San Antonio BEST Return and Consumables Kits September 13, 2014 St Mary’s University Center

2 Agenda Return Kit Overview Hookup Example Kit Composition 2014 Kit Changes –Return Kit Changes –Consumables Kit Changes Motor Mounting Analog Connection & Parts 2014 Default Program Software This file is in the “2013 Kick Off & Training Files” directory on your USB key

3 Joystick Servos Return Kit USB A-A cable Programming Cable Motors/ Servos Cortex Controller Analog Battery Digital I/O WiFi key USB/Tether Serial Backup Battery Servo Buffer (4) Motors Motor Controller and Motor Cable (4) Sensor Input Cable (8)

4 Basic Hookup Example Servo & Buffer Motor Controller Large Motor Battery Motor Screw Terminal Cortex Controller w/ VEXnet Motor Screw Terminal Small Motor Crimp lugs Motor Screw Terminal

5 USB Key with Blade Runner Docs –Part of SA BEST Return Kit Return Kit (RK) –electronics –e-power –non-’bot/support components Consumable Kit (CK) –raw stock –some items are team-acquired Don’t use any “old” material – it’s not legal. Kit Composition You are only allowed to use what is listed on your Kit Lists. Check the RULES, because we will!

6 Return Kit Changes VexNet WiFi Keys updated –More channels –Better fit on Cortex and Joystick –Less chance of interference with local WiFi –New Calibration procedure Cal without Cortex –Not compatible with old WiFi keys Old keys not legal for competition

7 Return Kit Changes Small Motor –Gear box changed to larger ¼” shaft –Same shaft size as large motor –Large and Small pulley change to match Idler pulley & shoulder screw not changed

Consumable Kit Changes Popsicle Sticks Added –Optional (Team Supplied) –Use up to 36 –Maximum size: 4-3/4” long, 0.44” wide, 0.10” thick

9 Motor Mounting Motor Brackets Bend on oval holes Start all 4 screws before tightening Flanges can fold either way or even broken off Bend only once! Brackets are optional Supplied screws must be used on motors Small Motor Bracket Motor can mount in either hole Electrical Crimp Lugs required for motors Do Not Solder to Motors SA BEST requirement

10 Servo Mounting Running into something with this gripper open will strip the servo gears. In the closed position, the servo is protected (a lot of force would be required to snap off the drive shaft). Thanks to David Kwast, Cowtown BEST

11 Analog Connections Needs new 3 wire Sensor Input Cables Remove connector latch –Do not connect +5V or GND to Wiper contact on Potentiometer This could short Cortex (BAD!) Clockwise (CW) Operation –Input value increases with CW rotation –+5V to CW (3) terminal –GND to CCW (1) terminal Counterclockwise (CCW) Operation –Input value decreases with CW rotation –GND to CW (3) terminal –+5V to CCW (1) terminal

12 Analog Connections (cont.) Consumable Kit 10k  Potentiometer (2) Rotates 300° Connections (CW Operation): –Pin 2 (Center) is the wiper –Wiper moves from 1 (CCW) to 3 (CW) 1 - Black (GND) 2 - White (Signal) 3 - Red (+5) Red or Black to PIN 2? –Pot becomes a Smoke Generator (illegal) –May damage cable or Cortex (also illegal) Signal Input +5V GND

13 Default Cortex Configuration

14 SA BEST Blade Runner Default Motor Ports Motor Ports 1 & 10 (internal controllers) disabled Motor 2 follows Left Joystick Vertical (Ch. 3) Motor 9 opposite of Motor 2 Motor 3 follows Left Joystick Horizontal (Ch. 4) Motor 5 follows Right Joystick Horizontal (Ch. 1) –Digital 1 stops motor in positive direction –Digital 2 stops motor in negative direction Motor 6 follows Right Joystick Vertical (Ch. 2) –Analog 1 (potentiometer) limits motor travel

15 SA BEST Blade Runner Default (cont.) Servo Ports (recommended) Motor 4 & 7 controlled via Ch. 7 buttons Motor 8 controlled via Ch. 6 Up button –Pressed+127 –Released-127 ButtonMotor 4Motor 7 Up Left None00 Down Right

16 Contact Information – addresses and phone numbers for the volunteers –Links –Kit Info –Rules –Q&A Messages to must have “sabest” in the subject or they will not be delivered. Leave a message at Teachers & Mentors: Make sure that we have your correct address - update your sabest account when it changes - (it’s easy to do!) Check your at least once a week and check our web site for the latest information. Make sure that your box is not full.

17 Software easyC V4 –Drag-and-drop programming –Generates C code that can be edited –Can also create C code from scratch –4-month license begins at installation –Install on up to 3 computers Default Configuration –Functional default configuration preloaded –Covers most basic robot functions

18 Other Software Robot C –C Programming with debugger Simulink –Block oriented, visual programming –Requires EasyC to generate code SolidWorks –3D Modeling –32 Bit runs on Vista and Win 7 (no XP) –64 Bit runs on Vista thru Win 8 –Hugh download 6GB (each version)

19 Software Setup easyC V4 –Version on SA BEST USB Key New version support V2.0 VexNet WiFi Keys –Down load the latest version from: –Run easyC_V4_for_Cortex exe Need Admin privileges to install or update –OK to use newer version, if available Programming Cable –VEX_WinXP_Driver –Prolific USB-Serial –Cancel if already installed Other USB-Serial cables use the same chip set

20 Joystick and Cortex Pairing Turn Joystick and Cortex OFF Remove Wi-Fi keys (if connected) Connect USB A-A between Joystick and Cortex Connect battery to Cortex and Turn ON Wait for ROBOT and VEXnet LEDs to come on GREEN Turn Cortex OFF Joystick and Cortex are now Paired

21 Setup (cont) Insert WiFi keys Turn Cortex and Joystick ON Wait for ROBOT and VEXnet LEDs to come on GREEN Wireless pairing is now verified

22 Joystick Calibration Your Joystick & Cortex have the latest firmware compatible with easyC Joystick Calibration is lost on firmware update VEXnet Joystick Calibration –Read –Re-read –And read again! –Cortex must be turned off (late change) Latest procedure at: – alibration_ pdfhttp://content.vexrobotics.com/docs/VEXnet_Joystick_C alibration_ pdf

23 Joystick Calibration (cont) 1.The Joystick must be NOT be linked to the Cortex Microcontroller. (Change with V2.0 VexNet WiFi Keys 2.Hold the “6U” Back Switch depressed. 3.While the “6U” Back Switch is depressed, use a small Allen Wrench (1/16” or smaller) or similar small straight tool to depress and hold the CONFIG Switch. 4.Hold both Switches depressed until you see the Joystick LED Flash RED and GREEN – you can now release both Switches. a.There is a 10 second time limit to complete the following steps 5 and 6. 5.Now move both Joystick Pots to the maximum position desired in all 4 directions – Up, Back, Left, and Right. a. If a movement is not detected in all 4 directions, a timeout will occur after about 10 seconds and the Cal Mode will be discontinued and the VEXnet LED will briefly Flash Red. b. The Joystick LED will continue to Flash RED and GREEN during the calibration process. 6.After movement is detected in all 4 directions, the Joystick LED will be ON and Solid GREEN. a. To “Save” the Calibration, depress and release the “8U” Top Switch Button. b. If the calibration is accepted and Saved, the Joystick LED will start Flashing Fast GREEN for a few seconds. c. If the Calibration is not Saved, a timeout will occur after about 10 seconds and the Cal Mode will be discontinued and the VEXnet LED will briefly Flash Red. d. To cancel a calibration, depress and release the “7U” Top Switch Button. The Cal Mode will be discontinued and the VEXnet LED will briefly Flash Red. e. If the Cal Mode is discontinued or saved, the Joystick LEDs will resume their normal function after the VEXnet LED briefly Flashes. 7.If Joystick Master Firmware is downloaded into the Joystick, the Joystick will need to be re-calibrated. (Normally done by the hub.)

24 Cortex Programming Projects located in: –My Documents\Intelitek\easyC V4 for Cortex\Projects BEST Default program –2014 Default Code in the Software directory on your USB Drive –Do not change this program! Copy it Use to restore default when things don’t work My First Project

25 Cortex Programming (cont) My First Project Copy default project directory Rename –Directory to ‘my project’ –‘my project’.BDS file –‘my project’.ECPX file –File names must match, directory name is optional –.Hex file is the output and can be deleted

26 Cortex Programming (cont) Double-click ‘easyC for Cortex’ icon Click on ‘Open Project’ –Browse to your new ‘My Project’ directory –Open the ‘my project’.ecpx file