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Electrical and Programming Tips and Tricks October 22, 2011

Electrical and Programming Tips and Tricks October 22, 2011. Mr. Lim. Member of the original Canadian FRC team Team 188 First Canadian recipient of an FRC scholarship Kettering University / GMI Former COO of Flatline Solutions Inc (FSI) Started by 188 alumni

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Electrical and Programming Tips and Tricks October 22, 2011

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  1. Electrical and ProgrammingTips and TricksOctober 22, 2011

  2. Mr. Lim • Member of the original Canadian FRC team • Team 188 • First Canadian recipient of an FRC scholarship • Kettering University / GMI • Former COO of Flatline Solutions Inc (FSI) • Started by 188 alumni • Former teacher @ Runnymede CI (Team 1310) • Current teacher @ Crescent School (Team 610)

  3. Electrical Board Materials • Corrugated Plastic • Source: Front Lawns (Staples? Grand and Toy) • ¼” Birch Sheet (Baltic / Russian) • Source: Lumber Yard (Home Depot?) • 1/8” Lexan Sheet • Source: Piedmont Plastics

  4. Electrical Board Layout Start w/ Battery Breaker Power Distribution Board (PDB) Then work from PDB “outwards” Footprint Cutouts Mount a spare speed controller

  5. Electrical Component Mounting • Zip Ties • Creating plastic studs • Source: Sayal • Adhesive Velcro • Make sure you are consistent which side goes where • Hook always on Component • Loop always on Electrical Board • Source: Home Depot

  6. Wire Connectors • Battery Connector • Try and use / cut the one they give you • Shorter length here MATTERS! • Source: Rosspar • Don’t crimp without the proper crimper! • Solder using a torch…

  7. Wire Connectors • Spade Tabs / Terminals • Replace Motor-Side Ring Terminals with Spade Tabs • Source: Terminals: Sayal • Source: Tabs: Digi-Key • Disconnects at motor • Anderson Power Pole (small) • Source: Rosspar

  8. Wire Connectors • PWM Cables • Worth it to make your own • ACCEPT ONLY PERFECT CRIMPS!!! • 3 Conductor - 22 Gauge – Sheathed Wire • Source: Wire: Sayal • Source: Connectors: Digi-Key

  9. Wire Labels • Most IMPORTANT Electrical Job • Label every wire at both ends • At every disconnect (again at both ends) • Give every motor a number • Usually numbered from bottom up • Motor’s speed controller is given the same number • Label all power wires 1, 2, 3, etc • Any motors wired BACKWARDS marked 1R, 2R, 3R, etc • Label PWM cables P1, P2, etc • Book of labels – Gardner Bender • Source: Sayal

  10. Wire • Stranded – highest strand count you can afford • Automotive speaker wire is awesome, but expensive • 6 Gauge: 6ft • 12 Gauge: 50ft • 18 Gauge: 50ft • BOTH RED AND BLACK • Source: Sayal

  11. Wire Management • Sticky Feet • Wire Looms • Zip Ties • Source: Sayal • Cable Track • CUT WIRES TO EXACT LENGTHS • Cut long, crimp one end, run wire, tie down, cut + crimp

  12. Driver Controllers • Logitech Dual Action • Discontinued? • Logitech F310 • Watch the SWITCH • On the back • XBox controllers • Are terrible

  13. Driveability Algorithm Complaint #1 Our robot drive control feels really sensitive Easy Solution: Cubic Transfer Function

  14. Encoders – Relative Rotation • What do they do? • Which one: • Grayhill 63R series • Source: Digikey • Hard to mount • Surgical Tubing! • Expensive

  15. Encoders – Relative Rotation • Which one: • US Digital E4P • Source: • AndyMark • Easy to mount • Free! • Pinch 4 flaps on silver disk before installing • USE THE SPACER TOOL • Do not disconnect the wire… ever

  16. Potentiometers – Absolute Rotation • What do they do? • Which one: • Bourns 6639 • Source: Digikey • Continuous Rotation • 1-Turn • Dead Zone

  17. Potentiometers – Absolute Rotation • What do they do? • Which one: • Bourns 3590S • Source: Digikey • 10-Turn

  18. Switches Avoid

  19. Sensors • Gyro: Kit • No complaints! • Free! • Ultrasonic • Measures distance to wall, pole, robot, etc • LV-MaxSonar-EZ • Source: MaxBotix

  20. PID Implementations • What is PID? • Arm presets • Implement Through Code • Implement Through Jaguar’s Built-In PID

  21. Play Time • Run and Inspect the Robot • Code is available at: • http://code.google.com/p/robotics610/ • Questions?

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