Author Topic: Hardware interface map - stuff we need to sense and control  (Read 2947 times)

Louis L

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Hardware interface map - stuff we need to sense and control
« on: January 17, 2017, 12:06:17 PM »
This thread will always reflect what the hardware looks like from a software point of view. The top-most posting will be updated as necessary.

Index CAN DIO PWM AIN
0 PDB unused Intake absolute encoder FR
1 Steering FR Sonar out Bosch absolute encoder FL
2 Steering FL Sonar in unused absolute encoder RL
3 Steering RL unused L Gate absolute encoder RR
4 Steering RR Bosch encoder R Gate N/A
5 Drivetrain CIM FR Wheel quad A unused N/A
6 Drivetrain CIM FL Wheel quad B R Pusher N/A
7 Drivetrain CIM RL unused Climber N/A
8 Drivetrain CIM RR unused Agitator N/A
9 Pigeon IMU Climber limit unused N/A
10 Shooter CIM N/A N/A N/A

IMPORTANT
  • Numbering will go FR, FL, RR, RL, in that order. As long as we are consistent, we'll be fine!
  • To protect motors and the robot as a whole, software should, whenever possible, check all motors for stall condition (current draw) and have a timeout for each operation.
Drivetrain and Chassis
Four AndyMark AM3009 Swerve drive modules. Each consists of a CIM drive motor and RS775/PG71 steering motor. The digital signal from the PG71 encoder is fed to the Talon SRX. Absolute analog encoders output is fed to the RoboRIO.

Motor Controller (CIM) - TalonSRX
Motor Controller (RS775/PG71) - TalonSRX + breakout board
Total number of controllers - 8
CIM FR - CAN 5
CIM FL - CAN 6
CIM RL - CAN 7
CIM RR - CAN 8
Steering FR - CAN 1
Steering FL - CAN 2
Steering RL - CAN 3
Steering RR - CAN 4
Absolute encoder FR - AIN1
Absolute encoder FL - AIN2
Absolute encoder RL - AIN3
Absolute encoder RR - AIN4

Distance CIM encoder, quadrature output A - DIN5
Distance CIM encoder, quadrature output B - DIN6

Intake
One motor controls the intake roller. It's likely that this motor will run on/off and never at varying speeds. We can use a relay here but since we have parts to spare, we'll allocate a motor controller for added flexibility.

Motor controller for intake roller (PG27) - Victor SP
Total number of controllers - 1
Intake - PWM0

Gear
Two servo motors will open the door to let the captured gear out of its pocket. Two other servos will push the gear out. The is one ultrasonic sensor to measure the distance between the robot the wall (feeder station) and the airship (Lift mechanism). There is a Bosch seat motor to push the gear from the top. This motor has an encoder output and a limit switch.

Servo (left gate) - PWM3
Servo (right gate) - PWM4
Servo (left push) - no longer used
Servo (right push) - PWM6
Total number of servos- 3

VEX ultrasonic sensors trigger1 - DOUT1
VEX ultrasonic sensors pulse1 - DIN2
Total number of ultrasonic sensors - 1

Bosch seat motor limit switch - goes directly to Spark controller
Bosch seat motor encoder - DIN4
Bosch seat motor - Spark controller - PWM1

Climber
A MiniCIM motor controlled by a controller. Use current sensing to stop motor.

Motor controller (miniCIM) - Talon SR
Total number of controllers - 1
Climber - PWM7

Limit switch - DIN9

Dumpster
The dumpster is just that - it dumps the entire hopper of balls into the lower goal. Deprecated.

motor controller (PG71) - Spark controller. PWM8. Needs limit switch breakout board.
Total number of controllers - 1

servo (HiTec ??? ) - to raise and lower flap to dump balls. PWM9.
Total number of servos- 1

Ball Shooter & Hopper
The shooter/hopper shoots to the upper goal only. It contains a lower motor to stir the balls and a shooter motor to drive 2 wheels to shoot. This assembly replaces the Dumpster.   

motor controller (CIM) - Talon SRX controller. CAN 10. Takes quadrature A & B from shooter CIM encoder for closed loop speed control.
motor controller (snowblower motor) - Spark controller. PWM8

Total number of controllers - 2


Servo Power Module
The RevRobotics Power Module gets its power from the power distribution board and is protected by a 20A breaker.

Cameras
We will use 1 camera (Microsoft HD3000).
HiTech 322 servo swivels the camera (to be removed) via PWM2.

The Pixy camera will be used to line up the Gear mechanism. It is located at address 0x54 on the I2C bus.
« Last Edit: May 18, 2017, 06:56:37 PM by Louis L »

Brayden L

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Re: Hardware interface map - stuff we need to sense and control
« Reply #1 on: January 22, 2017, 03:03:29 PM »
Turns out I read the equation sheet wrong (it lists the motors 1-4 as front right, front left, back left, and back right) so I would like to change the CAN numbers to match that.