Descripción general de los componentes de Hardware

El objetivo de este documento es proporcionar una breve descripción de los componentes del hardware que componen el Sistema de Control FRC®. Cada componente contendrá una breve descripción de la función del componente y un enlace a más documentación.

Nota

For wiring instructions/diagrams, please see the Wiring the FRC Control System document.

Descripción general del Sistema de Control

Layout of the core components of the control system and introductory information for them.

Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.

Layout of all popular components of the control system including REV Control System Components

Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.

Layout of all popular components of the control system including CTRE Control System Components

Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.

NI roboRIO

NI roboRIO

El :ref``NI-roboRIO <docs/software/roborio-info/roborio-introduction:roboRIO Introduction>` es el controlador de robot principal utilizado para FRC. El roboRIO sirve como el «cerebro» del robot que ejecuta un código generado por el equipo que controla todo el resto del hardware.

CTRE Power Distribution Panel

CTRE Power Distribution Panel

The CTRE Power Distribution Panel (PDP) is designed to distribute power from a 12VDC battery to various robot components through auto-resetting circuit breakers and a small number of special function fused connections. The PDP provides 8 output pairs rated for 40A continuous current and 8 pairs rated for 30A continuous current. The PDP provides dedicated 12V connectors for the roboRIO, as well as connectors for the Voltage Regulator Module and Pneumatics Control Module. It also includes a CAN interface for logging current, temperature, and battery voltage. For more detailed information, see the PDP User Manual.

CTRE Power Distribution Panel 2.0

CTRE Power Distribution Panel 2.0

The CTRE Power Distribution Panel 2.0 (PDP 2.0) is designed to distribute power from a 12VDC battery to various robot components. The PDP 2.0 features 24 40A channels and can accoommodate ATO breakers. The PDP 2.0 is designed to maximize efficiency.

REV Power Distribution Hub

REV Power Distribution Hub

The REV Power Distribution Hub (PDH) is designed to distribute power from a 12VDC battery to various robot components. The PDH features 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel. The Power Distribution Hub features toolless latching WAGO terminals, an LED voltage display, and the ability to connect over CAN or USB-C to the REV Hardware Client for real-time telemetry.

CTRE Voltage Regulator Module

CTRE Voltage Regulator Module

The CTRE Voltage Regulator Module (VRM) is an independent module that is powered by 12 volts. The device is wired to a dedicated connector on the PDP. The module has multiple regulated 12V and 5V outputs. The purpose of the VRM is to provide regulated power for the custom circuits, and IP vision cameras. For more information, see the VRM User Manual.

Vivid-Hosting VH-109 Radio

VH-109 Radio on a white background with nothing plugged in.

The Vivid-Hosting VH-109 radio is designed specifically for FRC. It uses Wi-Fi 6E to avoid the common congestion problems that plague 2.4 GHz Wi-Fi networks. The ruggedized design allows for unfiltered power input coming directly from a power distribution device. It also has 4 Ethernet ports reducing the need for an additional network switch.

Interruptor de circuito 120A

Interruptor de circuito 120A

El interruptor de circuito de 120A cumple dos funciones en el robot: el interruptor de alimentación principal del robot y un dispositivo de protección para el cableado y los componentes del robot después de este. El interruptor de 120A está conectado a los terminales positivos de la batería del robot y a los tableros de distribución de energía. Para obtener más información, consulte la Cooper Bussmann 18X Series Datasheet (PN: 185120F)

Interruptores de circuito de acción inmediata

Disyuntores de acción rápida para insertar en el PDP.

The Snap Action circuit breakers, MX5 series and VB3 Series, are used with the Power Distribution Panel to limit current to branch circuits. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.

Rev ATO Circuit Breakers

Rev ATO Circuit Breakers

The Rev ATO Circuit Breakers are used with the Power Distribution Panel, Power Distribution Hub and Power Distribution Panel 2.0 to limit current to branch circuits. They come in 40A, 30A, 20A and 10A variants. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.

Batería del robot

Batería del robot

La fuente de alimentación de un robot FRC es una única batería de plomo ácido sellada (SLA) de 12V y 18Ah, capaz de satisfacer las altas demandas de corriente de un robot FRC. Para más información, consulte la página Batería del robot.

Nota

Multiple battery part numbers may be legal, consult the FRC Manual for a complete list.

Luz de Señal del Robot

Orange Robot Signal Light (Allen-Bradley)

Allen-Bradley 855PB-B12ME522

Orange Robot Signal Light (AndyMark)

AndyMark am-3583

The Robot Signal Light (RSL) is required to be either Allen-Bradley 855PB-B12ME522 or AndyMark am-3583. It is directly controlled by the roboRIO and will flash when enabled and stay solid while disabled.

CTRE Pneumatics Control Module

CTRE Pneumatics Control Module

The CTRE Pneumatics Control Module (PCM) contains all of the inputs and outputs required to operate 12V or 24V pneumatic solenoids and the on board compressor. The PCM contains an input for the pressure sensor and will control the compressor automatically when the robot is enabled and a solenoid has been created in the code. For more information see the PCM User Manual.

REV Pneumatic Hub

REV Pneumatic Hub

The REV Pneumatic Hub is a standalone module that is capable of switching both 12V and 24V pneumatic solenoid valves. The Pneumatic Hub features 16 solenoid channels which allow for up to 16 single-acting solenoids, 8 double-acting solenoids, or a combination of the two types. The user selectable output voltage is fully regulated, allowing even 12V solenoids to stay active when the robot battery drops as low as 4.75V.

Digital and analog pressure sensor ports are built into the device, increasing the flexibility and feedback functionality of the pneumatic system. The USB-C connection on the Hub works with the REV Hardware Client, allowing users to test pneumatic systems without a need for an additional robot controller.

Controladores de motor

There are a variety of different motor controllers which work with the FRC Control System and are approved for use. These devices are used to provide variable voltage control of the brushed and brushless DC motors used in FRC. They are listed here in order of usage placement is estimated for devices where data is unavailable.

Nota

El control CAN de terceros no es compatible con WPILib. Consulte esta sección en Dispositivos CAN de terceros para obtener más información.

Controlador de motor SPARK MAX

Controlador de motor SPARK MAX

The SPARK MAX Motor Controller is an advanced brushed and brushless DC motor controller from REV Robotics. When using CAN bus or USB control, the SPARK MAX uses input from limit switches, encoders, and other sensors, including the integrated encoder of the REV NEO Brushless Motor, to perform advanced control modes. The SPARK MAX can be controlled over PWM, CAN or USB (for configuration/testing only). For more information, see the SPARK MAX Documentation.

Controlador de motor TalonFX

Controlador de motor TalonFX

The TalonFX Motor Controller is a brushless motor controller from Cross The Road Electronics which is integrated into the Falcon 500, Kraken X60 and Kraken X44 brushless motors. It features an integrated encoder and all of the smart features of the Talon SRX and more! For more information see the TalonFX Hardware Reference.

Víctor SPX

Víctor SPX

The Victor SPX Motor Controller is a CAN or PWM controlled motor controller from Cross The Road Electronics/VEX Robotics. The device is connectorized to allow easy connection to the roboRIO PWM connectors or a CAN bus. The case is sealed to prevent debris from entering the controller. For more information, see the Victor SPX User Guide.

Talon SRX

Talon SRX

The Talon SRX Motor Controller is a «smart motor controller» from Cross The Road Electronics/VEX Robotics. The Talon SRX can be controlled over the CAN bus or PWM interface. When using the CAN bus control, this device can take inputs from limit switches and potentiometers, encoders, or similar sensors in order to perform advanced control. For more information see the Talon SRX User’s Guide.

Controlador de motor SPARK

Controlador de motor SPARK

Advertencia

Aunque este controlador de motor es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

The SPARK Motor Controller from REV Robotics is an inexpensive brushed DC motor controller. The SPARK is controlled using the PWM interface. Limit switches may be wired directly to the SPARK to limit motor travel in one or both directions.

Víctor SP

Víctor SP

Advertencia

Aunque este controlador de motor es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

The Victor SP Motor Controller is a PWM motor controller from Cross The Road Electronics/VEX Robotics. The Victor SP has an electrically isolated metal housing for heat dissipation, making the use of the fan optional. The case is sealed to prevent debris from entering the controller. The controller is approximately half the size of previous models.

SPARK Flex Motor Controller

SPARK Flex Motor Controller

The SPARK Flex Motor Controller is a smart brushed and brushless DC motor controller from Rev Robotics. It is designed for semi-permanent docking to NEO Vortex brushless motors, but can be used with other brushed and brushless motors through the use of an adapter dock. When using CAN bus or USB control, the SPARK Flex uses input from limit switches, encoders, and other sensors, including the integrated encoder of NEO Vortex, Neo 1.0/1.1 and NEO 550 brushless motors, to perform advanced control modes. The SPARK Flex can be controlled over PWM, CAN or USB (for configuration/testing only). For more information, see the SPARK Flex Documentation.

Controlador de motor Talon

Controlador de motor Talon

Advertencia

Aunque este controlador de motor es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

The Talon Motor Controller from Cross the Road Electronics is a PWM controlled brushed DC motor controller with passive cooling.

Controlador de motor Victor 888 / Controlador de motor Victor 884

Controlador de motor Victor 888

Advertencia

Aunque este controlador de motor es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

The Victor 884 and Victor 888 motor controllers from VEX Robotics are variable speed PWM motor controllers for use in FRC. The Victor 888 replaces the Victor 884, which is also usable in FRC.

Controlador de motor de veneno

Controlador de motor de veneno

The Venom Motor Controller from Playing With Fusion is integrated into a motor based on the original CIM. Speed, current, temperature, and position are all measured onboard, enabling advanced control modes without complicated sensing and wiring schemes.

Controlador de motor DMC-60 y DMC-60C

Controlador de motor DMC-60C

Advertencia

Aunque este controlador de motor es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

El DMC-60 es un controlador de motor PWM de Digilent. El DMC-60 cuenta con detección y protección térmicas integradas que incluyen retroceso de corriente para evitar el sobrecalentamiento y daños, y cuatro LED multicolores para indicar la velocidad, la dirección y el estado para facilitar la depuración. Para obtener más información, consulte el Manual de referencia de DMC-60

El DMC-60C agrega capacidades de controlador inteligente CAN al controlador DMC-60. Debido a que el fabricante descontinuó este producto, el DMC-60C solo se puede utilizar con PWM. Para obtener más información, consulte la Página del producto DMC-60C <https://reference.digilentinc.com/dmc-60c/start/> __

Controlador de motor Jaguar

Controlador de motor Jaguar

Advertencia

Aunque este controlador de motor es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

The Jaguar Motor Controller from VEX Robotics (formerly made by Luminary Micro and Texas Instruments) is a variable speed motor controller for use in FRC. For FRC, the Jaguar may only be controlled using the PWM interface.

Motor Nidec Dynamo BLDC con controlador

Motor Nidec Dynamo BLDC con controlador

The Nidec Dynamo BLDC Motor with Controller is the first brushless motor and controller legal in FRC. This motor’s controller is integrated into the back of the motor. The motor data sheet provides more device specifics.

Thrifty Nova Motor Controller

Thrifty Nova Motor Controller

The Thrifty Nova Motor Controller is a brushless DC motor controller from The Thrifty Bot with CAN and USB connectivity. It can receive sensor inputs from NEO and NEO 550 brushless motors as well as other sensors with the use of expansion boards. For more information, see the Thrifty Nova Documentation.

Talon FXS Motor Controller

Talon FXS Motor Controller

The Talon FXS Motor Controller is a smart brushed and brushless DC motor controller from Cross The Road Electronics.

Koors 40 Brushed DC Motor Controller

Koors 40 Brushed DC Motor Controller

The Koors 40 Brushed DC Motor Controller is an inexpensive PWM brushed DC motor controller from AndyMark with features such as Ground Loss Protection for PWM, Thermal and Overcurrent Protection, and Reverse Polarity Protection.

Controladores de motor SD540B y SD540C

Controlador de motor SD540B

Los controladores de motor SD540B y SD540C de Mindsensors se controlan mediante PWM. El controlador CAN ya no esta disponible para el motor SD540C debido a la falta de soporte del fabricante. Los interruptores de límite pueden conectarse directamente al SD540 para limitar el recorrido del motor en una o ambas direcciones. Para obtener más información, consulte la página FRC de Mindsensors <http://www.mindsensors.com/68-frc> __

Spike H-Bridge Relay

Spike H-Bridge Relay

Advertencia

Aunque este relé es aún legal para el uso en FRC, el fabricante ha descontinuado el producto.

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 roboRIO and powered from the Power Distribution Panel. For more information, see the Spike User’s Guide.

Servo Hub

Servo Hub

The Servo Hub from Rev Robotics can control up to 6 servos. It can output a maximum of 15A across all channels and. The Servo Hub supports USB, RS485 and CAN control.

Servo Power Module

Servo Power Module

The Servo Power Module from Rev Robotics is capable of expanding the power available to servos beyond what the roboRIO integrated power supply is capable of. The Servo Power Module provides up to 90W of 6V power across 6 channels. All control signals are passed through directly from the roboRIO. For more information, see the Servo Power Module webpage.

Microsoft Lifecam HD3000

Microsoft Lifecam HD3000

The Microsoft Lifecam HD3000 is a USB webcam that can be plugged directly into the roboRIO. The camera is capable of capturing up to 1280x720 video at 30 FPS. For more information about the camera, see the Microsoft product page. For more information about using the camera with the roboRIO, see the Vision Processing section of this documentation.

Créditos de imagen

Image of roboRIO courtesy of National Instruments. Image of DMC-60 courtesy of Digilent. Image of SD540 courtesy of Mindsensors. Images of Jaguar Motor Controller, Talon SRX, Victor 888, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, SPARK Flex, Servo Hub, ATO Breakers, Power Distribution Hub, and Pneumatic Hub courtesy of REV Robotics. Images of TalonFX, TalonFXS and Power Distribution Panel 2.0 courtesy of Cross The Road Electronics, LLC. Image of Thrifty Nova courtesy of The Thrifty Bot. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of FIRST®. Image of the VH-109 radio courtesy of Vivid-Hosting. All other photos courtesy of AndyMark Inc.