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Basic Electrical Practices and Tips for Passing Inspection

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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  1. Michael Nasson 303 Alumni – Mechanical Engineer Basic Electrical Practices andTips for Passing Inspection

  2. Agenda • Electrical Components • System Design/Planning • Inspection Tips • Resources • Questions

  3. 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

  4. 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)

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. Basic Electrical Components • Sensors • Camera • Potentiometers • Gyros • Accelerometers • Optical Encoders • Microswitches

  11. Power Schematic

  12. Power + Data Graphic

  13. 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?

  14. 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

  15. 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

  16. 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

  17. 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

  18. Acceptable Wire Gages

  19. Common Inspection Failures • Signal light proper operation + visibility • Battery Terminal Lugs need electrical tape • Voltage monitoring improperly wired • Easily accessible 120A breaker/Dump Valve

  20. 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)

  21. 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!

  22. 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

  23. Thanks for attending! Questions?

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