Presentation on theme: "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."— Presentation transcript:
Alpha 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
Block Diagram Driver Station (Laptop) cRIO Processor (where your code runs) Joystick Switches WiFi radio link (or Ethernet) Digital Module Analog Module Solenoid Module Digital Sidecar PWMs RelaysDig IO RSL I2C Potentiometers Gyro Accelerometer Limit Switches Encoders Pressure Switch Spikes Compressor Motors Motor Controllers (Victors, Talons, or Jaguars) Motors Serial Jaguars (CAN) Motors Camera Co-processor Solenoids RSL I2C Sensors Power Dist Board Battery
2015 Block Diagram Driver Station (Laptop) Joystick Switches WiFi radio link (or Ethernet) Pneumatics Control Module roboRIO PWMs RelaysDig IO RSL I2C Limit Switches Encoders Spikes Motors Motor Controllers (Victors, Talons, or Jaguars) CAN Jaguars (CAN) Motors Camera Co-processor Solenoids Pneumatic Actuators (Cylinders) RSL I2C Sensors Power Dist Panel Battery Analogs Potentiometers Gyro Processor (where your code runs) Pressure Switch Compressor USB USB Sensors TLM Expansion Voltage Reg Module
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
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 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.