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Alpha - 2015 Control System

Alpha - 2015 Control System. TheRobettes.com. Alpha Test Porject. The Robettes spent the fall season setting up and trying out the new components and features of the 2015 Control System.

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Alpha - 2015 Control System

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  1. Alpha - 2015 Control System TheRobettes.com

  2. Alpha Test Porject • The Robettes spent the fall season setting up and trying out the new components and features of the 2015 Control System. • In November, representatives convened with other testing teams New Hampshire to talk about problems and solutions, and play some matches on the field.

  3. New Power Distribution Panel (PDP) New Voltage Regulator Module (VRM) New Pneumatics Control Module (PCM) New roboRIO controller (replaces cRIO) PCM and PDP monitoring circuits connect to roboRio through improved native CAN bus Overview

  4. 2013-2014 Block Diagram Driver Station (Laptop) Joystick cRIO WiFi radio link (or Ethernet) Joystick Processor (where your code runs) Camera Co-processor Joystick Switches Digital Module Analog Module Solenoid Module Jaguars (CAN) Serial Motors Solenoids Potentiometers Gyro Accelerometer Motor Controllers (Victors, Talons, or Jaguars) Digital Sidecar I2C I2C Sensors PWMs Motors Power Dist Board RSL RSL Relays Dig IO Limit Switches Encoders Pressure Switch Compressor Motors Spikes Battery

  5. 2015 Block Diagram Jaguars (CAN) Driver Station (Laptop) Joystick Motors Pressure Switch WiFi radio link (or Ethernet) Compressor Joystick Pneumatics Control Module Camera Co-processor Joystick Switches USB Sensors Solenoids roboRIO USB CAN Pneumatic Actuators (Cylinders) Expansion I2C Processor (where your code runs) I2C Sensors Motor Controllers (Victors, Talons, or Jaguars) TLM Power Dist Panel RSL RSL PWMs Analogs Relays Dig IO Voltage Reg Module Limit Switches Encoders Potentiometers Gyro Spikes Battery Motors

  6. Combines cRIO + Modules + Digital Sidecar into a single small unit OS: Linux with real-time extensions Processor: Dual-Core ARM Cortex-A9 at 667 MHz Memory: 256 MB RAM, 256 MB flash storage Size 5.7 in x 5.6 in, Weight under 12 oz IO: 10 PWM, 10 digital I/O, 4 relay outputs, 1 SPI, 1 I2C, 4 analog Expansion port adds even more 2 USB ports Native CAN bus Integrated 3-axis accelometer roboRIO

  7. roboRIO

  8. Ensures constant voltage to sensors, camera, etc. Takes battery 12V and provides regulated 12V and 5V Ideal for custom sensors, camera power, etc. (radio now USB powered) Voltage Regulator Module (VRM)

  9. Provides all-in-one pneumatics system control: pressure switch input, compressor relay output 8 Solenoids outputs Uses CAN Button connectors Pneumatics Control Module (PCM)

  10. Smaller only 8 20-30 amp wagoports (fewer, but less are needed) CAN capability Channel monitoring (unclear at present whether just voltage or both voltage+current) Power Distribution Board

  11. USB Smaller size Radio

  12. Programming • LabVIEW, C++, and Java continue to be supported • For Java & C++, much of WPILibwill be unchanged: Removed: “module” number in constructors (as modules no longer exist) New classes for new features • For C++ -- Development environment changes from Wind River Workbench (custom version of Eclipse) to latest Eclipse (currently Kepler) • For Java -- Development environment changes from NetBeans to Eclipse.

  13. Glossary, Q&A • Time for

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