate bumper has power

  • Power to bumper requires wiring to power distribution module


Analog bumper1

Analog Bumper


Pneumatics bumper

Pneumatics Bumper

  • Reverse-battery protection

  • 8 Outputs to directly drive solenoids

  • Mounts to NI 9472 Digital Module

  • Means you don’t have to use Spikes to drive solenoids anymore

    • Save weight, space and money

  • LED to indicate bumper has power

  • Power to bumper requires wiring to power distribution module


Pneumatics bumper1

Pneumatics Bumper


Driver station

Driver Station

  • 4 USB connections for joysticks of all kinds

  • 2 Ethernet jacks

    • Network connection (competition)

    • Switched connection for laptop

  • 4 Analog Inputs on 3-pin connectors

  • 8 Digital Inputs on 3-pin connectors

  • 8 Digital Outputs on 3-pin connectors

  • Wall wart for power (always required)

  • Upgradeable via USB stick


Driver station ds

Driver Station (DS)


Operator interface configuration

Operator Interface Configuration


Wireless interface 802 11

Wireless Interface – 802.11

  • 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 robot

Network Diagram – Your Robot


Ethernet camera axis 206

Ethernet Camera – Axis 206

  • Streaming color video

  • Connects to RJ45 on cRIO

  • Plays video on laptop

    • Axis application

    • Labview video viewer


Jaguar motor controller

Jaguar Motor Controller

  • Limit Switch Inputs

  • Controller Area Network Bus

  • It’s bigger, but …..

  • See Chief Delphi for more details and blogs


Interesting things to know

Interesting Things to Know

But, don’t worry … .documentation is coming


Working the wago

Working 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

Yes !

NO !

End View


Living in harmony with 802 11

Living in Harmony with 802.11

  • A couple of simple configs on the Linksys AP will save you trouble

  • Ways 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


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