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Basic Electrical Practices and Tips for Passing Inspection PowerPoint PPT Presentation


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Michael Nasson 303 Alumni – Mechanical Engineer. Basic Electrical Practices and Tips for Passing Inspection. Agenda. Electrical Components System Design/Planning Inspection Tips Resources Questions. Basic Electrical Components. Compact RIO ( cRIO ) Powerful computer

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Basic Electrical Practices and Tips for Passing Inspection

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Michael nasson 303 alumni mechanical engineer

Michael Nasson

303 Alumni – Mechanical Engineer

Basic Electrical Practices andTips for Passing Inspection


Agenda

Agenda

  • Electrical Components

  • System Design/Planning

  • Inspection Tips

  • Resources

  • Questions


Basic electrical components

Basic Electrical Components

  • Compact RIO (cRIO)

    • Powerful computer

      • Java, C++, Labview

    • Module Order and placement matters

      • Camera (x-over) = Port 1

      • Radio = Port 2

    • Not all modules are required


Basic electrical practices and tips for passing inspection

Basic Electrical Components

  • Speed Controllers

    • PWM Signal is sent to control motor speeds

    • One controller per motor

    • Two types exist:

      • Victor 884

      • Jaguars (black new for 2010)


Basic electrical components1

Basic Electrical Components

  • Victor 884

    • More pricey ($115)

    • Older technology

      • Well tested

    • Very reliable

    • May be phased out in the next couple of years

  • Black Jaguar

    • Cheaper ($85)

    • Newer Technology

      • Better low end control

    • More features

      • Read rules

    • Unknown reliability

    • Larger


Basic electrical components2

Basic Electrical Components

  • Spike relay module

    • On or Off, not analog

      • Both outputs on

      • Both outputs off

      • One on one off

    • Pneumatics primarily

      • Compressor

      • Solenoids for cylinders

    • Can also control motors

      • Except CIMS/FP


Basic electrical components3

Basic Electrical Components

  • Digital side car

    • Feeds information back to the CRio

    • All the information to and from digital sensors and speed controllers goes through digital side car to the CRio


Basic electrical components4

Basic Electrical Components

  • Analog Break Out board

    • Plugs directly into cRIO module for sensor and battery feedback

      • Potentiometers

      • Gyros

      • Accelerometers

  • Solenoid Breakout

    • Plugs into cRIO module for control of spikes


Basic electrical components5

Basic Electrical Components

  • Power Distribution Board

    • Battery Is connected here to distribute all power safely

      • After 120A breaker on positive

      • 6AWG for main power

    • Wago terminals secure wires

      • No solder!

    • CIMS are 40A protected

    • All else are 20A-30A

    • Camera/Radio/cRIO power plugs are special plugs


Basic electrical components6

Basic Electrical Components

  • Sensors

    • Camera

    • Potentiometers

    • Gyros

    • Accelerometers

    • Optical Encoders

    • Microswitches


Power schematic

Power Schematic


Power data graphic

Power + Data Graphic


Electrical system design

Electrical System Design

  • Step 1

    • Read the ENTIRE rulebook

    • Think about the robot design

      • How many motors?

        • Which speed controllers?

      • How many sensors?

        • Safe wiring paths?

      • How much space should be put aside?

        • One board or multiple locations?


Electrical system design1

Electrical System Design

  • Step 2

    • Discover how much space is allocated for the electronics once the robot is designed

      • Consider preparing an early schematic

    • Electronics should be protected, but easily accessible

      • Velcro panel, zip tied cover

    • Radio should not be enclosed, keep from noise


Electrical system design2

Electrical System Design

  • Step 3

    • Get all components laid out nicely

      • Non-conductive platform (wood/fiberglass/lexan)

      • Think about wire paths (bend radius and #)

      • Leave room in case you need to add something

    • Try to group related components to shorten wires

      • Use proper wiring color conventions

        • Red/white/brown = Positive : Black/blue = Negative

    • Labels!

      • Assist troubleshooting and inspection


Electrical system design3

Electrical System Design

  • Step 4

    • Bench top test the electronics if possible

      • Basic control system & programming testing

    • Mount into the robot when it is ready to move

    • Secure wires from motors/sensors to frame

      • Chassis must be isolated, no ground return

    • Design a secure battery holder with quick access

      • Remember, Battery position matters! Help your CoG


Inspection tips

Inspection Tips

  • Do inspections regularly during build

    • Know the rules!

  • Don’t crowd the inspector

    • 1-2 people interacting makes things easier

  • Neat wiring and accessibility

    • Make sure all components are secured

  • Have charged battery ready + no air pressure


Acceptable wire gages

Acceptable Wire Gages


Common inspection failures

Common Inspection Failures

  • Signal light proper operation + visibility

  • Battery Terminal Lugs need electrical tape

  • Voltage monitoring improperly wired

  • Easily accessible 120A breaker/Dump Valve


Other hints

Other hints

  • Plan for sensor expandability

  • Keep a log of parts used

    • Nice for keeping the budget for inspection

    • Also keep a spec sheet of components for reference

  • With your log as reference you can form your own schematic to assist in inspection/judging

    • Schematics are great for debugging especially when those who wired it aren’t around (off-seasons, future years)


General things

General Things

  • Batteries, put someone in control of charging

  • Zip Tie/Velcro Anderson Battery connectors during the matches

  • Assign someone to preventative maintenance

    • Make sure zip-ties aren’t breaking, battery holder loosening, etc

  • Check that your radio is plugged into the cRIO!


Resources

Resources

  • Usfirst.org

    • Get the Inspection Checklist and FRC Suggestions

  • Chiefdelphi.com

    • Great forums for asking anything

  • Andymark.biz

    • Purchase electronics/gearboxes/chassis/misc

  • Ifirobotics.com

    • Purchase Victors/Spikes/Wheels


Thanks for attending

Thanks for attending!

Questions?


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