1. CWNC Trojanators System Components
10/11/2016

2. System block Diagrams

3. System block Diagrams

4. Controller: RoboRio
The RoboRIO is the brain of your robot. The RoboRIO breaks out all of the connections you will need to operate your robot with and gives you the option of programming your robot in three different languages, Java, C++, and LabView. The RoboRIO specifications are as follows: Xilinx z-7020 CPU with a Dual Core ARM Cortex A-9 processor and FPGA combination
256MB DDR3 RAM
512MB nonvolatile storage(for programs)
2 Host USB ports (For cameras and other external USB hardware)
1 10/100BaseT Ethernet connection(for robot communication)
Up to 8 Analog Inputs(4 on Analog In Header/ 4 on Expansion Port)
2 Analog Outputs(on the Expansion Port)
Up to 16 Digital IO ports(10 on DIO Header/ 6 on Expansion Port)
10 Pulse Width Modulation(PWM) Ports(for motor control)
4 Relay Ports(for directional motor control)
Other communication types available including RS232, I2C, SPI, and CAN

5. Controller: RoboRio

6. Controller: RoboRio

7. Signals

8. Signals: RS-232

9. Signals: RS-232
Once the start bit has been sent, the transmitter sends the actual data bits. There may either be 5, 6, 7, or 8 data bits, depending on the number you have selected. Both receiver and the transmitter must agree on the number of data bits, as well as the baud rate. Almost all devices transmit data using either 7 or 8 databits.
Notice that when only 7 data bits are employed, you cannot send ASCII values greater than Likewise, using 5 bits limits the highest possible value to 31.
After the data has been transmitted, a stop bit is sent. A stop bit has a value of 1 - or a mark state - and it can be detected correctly even if the previous data bit also had a value of 1. This is accomplished by the stop bit's duration. Stop bits can be 1, 1.5, or 2 bit periods in length.