Author Topic: Hardware interface  (Read 7567 times)

Louis L

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Hardware interface
« on: January 01, 2016, 07:05:49 PM »
Here is where the hardware is located - analog inputs channels, PWM, digital pins, CAN numbers, etc. Each time this is updated, please re-post the entire table so we can see the latest version easily.

Louis L

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Re: Hardware interface
« Reply #1 on: January 16, 2016, 10:40:37 PM »
    What for        Controller        Function/device        I/O identifier        Notes   
    -----        -----        -----        -----        -----   
DrivetrainJoystickLeft WheelsUSB 0
DrivetrainJoystickRight WheelsUSB 1
DrivetrainGyrosingle axis gyroAIN 0
OperatorGame ControllerRobot controlUSB 2
    -----        -----        -----        -----        -----   
AutonomousRotary SwitchAutonomous Mode SelectorAIN 2
AutonomousRotary SwitchAutonomous Defense Crossing SelectorAIN 3
    -----        -----        -----        -----        -----   
DrivetrainVictor SPLeft side CIM 1PWM 1Only need 1 PWM for each side
DrivetrainVictor SPLeft side CIM 2PWM 1
DrivetrainVictor SPRight side CIM 3PWM 2Only need 1 PWM for each side
DrivetrainVictor SPRight side CIM 4PWM 2
DrivetrainADIS16448 IMU MXP Breakout BoardInertial SystemMPX
    -----        -----        -----        -----        -----   
IntakeTalon SRXLower RollerCAN 6
IntakeTalon SRXUpper RollerCAN 5
IntakeTalon SRXIntake RetractCAN 3
IntakeQuadrature encoder Aretract intakeDIO 0
IntakeQuadrature encoder Bretract intakeDIO 0
IntakeOptical digital inputHold SensorDIO 0
IntakeOptical digital inputCradle SensorDIO 1
    -----        -----        -----        -----        -----   
    -----        -----    *** Climber is gone. This is here purely for history ***    -----        -----   
ClimberTalon SRXWinchCAN 9
ClimberTalon SRXScissor LiftCAN 1
ClimberLimit switch2 series wired switches to detect if we're hangingDIO 2
ClimberLimit switch - winchStops the winch from pulling further, wired to Talon SRXN/A
ClimberLimit switch - openingStops the lift's linear rail from opening further, wired to Talon SRXN/A
ClimberLimit switch - closingStops the lift's linear rail from closing further, wired to Talon SRXN/A
    -----        -----        -----        -----        -----   
ShooterTalon SRXHardstopCAN 2
ShooterTalon SRXDraw back and triggerCAN 7
ShooterLimit switchTrips when the catapult cam has reached its bottom positionDIO 7
    -----        -----        -----        -----        -----   
Port./ C-d-FTalon SRXBring Portcullis and Cheval-de-fris mechanism up and downCAN 8
« Last Edit: April 08, 2016, 02:59:07 PM by Louis L »

Louis L

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Re: Hardware interface
« Reply #2 on: January 31, 2016, 04:44:44 PM »
Today the intake team changed the intake design. The arm no longer will double as the climber's aid. The net is that we remove a motor, a potentiometer and 2 limit switches previously used to move and detect the arm's position. The hardware interface table has been updated.

Louis L

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Re: Hardware interface
« Reply #3 on: February 06, 2016, 07:53:53 PM »
Update the table. The shooter has been simplified; it no longer has movement capability nor adjustable strength. The climber no longer has an encoder on  the winch. Not sure about the lift motor so it's still there pending further clarification.

Louis L

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Re: Hardware interface
« Reply #4 on: February 12, 2016, 02:28:19 PM »
Update table.
Assigned autonomous selector switch AIN channels
Changed shooter limit switch
Added TBD on climber

Louis L

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Re: Hardware interface
« Reply #5 on: February 16, 2016, 07:57:06 PM »
moved shooter Talon SRX to CAN 7

Louis L

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Re: Hardware interface
« Reply #6 on: February 21, 2016, 01:00:14 PM »
swapped upper and roller CAN targets to reflect how the hardware actually works.

Louis L

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Re: Hardware interface
« Reply #7 on: February 22, 2016, 09:42:58 AM »
Forgot to mention that the voltage used to drive the lower roller needs to be inverted because the wires to the lower roller motor were wired backwards.

Also, to move the Boulder from Hold to Cradle, we need to drive both the upper and lower roller, not just the upper roller.
« Last Edit: February 22, 2016, 09:54:50 AM by Louis L »

Louis L

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Re: Hardware interface
« Reply #8 on: March 08, 2016, 11:06:38 AM »
I've added a Talon SRX to CAN4 in the "intake" section.
While we normally avoid feature creep this late in the game, this one is pretty important. The issue at hand is that our intake mechanism is susceptible to damage from severe impact; either head-on or from a side-blow. The only real way to prevent such damage is to get it out of harm's way and that means to lift the unit up and let the bumpers take any hits. The only real use for this is when the opponents are playing hard defense which is usually in the elimination rounds.

The way this works (as described to me last night) is that a window motor will directly drive the intake up and down. The initial position will be as it is today. Instead of jerking the robot forwards to drop the intake arm, the motor will deploy it. We still need to move the robot forwards to give the intake some room to drop. To retract the intake into the up position, we turn the motor in the opposite direction. Near the top of its travel, a limit switch will trip shutting off the motor automatically (no sw involved). If/when gravity backdrives the intake back down, the limit switch will disengage and cause the motor to re-start its upwards motion. This retraction motor will essentially oscillate on and off and keep the intake arm up in the process. To bring the intake arm back down, simply lower it.

Question - does the intake perform differently when attached to a gearbox given that it no longer has "bounce"?

So to make this work, we need another button or control mechanism. We have the unused #4 button (toggle up and down) or we can use one of the 2 joysticks on the gamepad up and down. We have options.