Donanım Bileşenine Genel Bakış

Bu belgenin amacı, FRC® ‘i oluşturan donanım bileşenlerine kısa bir genel bakış sağlamaktır. Kontrol sistemi. Her bileşen, bileşen işlevinin kısa bir açıklamasını ve daha fazla dokümantasyona bir bağlantı içerecektir.

Not

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

Kontrol Sistemine Genel Bakış

REV

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

Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.

CTRE

Layout of all of the core components of the control system and how they are connected.

Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.

NI roboRIO

NI-roboRIO , FRC için kullanılan ana robot denetleyicisidir. RoboRIO, diğer tüm donanımlara komuta eden ekip tarafından oluşturulan kodu çalıştıran robot için “brain-beyin” görevi görür.

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.

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

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 robot radio, custom circuits, and IP vision cameras. For more information, see the VRM User Manual.

REV Radio Power Module

The REV Radio Power Module is designed to keep one of the most critical system components, the OpenMesh WiFi radio, powered in the toughest moments of the competition. The Radio Power Module eliminates the need for powering the radio through a traditional barrel power jack. Utilizing 18V Passive POE with two socketed RJ45 connectors, the Radio Power Module passes signal between the radio and roboRIO while providing power directly to the radio. After connecting the radio and roboRIO, easily add power to the Radio Power Module by wiring it to the low-current channels on the Power Distribution Hub utilizing the color coded push button WAGO terminals.

OpenMesh OM5P-AN veya OM5P-AC Radyo-Modem

Either the OpenMesh OM5P-AN or OpenMesh OM5P-AC wireless radio is used as the robot radio 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 one of the 12V/2A outputs on the VRM and connected to the roboRIO controller over Ethernet. For more information, see Programming your Radio.

OM5P-AN artık satın alınamıyor. OM5P-AC, OM5P-AN’ye kıyasla biraz daha ağırdır, daha fazla soğutma ızgarasına ve pürüzlü bir yüzey dokusuna sahiptir.

120A Circuit Breaker - Devre Kesici Anahtar

120A Ana Devre Kesici, robot üzerinde iki görev görür : ana robot güç anahtarı ve aşağı akışlı robot kabloları ve bileşenleri için bir koruma cihazı. 120A devre kesici, robot pilinin ve Güç Dağıtım kartlarının pozitif terminallerine bağlanır. Daha fazla bilgi için lütfen Cooper Bussmann 18X Serisi Veri Sayfası’na (PN: 185120F) <https://www.mouser.com/datasheet/2/87/BUS_Tns_DS_18X_CIRCUITBREAKER-515519.pdf> bakın.

Snap Action Devre Kesici - Sigorta

Snap Action Circuit Breakers to be inserted in the 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.

Robot Aküsü

The power supply for an FRC robot is a single 12V 18Ah Sealed Lead Acid (SLA) battery, capable of meeting the high current demands of an FRC robot. For more information, see the Robot Battery page.

Not

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

Robot Sinyal Işığı - Robot Signal Light - RSL

Allen-Bradley

AndyMark

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

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

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.

Motor Kontrolörleri

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.

Not

3rd Party CAN control is not supported from WPILib. See this section on Üçüncü Taraf CAN Cihazları for more information.

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.

Victor SPX Motor Kontrolörü

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.

SPARK MAX Motor Kontrolörü

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 User’s Manual.

TalonFX Motor Kontrol Cihazı

The TalonFX Motor Controller is integrated into the Falcon 500 brushless motor. It features an integrated encoder and all of the smart features of the Talon SRX and more! For more information see the Falcon 500 User Guide.