硬件组件概述
本文档的目的是简要概述构成FRC® 控制系统的硬件组件。每个组件都将包含对该组件功能的简短描述以及指向更多文档的链接。
备注
For wiring instructions/diagrams, please see the Wiring the FRC Control System document.
控制系统概述
Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.
Diagram courtesy of FRC® Team 3161 and Stefen Acepcion.
NI roboRIO
:ref:`NI-roboRIO <docs/software/roborio-info/roborio-introduction:roboRIO Introduction>`是用于FRC的主要机器人控制器。 roboRIO充当机器人运行团队生成的代码的“大脑”，该代码命令所有其他硬件。
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或OM5P-AC无线路由器
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`不再可用于购买<https://www.firstinspires.org/robotics/frc/blog/radio-silence>`__。与OM5P-AN相比，OM5P-AC稍重，具有更多的冷却格栅，并且具有粗糙的表面纹理。
120A断路器
120A主断路器在机器人上起着两个作用：主机器人电源开关和用于下游机器人接线和组件的保护装置。 120A断路器已连接至机器人电池和配电板的正极。有关更多信息，请参见`Cooper Bussmann 18X系列数据表（PN：185120F）<https://www.mouser.com/datasheet/2/87/BUS_Tns_DS_18X_CIRCUITBREAKER-515519.pdf>`__
速动断路器
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.
机器人电池
FRC机器人的电源是一个12V 18Ah密封铅酸（SLA）电池，能够满足FRC机器人的高电流需求。有关更多信息，请参见“机器人电池”页面。 <docs/hardware/hardware-basics/robot-battery:Robot Battery Basics>`
备注
多个电池部件号可能是合法的，有关完整列表，请参考`FRC手册<https://www.firstinspires.org/resource-library/frc/competition-manual-qa-system>`__。
机器人信号灯
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.
电机控制器
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.
备注
WPILib不支持第三方CAN控制。有关更多信息，请参见docs / software / can-devices / third-party-devices：第三方CAN设备`上的此部分。
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
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电机控制器
SPARK MAX电动机控制器<https://www.revrobotics.com/rev-11-2158/>`__是REV Robotics提供的高级有刷和无刷直流电动机控制器。当使用CAN总线或USB控制时，SPARK MAX使用限位开关，编码器和其他传感器（包括REV NEO无刷电机的集成编码器）的输入来执行高级控制模式。 SPARK MAX可以通过PWM，CAN或USB进行控制（仅用于配置/测试）。有关更多信息，请参见`SPARK MAX用户手册<https://docs.revrobotics.com/sparkmax/>`__。
TalonFX电机控制器
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.
SPARK电机控制器
警告
尽管此电机控制器仍可用于FRC，但制造商已停止使用该产品。
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. For more information, see the SPARK User’s Manual.
Victor SP
警告
尽管此电机控制器仍可用于FRC，但制造商已停止使用该产品。
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.
Talon电机控制器
警告
尽管此电机控制器仍可用于FRC，但制造商已停止使用该产品。
The Talon Motor Controller from Cross the Road Electronics is a PWM controlled brushed DC motor controller with passive cooling.
Victor 888电机控制器/ Victor 884电机控制器
警告
尽管此电机控制器仍可用于FRC，但制造商已停止使用该产品。
VEX Robotics的`Victor 884 <https://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf>`__和`Victor 888 <https://content.vexrobotics.com/docs/217-2769-Victor888UserManual.pdf>`__电动机控制器是用于FRC的变速PWM电动机控制器。Victor888替代了也在FRC中使用的Victor884。
Jaguar电机控制器
警告
尽管此电机控制器仍可用于FRC，但制造商已停止使用该产品。
VEX Robotics（以前由Luminary Micro和Texas Instruments生产）的`Jaguar Motor Controller <https://www.ti.com/lit/an/spma033a/spma033a.pdf?ts=1607574399581>`__是用于FRC的变速电动机控制器。对于FRC，Jaguar只能使用PWM接口进行控制。
DMC-60和DMC-60C电机控制器
警告
尽管此电机控制器仍可用于FRC，但制造商已停止使用该产品。
DMC-60是Digilent的PWM电机控制器。 DMC-60具有集成的热感应和保护功能，包括电流折返功能以防止过热和损坏，以及四个多色LED指示速度，方向和状态，以便于调试。有关更多信息，请参见`DMC-60参考手册<https://reference.digilentinc.com/_media/dmc-60/dmc60_rm.pdf>`__
DMC-60C在DMC-60控制器中增加了CAN智能控制器功能。由于制造商停止生产该产品，因此DMC-60C仅可与PWM一起使用。有关更多信息，请参见`DMC-60C产品页面<https://reference.digilentinc.com/dmc-60c/start/>`__
Venom电机控制器
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.
带控制器的Nidec Dynamo BLDC电机
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.
SD540B和SD540C电机控制器
Mindsensors的SD540B和SD540C电机控制器使用PWM控制。由于缺乏制造商的支持，SD540C不再可以使用CAN控制。限位开关可以直接连接到SD540，以限制电机在一个或两个方向上的行程。有关更多信息，请参见`Mindsensors FRC页面<http://www.mindsensors.com/68-frc>`__
Spike H-Bridge继电器
警告
尽管该继电器仍可用于FRC，但制造商已停止使用该产品。
VEX Robotics的Spike H桥继电器是一种用于控制电动机或其他自定义机器人电子设备电源的设备。当连接到电动机时，Spike可以在正向和反向上提供开/关控制。 Spike输出是独立控制的，因此它也可以用于为最多2个定制电子电路提供电源。 Spike H桥继电器应连接到roboRIO的继电器输出，并由配电盘供电。有关更多信息，请参见 `Spike用户指南<https://content.vexrobotics.com/docs/spike-blue-guide-sep05.pdf>`__。
伺服电源模块
Rev Robotics的伺服电源模块能够将伺服器可用的功率扩展到roboRIO集成电源所不具备的能力。伺服电源模块可通过6个通道提供高达90W的6V电源。所有控制信号都直接从roboRIO传递。有关更多信息，请参见`伺服电源模块网页<https://www.revrobotics.com/rev-11-1144/>`__。
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.
图片积分
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, Talon FX, Victor 888, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, Power Distribution Hub, Radio Power Module, and Pneumatic Hub courtesy of REV Robotics. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of FIRST®. All other photos courtesy of AndyMark Inc.