FIRST Mentor Workshop
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Mentors Workshop
Control System
Sub-System
Mark McLeod
Team 358
Festo/Hauppauge H.S.
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
FIRST Rules & Restrictions
Must use FIRST supplied OI, RC, radios, etc.
No other wireless systems
OI
RC
Cannot drive OI inputs from another computer
Computer can receive data from OI and display
dashboard output
No materials or $ restrictions on driver controls
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
Official Supplier
www.ifirobotics.com
Control System
Robot Controller
Operator Interface
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
Control System Circuit Diagram
Analog
Motors
Gyroscope
Sensor
Servo
Current
Sensor
Potentiometer
Team
LEDs
Banner
Sensor
Touch
Sensor
Pressure
Sensor
Switch
Encoder
Sensor
Digital
IR
Sensor
Relays Solenoid
Compressor
Reset/Prog
Switch
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
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
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)
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