by joel cottrell supervisor: nasser asgari team members: rowan pivetta, joshua renfrey results...
TRANSCRIPT
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Electronics Design forNI ARC 2013
By Joel CottrellSupervisor: Nasser AsgariTeam members: Rowan Pivetta,
Joshua Renfrey
Results Seminar
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Contents
Introduction Power
Requirements Data Connections Hand-sketched
Draft Designs Schematic Design PCB Design Mouse Sensor Competition
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Introduction
NIARC: National Instruments Autonomous Robotics Competition
April – September 2013 Scope: set by rules Team competition
Joel Cottrell: Electronics Rowan Pivetta: Mechanical Joshua Renfrey: Software
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Introduction (cont.)
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Power Requirements
• 2 Sabertooth 2x5 Motor Controllers11.1V 3-cell LiPo
• Hokuyo UTM-30LX LIDAR• NI Single Board RIO 9636
12V Redarc VI48D-12
• 2 Standard Servos: HITEC 645-MG• 3 Miniature Servo: DGServo S05NF STD
6V TI PTN78020W
• Axis M1011-W IP Camera• TP-Link WR702-N Router
5V TI PTN78020W
• Sparkfun 9-DOF Razor IMU• 3.3V Regulator, UI pull-up resistors
5V sbRIO output
• Mouse Sensor• Logic level converter
3.3V TI SMD LDO
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Data Connections
• LIDAR USB (Comms Dev Class)• Ethernet RJ-45 from Router
Direct from sbRIO
• 50way ribbon cable (24 DIO pins)sbRIO to Breakout
• Routed straight from sbRIO• 0.1” pitch header
Mouse Sensor, IMU, Servo,
Spare• Requires 3.3V 5V logic level
conversion• 0.1” pitch header
Motor Controllers
• Pull-up resistors to sbRIO’s 5V• 0.1” pitch header
User Interface (Switches)
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Hand-sketchedDraft Designs
Early thoughts about required
parts and arrangements
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Schematic Design
Ideas, sketches Altium Designer Schematic
Schematic library parts Design cycle to refine schematic:
When main structurewas refined:▪ Schematic Printed Circuit Board
Schematic manipulati
on
Review, checking
datasheets, team
feedback
Determine issues with
current design
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Final Schematic1
38
3
36
5
34
7
32
9
30
11
28
13
2
15
4
17
6
19
8
21
12
23
10
25
16
27
14
29
18
31
20
33
22
35
24
37
26
39
48
41
4643 4445
42
47
40
49 50
J1
IO
GND
VCC_Servo
VCC_Servo
GND
VCC_IO
DIO4DIO5DIO6DIO7DIO8DIO9DIO10DIO11DIO12DIO13DIO14DIO15DIO16DIO17DIO18DIO19DIO20DIO21DIO22DIO23DIO24DIO25DIO26DIO27
123456
J5
Mouse
Servo1
Servo2
Servo3
Servo4
Servo1Servo2Servo3Servo4
MOSIMISOSCLKNCS
MOSIMISOSCLKNCS
VCC_3V3
GND
GND
VCC_IO
RazorTXRazorRX
10K
R3Res3
10K
R4Res3
GND
VCC_3V3
SaberTX
SaberES
SaberTX
PS1inhibit
PS2inhibit
PS1inhibit
PS2inhibit
RazorTXRazorRX
UI1UI2UI3UI4
UI5
UI1UI2UI3UI4UI5
Spare1Spare2Spare3Spare4
VCC_IO
GND
VCC_3V3
Spare1Spare2Spare3Spare4
GND1
VI2
Inhi
bit
3
Adj
ust
4
Sen
se5
VO6
GND7
PTN78020W
PS2
FusedBatt+
330uF
C4Cap Pol1
330uF
C3Cap Pol1
GND
GND
GND1
VI2
Inhi
bit
3
Adj
ust
4
Sen
se5
VO6
GND7
PTN78020W
PS1
FusedBatt+
330 uF
C2Cap Pol1
330uF
C1Cap Pol1
GND
GND
GND
GND
GND
VCC_IO VCC_3V3
10uF
C5Cap
10uF
C6Cap
F1
Fuse 2
Spare5
Servo5
Servo5
IN1
GND2 IGN3
OUT4
VIxxD-xxPS3
VIxxD-xxGND
FusedBatt+
GND
SaberES
12345678
J4
Spare
Servo6
Spare5
Servo6
Q1MOSFET-N
GND1
CTS2
3V33RXI
4TXO
5 DTR6
GND7
VSUP8
IMU1
IMU
GND
10K
R5Res3
10K
R6Res3
10K
R7Res3
10K
R8Res3
10K
R9Res3
S+-
SE
RV
O1
S+-
SE
RV
O2
S+-
SE
RV
O3
S+-
SE
RV
O4
S+-S
ER
VO
5
S+-
SE
RV
O6
100KR2
100KR1
10K
R10Res3
10K
R11Res3
10K
R12Res3
10K
R13Res3
10K
R14Res3
SaberES
VCC_IO
GND
VCC_3V3
GND
IN3
OUT2
GN
D1
TAB 4
U1
TLV1117-33CDCY
+-
P1
Battery
+-
P4
sbRIO
+-
P5
Motors
+-
P6
Cam
AB
J6
LIDARsw
GND
1234
5678
J3
UI
F2
Fuse 2
VCC_CamVCC_IO
VCC_12V
PS1a
djP
S2ad
j123
J2
Saber
Bat
t+
IGN
Batt+ M+
J7Servo
J8Cam
J9Saber
SaberTX5V
VCC_IO
0V1
12V2
Com3 Sync4
P3
LIDAR
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PCB Design
Specify physical shape of board Place plated holes for mounting Component footprints and nets specified
from schematic within same project Arrange parts across top and bottom layers▪ Wiring and access requirements of robot▪ Complexity of routing tracks between components▪ General aesthetics and tidiness
Remap pins, route tracks, draw silkscreen Submit for PCB manufacture by Entech
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Final PCB
2D View
Useful during design
3D View
Useful for seeing how parts fit
together vertically
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Ordering Parts – Element14
Qty Order Code Description Price ea Price total
10 1354551 LITTELFUSE - 0216016.MXP - FUSE, QUICK BLOW, 16A $0.68 $6.83
2 1271676 LITTELFUSE - 83000000005 - FUSE HOLDER, PCB, 20X5MM $1.45 $2.90
2 1243037 LITTELFUSE - 83500000005 - CAP, FUSEHOLDER, 20X5MM, FLUSH MOUNT $3.66 $7.32
1 1363227 TE CONNECTIVITY / AMP - 2-111623-6 - WIRE-BOARD CONN, RECEPTACLE, 50POS, 2MM $7.10 $7.10
10 2008004 MULTICOMP - MC000034 - TERMINAL BLOCK, PCB, 2WAY, 26-12AWG $0.86 $8.57
8 4986337 VISHAY BC COMPONENTS - 2222 021 35331 - CAPACITOR ALUM ELEC 330UF, 16V, 20%, AXIAL $0.55 $4.40
1 672105 HARWIN - M22-2025005 - HEADER, VERTICAL, 2ROW, 50WAY $7.98 $7.98
2 1295945 TEXAS INSTRUMENTS - PTN78020WAH - DC-DC CONV, LINEAR REG, 1 O/P, 90W, 6A $28.29 $56.58
2 9353712 BOURNS - 3299W-1-104LF - TRIMMER, 25 TURN 100K $4.66 $9.32
10 9845330RL FAIRCHILD SEMICONDUCTOR - BSS138 - MOSFET,N CHAN, 50V, 220MA, SOT-23 $0.29 $2.88
4 1494942 TEXAS INSTRUMENTS - TLV1117-33CDCY - V REG, LDO, 3.3V, 0.8A, SOT-223-4 $0.57 $2.28
$116.16
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3D Rendering of Board
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Photo of Constructed Board
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Mouse Sensor (Ground-Truth Velocity Sensor)
Proposal presentation demo: Quadrature LED
Later sourced product: SPI LASER From Canon calculator-mouse Avago Technologies ADNS 7530
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Competition
Location: Swinburne University, Melbourne
Date: Tuesday, 24th September, 2013
Set up, calibration and testing allowed on 23rd
16 teams passed the 4 milestones to enter comp.
3 qualifying heats, 8 teams progress to finals
1-on-1 knockout finals, increasing in difficulty
Prizes for winners, runners-up and best design
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Qualifying Heats
Travel from starting point to mining camp
Pick up the one gold cube Move to drop-off point (blue tape
corner)
Our best heat was fastest of any team
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Finals
Entered finals in first place 1-on-1 against a team that struggled to make it to finals Got off to a good start, but…
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Unofficial Final vs UTS
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Conclusion
The electronics needs for this competition were met, with a solution that is:1. Professional▪ Designed with Altium Designer, as used in Industry▪ Manufactured using modern processes
2. Fit for purpose, yet expandable▪ Connectors, ratings and functionality chosen for robot▪ Adjustable voltage regulators, spare IO headers
3. Successful overall▪ Robot was capable of completing task competitively▪ Despite unfortunate result, positive feedback was
received
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Bibliography
NIARC Facebook: https://www.facebook.com/niarcomp
NIARC Website: http://australia.ni.com/ni-arc
Element14: http://au.element14.com/
Oz Game Shop: http://www.ozgameshop.com/calculators/canon-x-mark-1-mouse-calculator-black-4738b002aa
Initiative mittelstand: http://www.imittelstand.de/themen/presse_hardware.html?boxid=487542