Alpha Test

Alpha - 2015 Control System

TheRobettes.com

Alpha Test Porject • The Robettes spent the fall season setting up and trying out the new components and features of the 2015 Control System. • In November, representatives convened with other testing teams New Hampshire to talk about problems and solutions, and play some matches on the field.

Overview • New Power Distribution Panel (PDP) • New Voltage Regulator Module (VRM)

• New Pneumatics Control Module (PCM) • New roboRIO controller (replaces cRIO) • PCM and PDP monitoring circuits connect to roboRio through improved native CAN bus

2013-2014 Block Diagram

Camera Co-processor

Switches

Digital Sidecar

PWMs

Motors

Jaguars (CAN)

Motors

Motor Controllers (Victors, Talons, or Jaguars)

Processor (where your code runs)

Compressor Motors

Relays

Dig IO

Spikes

Limit Switches Encoders

Digital Module

Analog Module

Potentiometers Gyro Accelerometer

I2C

Joystick

Driver Station (Laptop)

Serial

Joystick

cRIO

WiFi radio link (or Ethernet)

RSL

Joystick

Solenoid Module Solenoids

I2C Sensors

RSL

Power Dist Board Battery

2015 Block Diagram Joystick

USB Sensors

Motor Controllers (Victors, Talons, or Jaguars)

PWMs

Expansion

Switches

Motors

USB

Pressure Switch Compressor

Pneumatics Control Module

Camera Co-processor

Solenoids

roboRIO

CAN

Processor (where your code runs)

Relays

Dig IO

Spikes

Limit Switches Encoders

I2C

Joystick

Driver Station (Laptop)

WiFi radio link (or Ethernet)

Jaguars (CAN)

RSL

Joystick

Motors

Analogs Potentiometers Gyro

I2C Sensors

RSL Voltage Reg Module

Pneumatic Actuators (Cylinders)

TLM Power Dist Panel

Battery

roboRIO • Combines cRIO + Modules + Digital Sidecar into a single small unit • OS: Linux with real-time extensions • Processor: Dual-Core ARM Cortex-A9 at 667 MHz • Memory: 256 MB RAM, 256 MB flash storage • Size 5.7 in x 5.6 in, Weight under 12 oz • IO: 10 PWM, 10 digital I/O, 4 relay outputs, 1 SPI, 1 I2C, 4 analog – Expansion port adds even more

• 2 USB ports • Native CAN bus • Integrated 3-axis accelometer

roboRIO •

Voltage Regulator Module (VRM) • Ensures constant voltage to sensors, camera, etc. – Takes battery 12V and provides regulated 12V and 5V – Ideal for custom sensors, camera power, etc. – (radio now USB powered)

Pneumatics Control Module (PCM) Provides all-in-one pneumatics system control: pressure switch input, compressor relay output • 8 Solenoids outputs • Uses CAN • Button connectors

Power Distribution Board • Smaller • only 8 20-30 amp wago ports (fewer, but less are needed) • CAN capability – Channel monitoring (unclear at present whether just voltage or both voltage+current)

Radio • USB • Smaller size

Programming • LabVIEW, C++, and Java continue to be supported • For Java & C++, much of WPILib will be unchanged: Removed: “module” number in constructors (as modules no longer exist) New classes for new features

• For C++ -- Development environment changes from Wind River Workbench (custom version of Eclipse) to latest Eclipse (currently Kepler)

• For Java -- Development environment changes from NetBeans to Eclipse.

Glossary, Q&A

• Time for