1. Mentors Workshop Control System Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S. F For I Inspiration and R Recognition of S Science and T Technology

2. Objectives  FIRST Rules & Restrictions  Official Suppliers & Other Sources  Basics/Components  Control System Circuit Diagram  Design Notes  Potential Problems  Keeping Students Busy  Typical Control System Schedule

3. FIRST Rules & Restrictions  Must use FIRST supplied OI, RC, radios, etc. No other wireless systems  OI  Cannot drive OI inputs from another computer  Computer can receive data from OI and display dashboard output  No materials or $ restrictions on driver controls  RC  Part of $3500 limit (2005) on non-KOP parts, $200 max for any single electronics part  RC must control motors directly – No intermediate IC, switch, etc.  Event Inspectors – must pass muster

4. Official Supplier www.ifirobotics.com

5. Control System Robot Controller Operator Interface

6. Basic Components  OI  OI display LEDs  RC/OI Dashboard  Competition Port  Joystick port connectors  Tether port  RC  Ports – program, tether, radio, TTL  PWM outputs (Victor speed controllers)  Relay outputs (spikes)  Analog inputs  Digital I/O  Team lights (red/blue)  Prog/reset connectors (serial port bug)  Backup battery (servo power)  Sensor hookups (limit, light, encoder, gyro, range)  Radios/Tether

7. Control System Circuit Diagram Banner Sensor Touch Sensor Switch Gyroscope Sensor Reset/Prog Switch IR Sensor Current Sensor Encoder Sensor Potentio- meter Pressure Sensor Servo SolenoidCompressor Analog Digital Motors Relays Team LEDs

8. Design Notes  Plan control connections – allocate I/O pins  Fix control cables to:  RC connectors (hot melt, fabricated bracket, etc)  Victor speed controllers and spikes  RC status lights must be clearly visible  Reset/prog switches must be accessible or extended  Excess analog inputs can substitute for digital inputs  Use short extenders on RC Tether and Program ports to avoid serious damage to RC

9. Potential Problems  USB-serial converters  RC bug (use reset/prog switch)  Poor joystick quality  METAL SHAVINGS – controller is not sealed  Loose control cable connections  Low backup or 12v battery  Improperly wired sensors (12v vs 7.2 vs 5v) or shorts on RC pins  Bad PWM cables  Poor quality switches

10. Keeping Students Busy  Design and build driver controls (Note: no power available on field)  Field driver station is 12”d x 69”w x 34” h  Radio cable to reach field radio on wall bracket  Joysticks for driver and manipulator(s)  Switches to control special functions  Special control systems  Fancy mount to carry controls  Build Competition Port control  Make PWM cables  Write Dashboard program (VB, Flash, etc)

11. Typical Control System Schedule  September thru December  Develop basic skills  January thru March  Six week build period  Robot design – space for electronics and wire runs  Solenoid/motor control requirements  Sensor design  Designing, prototyping and testing solutions  Integrating solutions with electrical/mechanical/ pneumatic systems  Regional event  Inspection

12. Workshop Materials  RC  OI  Radios & cable  Tether cable  Backup battery  Joystick  Couple of sample sensor types  PWM cable