2009 2014 Control System

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Robot Battery


The power supply for an FRC robot is a single 12V 18Ah battery. The batteries used for FRC are sealed lead acid batteries capable of meeting the high current demands of an FRC robot. For more information, see the Datasheets for the MK ES17-12 and Enersys NP18-12.

120A Circuit Breaker


The 120A (A= amps) Main Circuit Breaker serves two roles on the robot: 1. the main robot power switch and 2. as a protection device for downstream robot wiring and components. The 120A circuit breaker is wired to the positive terminals of the robot battery and Power Distribution boards. For more information, please see the Cooper Bussmann 18X Series Datasheet (PN: 185120F)

Power Distribution Board


The Power Distribution Board (PDB) is designed to distribute power from a 12VDC (VDC = volts direct current) battery to various robot components through auto-resetting circuit breakers, as well as provide specialized, regulated supplies for powering specific Control System Components. The PDB provides 8 output pairs rated for 40A continuous current and 12 pairs rated for 30A continuous current. The PDB also provides a regulated 24V power supply to power the cRIO, a special, regulated 12V power supply for powering the robot radio and a 5V power supply for powering an Axis camera.

Snap Action Circuit Breakers


The Snap Action circuit breakers, MX5-A40 and VB3 series, are used with the Power Distribution Board to limit current to branch circuits. The MX5-A40 40A MAXI style circuit breaker is used with the larger channels on the Power Distribution Board to power loads which draw current up to 40A continuously. The VB3 series are used with the smaller channels on the PDB to power circuits drawing current of 30A or less continuously. For more information, see the Datasheeets for the MX5 series and VB3 Series.

National Instruments cRIO


The NI-cRIO was the main robot controller used for FRC 2013. The cRIO supplements its PowerPC processor with an FPGA controller and plug-in modules used to interface with I/O (I/O = input/output). For FRC the FPGA controller is loaded with a provided image which provides functionality such as Quadrature decoders and analog accumulators as well as implements safety features. The controller pictured is the 4-slot cRIO-FRCII which is the version currently available from NI and provided in all rookie kits. The previous version, the 8-slot cRIO FRC is still legal and compatible for FRC use. The cRIO should connect to the 24V port on the Power Distribution Board for power, an ethernet port on the D-LINK DAP 1522 radio for communications and modules and their associated breakout boards for input and output. The User Manuals contain more information about the cRIO-FRCII and cRIO-FRC.

Digital Sidecar


The Digital Sidecar is a breakout board which converts the digital I/O from the NI 9403 module into forms more readily usable for FRC. The Digital Sidecar provides 10 PWM (PWM = pulse width modulation) outputs with 6V servo jumpers for controlling motor controllers and servos, 8 relay output pairs for controlling Spike H-Bridge Relays, 14 general purpose Digital I/O headers, a 6 pin header for I2C connections, an NXT cable compatible I2C connector, and an output for the Robot Signal Light. The Digital Sidecar should be connected to a cRIO 9403 module, the Power Distribution Board, and motor controller devices or I/O as necessary.

Analog Breakout Board


The Analog Breakout board converts the Analog input pins of the NI 9201 module into a form more readily usable by FRC teams. The board provides a jumper for monitoring battery input voltage and 8 3 pin headers providing 5V power, an Analog input and ground. Note that the battery voltage monitoring functionality utilizes channel 8. The Analog Breakout board should be plugged into an NI 9201 and connected to the Power Distribution Board.

Solenoid Breakout Board


The Solenoid Breakout Board takes the Digital Outputs of the NI 9472 module and converts them into a form more readily usable by FRC teams. The Solenoid breakout board accepts 12V or 24V input power and provides a signal and ground output for each of the 8 output channels. The Solenoid Breakout Board should be plugged into the NI 9472 module and plugged into the Power Distribution Board.

D-Link DAP-1522 Rev B


The D-Link DAP-1522 Rev B robot radio is used to provide wireless communication functionality to the robot. The device can be configured as an Access Point for direct connection of a laptop for use at home. It can also be configured as a bridge for use on the field. The robot radio should be powered by the 12V-5V power converter and connected to the cRIO controller over Ethernet. For more information, see Programming your radio for home use and the D-Link DAP1522 Support Page.

12V-5V Power Converter


The 12V-5V Power Converter converts the 12V power output from the dedicated radio output on the Power Distribution Board to 5V for use with the D-Link DAP-1522 Robot Radio. The Power Converter should be connected to the dedicated radio output on the end of the Power Distribution Board and to the D-Link DAP 1522 robot radio power input.

Axis M1011 / Axis 206 Ethernet Camera


The Axis M1011 and Axis 206 Ethernet cameras are used for capturing images for vision processing and/or sending video back to the Driver Station laptop. The camera should be wired to the 5V power output on the Power Distribution Board and either the robot radio or ethernet port 2 of an 8-slot cRIO-FRC. For more information, see Configuring an Axis Camera and the Axis 206 and Axis M1011 pages.

Jaguar Motor Controller

http://s3.amazonaws.com/screensteps_live/images/Wpilib/90113/2/rendered/FB1F734F-A6C6-451C-944D-3999DAB8245B.png?AWSAccessKeyId=AKIAJRW37ULKKSXWY73Q&Expires=1435852444&Signature=cIw%2F88DDvZK8ai4us2zJlQIHr9Q%3D FIRST 2009 Luminary Micro Speed Controller Diagram

The Jaguar Motor Controller from VEX Robotics is one of three variable speed motor controllers for use in FRC. The Jaguar can be controlled using either the PWM interface or over the CAN bus. The Black Jaguar can also be used to convert from RS232 (from the cRIO serial port or BDC-Comm program) to the CAN (CAN = controller area network) bus. The Jaguar should be connected using one of these control interfaces and powered from the Power Distribution Board. For more information, see the Jaguar Getting Started Guide, Jaguar Datasheet and Jaguar FAQ on this page.

One Page Intro., Jaguar Getting Started

  • 20 kHz (kHz = killo hertz) PWM frequency
  • 5ms (ms = millisecond) update rate
  • 40 amps continuous w/over-current self-protection: 100 amp for .2 sec/60 amps for 2 sec
  • Standard R-C Servo type (PWM) interface
  • CAN interface as well
  • Status LED (LED = light emitting diode) indicates run, direction, and fault conditions
  • Limit switch inputs for forward and reverse directions (MUST have jumpers or limit switches connected for the Jaguar to operate in forward or reverse)
  • Brake/coast mode selection
  • Larger than an IFI Victor 884 Speed Controller
  • Calibration feature
  • NOT reverse polarity protected
  • Terminals use 6-32
  • Valid CAN IDs 1-63 with ID 1 being the factory default. Jag IDs should be set to something other than the factory default of 1, since any new Jag plugged into the CAN network would *be in conflict with any already existing device at address 1. Note that the Jaguar CAN ID can be the same as any different device type (e.g. PCM or PDP), because the IDs only have *to be unique by device type.

Courtesy of Team 358 Look here for more information: http://www.team358.org/files/programming/ControlSystem2015-2019/

Talon Motor Controller


The Talon Motor Controller from Cross the Road Electronics is one of three variable speed motor controllers for use in FRC. The Talon is controlled over the PWM interface. The Talon should be connected to a PWM output of the Digital Sidecar and powered from the Power Distribution Board. For more information see the Talon User Manual.

  • Rough dimensions: 1.9" x 2.7" x 1.2"tall (without optional fan)
  • Input voltage: 6-28 VDC
  • Continuous current: 60 A
  • Peak current: 100 A
  • Input PWM signal: 0.9-2 ms @ 333 Hz
  • Input resolution: 10-bit (1024 steps)
  • Output resolution: 10-bit (1024 steps)
  • Output switching frequency: 15 kHz
  • Locked-antiphase rectification
  • Smart LED, blinks proportional to throttle
  • Simple calibration
  • User selectable brake/coast
  • 4% neutral dead band
  • Linear throttle response
  • Terminals use 6-32

Source: AndyMark

Courtesy of Team 358 Look here for more information: http://www.team358.org/files/programming/ControlSystem2015-2019/

Victor 888 Motor Controller / Victor 884 Motor Controller


The Victor 888 Motor Controller from VEX Robotics is one of three variable speed motor controllers for use in FRC. The Victor 888 replaces the Victor 884, which is also usable in FRC. The Victor is controlled over the PWM interface. The Victor should be connected to a PWM output of the Digital Sidecar and powered from the Power Distribution Board. For more information, see the Victor 884 User Manual and Victor 888 User Manual.

Victor 888 Speed Controller User Manual

  • Rough dimensions: 2.7" x 2.2" x 2.0"tall (extra space is required for fan ventilation)
  • 120 Hz switching frequency (PWM output chop rate)
  • Standard R/C type PWM (red wire is unused-open circuit), Input pulse 1-2ms, rate 15-30ms
  • 40 amps continuous (conservatively rated for FRC application)
  • 6-15v min/max
  • 3% minimum throttle
  • handles higher current applications than the Jaguar, but doesn't have the self-protection features that the Jaguar does
  • Standard R-C Servo type (PWM) interface
  • Brake/coast mode selection (checked 60 times per second)
  • much smaller footprint than a Jaguar
  • Status LED indicates power, neutral control signal, forward full, backward full
  • Calibration feature
  • cooling fan rated for 6-16v
  • Cannot be used with Brushless motors
  • NOT reverse polarity protected
  • Less linear output than the Jaguar
  • Terminals use 6-32

Source: VexPro (usually offers a special discount to FRC teams during the season)

Courtesy of Team 358 Look here for more information: http://www.team358.org/files/programming/ControlSystem2015-2019/

Spike H-Bridge Relay


The Spike H-Bridge Relay from VEX Robotics is a device used for controlling power to motors or other custom robot electronics. When connected to a motor, the Spike provides On/Off control in both the forward and reverse directions. The Spike outputs are independently controlled so it can also be used to provide power to up to 2 custom electronic circuits. The Spike H-Bridge Relay should be connected to a relay output of the Digital Sidecar and powered from the Power Distribution Board. For more information, see the Spike User's Guide.

Image credits

Image of cRIO-FRCII courtesy of National Instruments. Images of Jaguar Motor Controller, Victor 888 Motor Controller and Spike H-Bridge Relay courtesy of VEX Robotics, Inc.. All other photos courtesy of AndyMark Inc.