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Mentors Workshop Control System Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S.

Mentors Workshop Control System Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S. F or I nspiration and R ecognition of S cience and T echnology. Objectives. FIRST Rules & Restrictions Official Suppliers & Other Sources Basics/Components Control System Circuit Diagram Design Notes

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Mentors Workshop Control System Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S.

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  1. Mentors WorkshopControl System Sub-SystemMark McLeodTeam 358Festo/Hauppauge H.S. For Inspiration and Recognition of Science and Technology

  2. Objectives • FIRST Rules & Restrictions • Official Suppliers & Other Sources • Basics/Components • Control System Circuit Diagram • Design Notes • Potential Problems • Keeping Students Busy • Typical Control System Schedule

  3. FIRST Rules & Restrictions • Must use FIRST supplied OI, RC, radios, etc. No other wireless systems • OI • Cannot drive OI inputs from another computer • Computer can receive data from OI and display dashboard output • No materials or $ restrictions on driver controls • RC • Part of $3500 limit (2005) on non-KOP parts, $200 max for any single electronics part • RC must control motors directly – No intermediate IC, switch, etc. • Event Inspectors – must pass muster

  4. Official Supplier www.ifirobotics.com

  5. Control System Robot Controller Operator Interface

  6. Basic Components • OI • OI display LEDs • RC/OI Dashboard • Competition Port • Joystick port connectors • Tether port • RC • Ports – program, tether, radio, TTL • PWM outputs (Victor speed controllers) • Relay outputs (spikes) • Analog inputs • Digital I/O • Team lights (red/blue) • Prog/reset connectors (serial port bug) • Backup battery (servo power) • Sensor hookups (limit, light, encoder, gyro, range) • Radios/Tether

  7. Control System Circuit Diagram Motors Gyroscope Sensor Analog Servo Team LEDs Current Sensor Potentio- meter Banner Sensor Touch Sensor Pressure Sensor Switch Digital Encoder Sensor Reset/Prog Switch IR Sensor Solenoid Compressor Relays

  8. Design Notes • Plan control connections – allocate I/O pins • Fix control cables to: • RC connectors (hot melt, fabricated bracket, etc) • Victor speed controllers and spikes • RC status lights must be clearly visible • Reset/prog switches must be accessible or extended • Excess analog inputs can substitute for digital inputs • Use short extenders on RC Tether and Program ports to avoid serious damage to RC

  9. Potential Problems • USB-serial converters • RC bug (use reset/prog switch) • Poor joystick quality • METAL SHAVINGS – controller is not sealed • Loose control cable connections • Low backup or 12v battery • Improperly wired sensors (12v vs 7.2 vs 5v) or shorts on RC pins • Bad PWM cables • Poor quality switches

  10. Keeping Students Busy • Design and build driver controls (Note: no power available on field) • Field driver station is 12”d x 69”w x 34” h • Radio cable to reach field radio on wall bracket • Joysticks for driver and manipulator(s) • Switches to control special functions • Special control systems • Fancy mount to carry controls • Build Competition Port control • Make PWM cables • Write Dashboard program (VB, Flash, etc)

  11. Typical Control System Schedule • September thru December • Develop basic skills • January thru March • Six week build period • Robot design – space for electronics and wire runs • Solenoid/motor control requirements • Sensor design • Designing, prototyping and testing solutions • Integrating solutions with electrical/mechanical/ pneumatic systems • Regional event • Inspection

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