1. Week 2) Motors & Controls Week 3) Pneumatics
FIRST Robotics 101
Week 1) Gears, Pulleys, Sprockets, Bearings
Week 2) Motors & Controls
Week 3) Pneumatics
Week 4) Materials & Fasteners
Week 5) Drivetrain and Framing Options
Week 6) Arm & Winch Options
Week 7) Team Building

2. Motor Elements Motors (Mabuchi Motor) in FIRST kit of parts
An electric motor is all about magnets and magnetism.  A motor uses magnets to create motion.  If you have ever played with magnets you know the law of magnets: Opposites poles attract and like poles repel.  So if you have two bar magnets with their ends marked "north" and "south," then the north end of one magnet will attract the south end of the other. On the other hand, the north end of one magnet will repel the north end of the other.  Inside an electric motor, these attracting and repelling forces create rotational motion.
The armature (or rotor) is an electromagnet.  Like the Beakman rotor above made of copper wound in a circle, the motor below has copper wound around a soft iron core.  The field magnet is still a permanent magnet, only this time there are two semi-circular magnets fitted inside a steel casing.  In some larger motors and generators the field magnet could also be an electromagnet.  In smaller motors it usually isn't to save the electricity that would otherwise be needed to make magnetism and also to reduce complexity.  Actually, these days there are quite a few large motors using magnets to drive cars.
If you take apart a small electric motor, you will find that it contains the same pieces described above: two small permanent magnets inside casing, two brushes held in a housing, and an electromagnet made by winding wire around pieces of shaped metal (laminations) on a steel shaft, known as an armature or rotor. Almost always the rotor will have three poles or more.

3. Motor Specifications Speed
Torque Versus Speed Motor Curve
Speed
Almost any motor can be characterized by this curve. They may not exactly fit, but they are close.
“0” Speed
Torque
Min “0” Torque

4. Maximum Speed 0 Torque (“Free Spinning” Speed or “Free Load”) 0 Speed
Torque Versus Speed Motor Curve
Maximum Speed
0 Torque
(“Free Spinning”
or “Free Load”)
Speed
0 Speed
Maximum Torque
(“Motor Stall”)
“0” Speed
Torque
Min “0” Torque

5. Motor Questions? When do you get the Motor Stall operation?
When do you get the Motor Free Load operation?
Will you normally see a motor operation this way?

6. When do you get the Motor Stall operation?
Physically holding the motor output shaft.
Something is in the way of the motor appendage (a physical stop).
Motor does not provide enough Torque (Force) to Move the appendage or load.
The internal motor is damaged or jammed.
When do you get the Motor Free Load operation?
No Load, Power Motor in Free Air
Set Screws Loosen (Do Not Ever Use Set Screws On a Warlock Robots! Always Happens 100% so far)
Pin Sheared (Pins usually do not work due to extreme loads and directional changes- happen often!)
Gear Sheared (Happened 3X, it’s a rare event caused by comprising weight and maximizing load)
Keyway sheared (Believe it or not I have seen this- extremely rare)
Will you normally see a motor operation this way?
THIS IS WHERE YOU WANT TO BE! Not Stall and Not Free Spin

7. THIS IS WHERE YOU WANT TO BE!
Torque versus Speed
Torque Versus Speed Motor Curve
Remember
C.R.B.!!!!!
Maximum Speed
0 Torque
(“Free Load”)
Speed
THIS IS WHERE YOU WANT TO BE!
0 Speed
Maximum Torque
(“Motor Stall”)
Notice Your Guarantee:
You will never run at full speed
AND
You will never run at full torque
“0” Speed
Torque
Min “0” Torque

8. CIM Motor Design (Drivetrain Motor)
337 W = Horsepower Maximum
C. Operating Point At Max Speed- (Cruising Speed)
R. Operating Point When Pushing
At Max Power (Ramming Speed)
B. Operating Point When Banging Your Robot Against at Wall or
Another Robot (Butting Speed)
Confidential Info Here

9. CIM Motor Design (Drivetrain Motor)
Torque/Speed Gear Down Introduction
(More will be discussed when we get to drivetrain design.)
Wheel
Gearbox
16: 1
CIM Motor
+12V Power
Supply
Drives
Drives
Max Power: 172 oz-in => RPM
CIM Motor
Gearbox
Wheel
Max Torque
@ 2655 RPM
ft-lbs
16/1
14.33 ft-lb
Max Speed
@ 0 Torque
5310 RPM
1/16
331.8 RPM

10. Delphi “Van Door” Motor
75 RPM
35Nm
=25.8ftlb
Uses:
1) Arm
2) Lifting/Pushing
Some Backdrive
though

11. GLOBE Motor 100 RPM 19Nm =14 ftlb Uses: 1) Winch 2) Actuation of
Mechanism
Some Backdrive
though

12. Window Motor 70 RPM 12Nm =8.85 ftlb Uses: Positioning
Holding in Position
3) Actuation of
Mechanism
Almost No
Backdrive !

13. 100 RPM
35Nm
=25.8 ft lb
Uses:
Secondary Drive Motor
Lifting/Extending
3) Actuation of
Mechanism

14. FIRST Robotics 101
CONTROLS

15. Controls Set-Up Operator Interface Safety Glasses Geek Field
Robot Controller

16. One Robot for 4 to 6 minutes!
Battery
12V, 18 Amps-Hours
This means 18 Amps for one hour
Or 54 amps for 20 minutes
One Robot for 4 to 6 minutes!

17. Controls Sensors Reprogram Sensors Or Switches Spike Relay Controllers
Robot Controller
PWM Speed Controller Outputs
Sensors
Reprogram
Sensors Or
Switches
Tether (Connected through Wire)
Or Radio (Through Air)
Spike Relay Controllers

18. Spike Relay Controller
Motor
RED= Positive
BLACK= Negative or Ground
Backwards/Forwards

19. Speed Controller Motor RED= Positive BLACK= Negative or Ground
Backwards/Forwards
And Faster/Slower

20. Robot Schematic

21. Operator Interface Autonomous or FIRST Control Joystick #3 Joystick #1
(Competition Connector)
Tether (Connected through Wire)
Or Radio (Through Air)
Joystick #3
or other Control
Devices
Joystick #1
Or other Control Devices
Joystick #4
or other Control
Devices
Joystick #2
Or other Control
Devices

22. Sensors Accelerometer Sensors Hall Effect Sensors
-Acceleration of Robot
-Robot Hits Something
Hall Effect Sensors
-Measure Speed of Wheel
-Senses a Magnet
-Can be Electronic Stop

23. Optical Sensors -Measures Black and White patches
-Can look for Bright objects

24. C – Programming Language
(It will not be presented at this time. Lets all hope that Al Gritzmacher can give a presentation on this)