Electrical Parts

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Electrical Parts Tools
By Christine Chen Team 115
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Robot Controller (RC)
PWM output (connects to speed controllers)

• Holds the code for the drivetrain, arm /
  manipulator, and autonomous
• Outputs speed that is received via radio/tether
  to speed controllers to motors
• Brain of the robot
• Tether port connects RC to OI directly
• Program port connects the RC to laptop/computer
  to download new code

Program port
Tether port
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Operator Interface (OI)

• Transmit data (i.e. speed from joysticks) to RC
  via radio/tether
• Attaches to external switches (i.e. kill switch,
  push button)
• Ports connect to joysticks and switches
• Competition port connects to switches that decide
  the mode (disabled autonomous)

Operator Interface reset
Robot controller reset
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Analog and Digital

• Analog
• Goes from 0 to 254
• Values generally used for speed for motors
• 0 full speed backward
• 254 full speed forward
• 127 neutral
• Also used for potentiometers

• Digital
• Values are 0 and 1
• Used for limit switches or push buttons
• 0 for closed and 1 for open or vice versa
• Depends on how you wire the switch and decide to
  program

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Speed Controller

• Regulates speed for the motors
• Transmits speed to motor from RC

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Spikes

• Connects directly to the RC rather than to the
  Breaker Panel
• Used to control the pneumatic cylinders
• Uses a 12V Battery

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Tether/Programming Cable

• Programming cable connects RC to laptop for code
  download
• Tether connects RC (Robot Controller) to IO
  (Operator Interface)rather than use of radio

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Joystick

• Used to drive the robot and move the
  arm/manipulator
• Transmits speed from 0 to 254 with 127 being
  neutral
• Therefore 0 is backwards and 254 forwards full
  speed
• Transmits speed to OI (Operator Interface)

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Limit Switches

• Used as a electrical tool in determining when to
  stop and start the motion of an arm/manipulator
• When stop a heavy manipulator like an elevator, a
  mechanical stop is needed as well to avoid
  cracking the plastic covering on the switch
• Transmit data digitally (0 1 for open closed
  or vice versa)

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Potentiometers

• The top of the potentiometer moves and moves also
  from the values 0 to 254
• Sends feedback telling the program how far the
  potentiometer has been turn

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Electrical Tape

• Prevents the electrical current from hurting
  people on battery terminals or open wire
• Primarily used to insulate bare wires or ends

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PWM

• Stands for pulse width modulator
• Used to transmit data to speed controllers
• Red for power
• Black for ground
• White/Yellow for service

PWM Crimps
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Breaker Panel

• Uses automatic reset fuses to control amount of
  voltage a motor is drawing out from the main
  battery
• 20/30/40 amp fuses for different types of motors
• When the fuse pops up, it means that the motor is
  drawing too much current

Fuse
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Backup Battery

• Takes over for the main battery for a few seconds
  if the average voltage coming out of the main
  battery dips below a certain point (generally
  around 11 volts)

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Servos

• Rotates from 0 to 254
• Once given position, stays there and cannot be
  moved unless told by the code
• A very small motor

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Main Battery

• 12 volt battery
• Main battery that connects to breaker panel and
  circuit breaker

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Main Circuit Breaker

• Connected to the red wire (power) of the battery
• When turned off, all power is cut off and robot
  turns off
• Easy way to turn the robot off
• Needs to be place in an accessible but not too
  accessible place so that it can be pushed but not
  during competition accidentally
• Connects (red) to the breaker panel
• Very hard to trip this breaker

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Zip ties

• Used to keep wiring neat and out of the way from
  moving parts to avoid the wires from getting cut

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Label Maker

• Labeling wire makes it easy to identify where
  its from / going to (ex. from RC to switch)

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- New Control System 2009 - Modular - National
Instruments - Compact RIO - Beefy (2.2lbs) -
Programmed in C, C, Labview
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