Alpha - 2015 Control System
TheRobettes.com
Alpha Test Porject
• The Robettes spent the fall season setting up
and trying out the new components and
features of the 2015 Control System.
• In November, representatives convened with
other testing teams New Hampshire to talk
about problems and solutions, and play
some matches on the field.
Overview
• New Power Distribution Panel (PDP)
• New Voltage Regulator Module (VRM)
• New Pneumatics Control Module (PCM)
• New roboRIO controller (replaces cRIO)
• PCM and PDP monitoring circuits connect to roboRio through
improved native CAN bus
2013-2014 Block Diagram
Camera
Co-processor
Switches
Digital Sidecar
PWMs
Motors
Jaguars
(CAN)
Motors
Motor
Controllers
(Victors,
Talons, or
Jaguars)
Processor
(where your code runs)
Compressor
Motors
Relays
Dig IO
Spikes
Limit Switches
Encoders
Digital
Module
Analog
Module
Potentiometers
Gyro
Accelerometer
I2C
Joystick
Driver
Station
(Laptop)
Serial
Joystick
cRIO
WiFi radio link
(or Ethernet)
RSL
Joystick
Solenoid
Module
Solenoids
I2C
Sensors
RSL
Power
Dist
Board
Battery
2015 Block Diagram
Joystick
USB
Sensors
Motor
Controllers
(Victors,
Talons, or
Jaguars)
PWMs
Expansion
Switches
Motors
USB
Pressure
Switch Compressor
Pneumatics
Control
Module
Camera
Co-processor
Solenoids
roboRIO
CAN
Processor
(where your code runs)
Relays
Dig IO
Spikes
Limit Switches
Encoders
I2C
Joystick
Driver
Station
(Laptop)
WiFi radio link
(or Ethernet)
Jaguars
(CAN)
RSL
Joystick
Motors
Analogs
Potentiometers
Gyro
I2C
Sensors
RSL
Voltage
Reg
Module
Pneumatic
Actuators
(Cylinders)
TLM
Power
Dist
Panel
Battery
roboRIO
• Combines cRIO + Modules + Digital Sidecar into a single
small unit
• OS: Linux with real-time extensions
• Processor: Dual-Core ARM Cortex-A9 at 667 MHz
• Memory: 256 MB RAM, 256 MB flash storage
• Size 5.7 in x 5.6 in, Weight under 12 oz
• IO: 10 PWM, 10 digital I/O, 4 relay outputs, 1 SPI, 1 I2C, 4
analog
– Expansion port adds even more
• 2 USB ports
• Native CAN bus
• Integrated 3-axis accelometer
roboRIO
•
Voltage Regulator Module (VRM)
• Ensures constant voltage to sensors, camera, etc.
– Takes battery 12V and provides regulated 12V and 5V
– Ideal for custom sensors, camera power, etc.
– (radio now USB powered)
Pneumatics Control Module (PCM)
Provides all-in-one pneumatics system control:
pressure switch input, compressor relay output
• 8 Solenoids outputs
• Uses CAN
• Button connectors
Power Distribution Board
• Smaller
• only 8 20-30 amp wago ports (fewer, but less are needed)
• CAN capability
– Channel monitoring (unclear at present whether just voltage or both
voltage+current)
Radio
• USB
• Smaller size
Programming
• LabVIEW, C++, and Java continue to be supported
• For Java & C++, much of WPILib will be unchanged:
Removed: “module” number in constructors (as modules no
longer exist)
New classes for new features
• For C++ -- Development environment changes from Wind
River Workbench (custom version of Eclipse) to latest Eclipse
(currently Kepler)
• For Java -- Development environment changes from
NetBeans to Eclipse.
Glossary, Q&A
• Time for