Electrical and Programming Tips and Tricks October 22, 2011.
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Transcript of Electrical and Programming Tips and Tricks October 22, 2011.
Electrical and Programming
Tips and Tricks
October 22, 2011
Mr. Lim
Member of the original Canadian FRC team Team 188
First Canadian recipient of an FRC scholarship Kettering University / GMI
Former COO of Flatline Solutions Inc (FSI) Started by 188 alumni
Former teacher @ Runnymede CI (Team 1310)
Current teacher @ Crescent School (Team 610)
Electrical Board Materials
Corrugated Plastic Source: Front Lawns (Staples? Grand and
Toy)
¼” Birch Sheet (Baltic / Russian) Source: Lumber Yard (Home Depot?)
1/8” Lexan Sheet Source: Piedmont Plastics
Electrical Board Layout
Start w/ Battery Breaker Power Distribution Board (PDB) Then work from PDB “outwards”
Footprint Cutouts
Mount a spare speed controller
Electrical Component Mounting Zip Ties
Creating plastic studs Source: Sayal
Adhesive Velcro Make sure you are consistent which side goes
where Hook always on Component Loop always on Electrical Board Source: Home Depot
Wire Connectors
Battery Connector Try and use / cut the one they give you Shorter length here MATTERS! Source: Rosspar
Don’t crimp without the proper crimper! Solder using a torch…
Wire Connectors
Spade Tabs / Terminals Replace Motor-Side Ring Terminals with
Spade Tabs Source: Terminals: Sayal Source: Tabs: Digi-Key
Disconnects at motor Anderson Power Pole (small) Source: Rosspar
Wire Connectors
PWM Cables Worth it to make your own ACCEPT ONLY PERFECT CRIMPS!!! 3 Conductor - 22 Gauge – Sheathed Wire Source: Wire: Sayal Source: Connectors: Digi-Key
Wire Labels
Most IMPORTANT Electrical Job Label every wire at both ends At every disconnect (again at both ends)
Give every motor a number Usually numbered from bottom up Motor’s speed controller is given the same number Label all power wires 1, 2, 3, etc Any motors wired BACKWARDS marked 1R, 2R, 3R, etc Label PWM cables P1, P2, etc Book of labels – Gardner Bender Source: Sayal
Wire
Stranded – highest strand count you can afford Automotive speaker wire is awesome, but
expensive
6 Gauge: 6ft 12 Gauge: 50ft 18 Gauge: 50ft BOTH RED AND BLACK
Source: Sayal
Wire Management
Sticky Feet Wire Looms Zip Ties Source: Sayal Cable Track
CUT WIRES TO EXACT LENGTHS Cut long, crimp one end, run wire, tie down,
cut + crimp
Driver Controllers
Logitech Dual Action Discontinued?
Logitech F310 Watch the SWITCH On the back
XBox controllers Are terrible
Driveability Algorithm
Complaint #1
Our robot drive control feels really sensitive
Easy Solution: Cubic Transfer Function
Encoders – Relative Rotation
What do they do?
Which one: Grayhill 63R series Source: Digikey
Hard to mount Surgical Tubing!
Expensive
Encoders – Relative Rotation
Which one: US Digital E4P Source: AndyMark
Easy to mount Free! Pinch 4 flaps on silver disk before installing USE THE SPACER TOOL Do not disconnect the wire… ever
Potentiometers – Absolute Rotation What do they do?
Which one: Bourns 6639 Source: Digikey
Continuous Rotation 1-Turn Dead Zone
Potentiometers – Absolute Rotation What do they do?
Which one: Bourns 3590S Source: Digikey
10-Turn
Switches
Avoid
Sensors
Gyro: Kit No complaints! Free!
Ultrasonic Measures distance to wall, pole, robot, etc LV-MaxSonar-EZ Source: MaxBotix
PID Implementations
What is PID? Arm presets
Implement Through Code Implement Through Jaguar’s Built-In PID
Play Time
Run and Inspect the Robot
Code is available at: http://code.google.com/p/robotics610/
Questions?