programming and electronics training monica begnaud cody stafford 1
TRANSCRIPT
Compact Rio (CRIO)• Brain of the Robot• Is connected to the
Dlink by Ethernet cable• Outputs signals to the
PD Board and Digital Sidecar• Has different slots
depending on what your robot does• Ex: pneumatics
4
Dlink and Camera• Dlink Router that the
drive station connects to • Camera so the
drivers can see from the robot’s perspective on the dashboard
5
Power Distribution (PD) Board• Connected to the
CRio• Send power out to
the motor controls and the circuit breaker
6
Digital Sidecar• Gets power from the
PD board and signal from the CRio• Has signal outputs for
the motor controls, servos, and the signal light
7
Jaguar (Jags)• Motor controller • Connected to the
Sidecar with a PWM wire and to the PD Board• Can control the
amount of power sent to the motors
8PWM Connections
Power Connections
Motor Connections
Spikes• Like a Jag, it’s a
motor controller but it doesn’t vary the amount of power. It’s just on or off.
9
Breaker and Battery• Battery connected to
the breaker• Breaker controls the
power to the robot.• Turn the breaker OFF
before messing with any of the wiring!!!
12
Connections
Power Button
LabVIEW Programming basics
What is a VI?
• Robot Main.vi• Begin.vi• Autonomous.vi• TeleOp.vi• Finish.vi
16
‘Programming’ Flowchart• State hardware that will be used• Hardware’s function and speed• Decide controller layout• Create a flowchart of the program
17
‘Programming’ Flowchart Example• You have a robot with two motors, two jags, a CRio, and an
Xbox control. You want the motors to run at ½ speed whenever you hit forward on the right stick but that is all you want it to do
18