Transcript FIRST Mentor Workshop

For
Inspiration and
Recognition of
Science and
Technology
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