Team358.org - Robotic Eagles - FIRST® Robotics Competition

Upcoming Events:

Jan 7, 2017 10:00 AM:
Kickoff!
Jan 11, 2017 5:30 PM:
MS Science Fair
Feb 9, 2017 3:00 PM:
Chairman's/Woodie Flowers Due
Full event list

FIRST® Robotics Competition (FRC®)

2015 roboRIO Control System

Shortcuts

New System Components
roboRIO | Power Distribution Panel | Voltage Regulator Module | Pneumatics Control Module | Victor SP Motor Controller | Talon SRX Motor Controller |
Old System Components
Jaguar | Victor | Talon | Spike | HiTec Servo | Driver Station | Securing Your Driver Station | Joysticks | Launchpad (2015) | Launchpad (2014) | Cypress I/O | WiFi-2016 | RSL | Main Breaker | Breakers | Battery |
Sensors:
USB Camera | IP Camera | Camera Gimbal | Gyro | Accelerometer | Potentometer | Pressure Switch | Limit Switch | Ultrasonic |

2015 LabVIEW Examples

- For LabVIEW programmers here are how to do some common LabVIEW robot operations

Beta Testing

Beta Testing 2016 Changes to the Control System - A summation of what we've learned from our Fall 2015 testing of software updates and new hardware.

Beta Testing the New 2015 Control System - A summation of what we've learned from our testing, some videos demonstrating test results, photos of components/students/setups/test instrumentation/etc.

Beta Presentation 2015 v2.ppt - One of our workshop presentations on the new system (some incomplete slides as it gets partial updating)

2016 Hardware Components

Note: a higher resolution poster-sized layout schematic is FRC roboRIO Wiring Diagram (4140x2722)

Wireless

2017 Version-OM5P-AC

In 2017 the AN model has been superceeded by an almost identical AC model.
<i>FIRST</i> 2017 Robot Radio OpenMesh OM5P-AC Access Point

2016 Version-OM5P-AN

In 2016 the D-Link DAP-1522 Rev B AP/bridge has been discontinued.
Taking it's place is the OpenMesh OM5P-AN Access Point.

<i>FIRST</i> 2016 Robot Radio OpenMesh OM5P-AN Access Point

feet are 4mm tall, 10-12mm across

WARNING: This is a 12 volt device (unlike the old DLink) and requires the use of the VRM 12v/2a power for use on the competition robot.

Source: Open Mesh OM5P-AC Access Point
Note: A special price is available for FRC teams when they sign-in through their team account at AndyMark.

roboRIO

Designed and produced by National Instruments for FRC, this replaces the cRIO and Digital Sidecar combo.

NI roboRIO Details and Specifications
roboRIO Specification Flyer (August 2013)
myRIO-1950 User Guide and Specifications (A different variant, but some of the detailed technical specs apply to the general architecture).
NI Linux Real-Time
- Introduction to NI Linux Real-Time
- FAQ
- PREEMPT_RT real time patch set (-rt)
- NI Linux Real-Time Forum/Community
- Open Source

roboRIO dimensions and CAD

Performance Notes:

The roboRIO is between 4x and 10x faster than the old cRIO depending on operation.
A roboRIO boot or cold start takes 20 to 30 sec.
A roboRIO Reset takes ~6 sec (restarts just the user code)
A LabVIEW default program download takes 25 sec., but Building it still takes just as long and you want a good computer to run LabVIEW (the default code takes 7 min to compile on a Classmate)
Brownout condition < ~7v, system starts cutting off PWMs to conserve overall system power
Incorporates protection against shorted 6v/5v/3.3v power pins and reverse polarity connections

Rough dimensions: 5.75" x 5.625" x 1.375"tall (extra space above must be allowed for cable connections-PWM,Ethernet,USB)
Weight: 11 oz
Mounting loops to accommodate cable-tie fasteners.
(4) Mounting 4-40 x 3/16" deep screw receptacles located near the corners on the back
(4) Mounting 4-40 x 3/16" deep screw receptacles on the front grouped around the USB/Ethernet ports. Possibly appropriate for a team-designed cover.
Max operating temperature is 40C or 104 fahrenheit, so outdoor parades in Arizona might produce some anomalies.
Conformal coating for better protection of the circuit board from metal debris.
Processor - the roboRIO does not have a battery backup meaning a loss in power will reset the clock, so date/time stamps are affected. Initial date/time when roboRIO is booted seems to be 2/17/1970, 12:40am. When the Driver Station connects the time on the roboRIO gets sync'ed to the DS. So timestamps may vary accordingly if files are written/created before/after the DS connects after a roboRIO boot.
Built-in 3-axis accelerometer (12-bits, 800 S/s, selectable sensitivity of +/-2,4,or 8g, spec) - an FRC robot might typically have a straight line acceleration of roughly .5g. For FRC it's really the sudden and abrupt collisions/stops/drops that might exceed the accelerometer rating.
7-16v power input (2.6W min idle, 14W max, so if looking for a wallwart to run it standalone look for a 1amp one, e.g. NI myRIO Power Supply)
Communications
- (1) Ethernet
- (2) USB host (supports USB cameras, thumb drives (FAT16/32), etc.)
- (1) USB device (used to program and format the roboRIO)
- (1) CAN (1 Mbit/s)
- (1) I2C (400 kHz, 3.3v but 5v tolerant -substitute 5v from DIO power pin, MXP 5v or PI 5v. Make sure you use the voltage required by your device). The RoboRio I2C library uses 7 bit addressing (1 - 128) and 112 is the default address of the RoboRio. An Arduino and the older cRIO, for example, use 8 bit addressing. The clock and data I2C lines on the roboRIO have 2.2kOhm pullup resistors to 3.3v, so make sure that's compatible with the I2C device.
- (1) SPI (master-supports up to 4 devices, 4 MHz, 3.3v or 5v)
- (1) RS232 (+/-9v)
  Serial-port terminal program configuration: 115,200 bits per second, Eight data bits, No parity, One stop bit, No flow control
- Separate I2C, SPI, TTL communication ports are available through the MXP connection described below.
3.3v and 5v power are always available from a number of pins on the roboRIO.
(10) Digital I/O 0-9 (minimum pulse width 20ns) These pins are spaced out, still at a multiple of .1" spacing they are 4 pins distance apart. In other words, a 4-pin housing will reach between two adjacent sets of pins.

Note: the signal voltage is 3.3v, so sensors designed for a 5v signal may not work correctly.

The DIO center power pins can take advantage of a jumper inside the case to select between outputs of 3.3v or 5v (default is 5v). The DIO Signal itself is actually only 3.3v, but is 5v tolerant. Some DIO devices may need 5v while others require 3.3v power. If you have DIO sensors that run on 3.3v, then you can make the switch, but it's all or nothing. The switch affects all DIO power. As an alternative, there are 3.3v as well as 5v pins available all the time from the MXP port (see below) or the SPI port. The roboRIO case isn't designed to keep opening and closing to change the jumper, so decide once and leave it that way.
(10) PWM 0-9 - 6v servo power output 2.2A max
(4) Relay
(4) Analog Inputs 0-3, (0-5v, 12-bit, 500kS/s aggregate, recommended source impedance 3 kOhms or less, absolute accuracy +/-50 mV) Note that Gyro accumulators are only available on Analog Inputs 0 & 1.
(1) Robot Status Light output (can change but during Beta it is solid=Disabled, Regular blink=Enabled, whether in Teleop or Autonomous)
(1) MXP Custom Electronics Port This port is a 34-pin IDC socket, what an old floppy ribbon cable connector used if you have one of those laying around and want to use it as the basis of a homemade breakout (e.g., roboRIO MXP Developer's Guide).
Some pins are multipurpose (shared-either/or) so a pin can be configured to be a DIO or a PWM/I2C/SPI, while others are unique and dedicated.
- (16) DIO 0-15 (shared w/PWM/I2C/SPI)
- (3) PWM 0-9 (shared w/DIO)
- (4) Analog Input 0-3 (0-5v, 12-bit, 500kS/s aggregate)
- (1) TTL (max baud 230,400 bps, 3.3v but 5v tolerant-use either)
- (1) SPI (master-supports 1 device) (shared w/DIO 4-7)
- (1) I2C (shared w/DIO 14-15, 3.3v but 5v tolerant)
- (7) Digital GND pins for Signal reference: 8,12,16,20,24,28,30 (for DIO, TTL, I2C, SPI, PWM)
- (1) Analog Signal reference GND pin: 6 (for both analog input & output)
- (2) Analog Output (3mA, 0-5v, 12-bit, 340kS/s simultaneous)
- (1) 3.3v power - 1.5A max
- (1) 5v power - 1A max
Buttons
- Reset - a quick press simply reboots the processor and FPGA (cleaner than cycling the robot power).
  Pressing and holding the Reset button for 5 seconds (wait for the status light to turn yellow before releasing), then releasing it, restarts the processor and the FPGA while forcing the roboRIO into safe mode. In safe mode, the roboRIO launches only the services necessary for updating configuration and installing software.
- User - readable from user code, so you can do whatever you want with that information.
Status lights
- The cRIO will operate down to 4.34v supplied to the PDP, then it will (try to) reboot
- Power -
  - green=it's receiving >7v power
  - amber=<7v
  - red=a short on one of the power rails (center pin of the PWM, DIO, etc.)
  - off=no power (<4v)
- Status - off for normal operation. Blinks identify conditions, e.g., no OS image, booting, or problem states. We also see a double blink when the roboRIO has not been imaged the first time.
- Radio - not used yet
- Comm - roboRIO is communicating with a Driver Station. (codes could change)
  - Off=roboRIO is not communicating with a Driver station
  - red=No Robot Code. Driver Station is connected
  - green=DS and user code are talking normally
- Mode - Indicates the operational state: (codes could change)
  - off- Disabled
  - green=Teleop Enabled
  - orange=Auto Enabled
  - red=Test Enabled
- Robot Status Light (RSL) - (codes could change)
  - solid=Disabled (or if one of the roboRIO 3.3v/5v/6v power rails has a short, then the robot could be Enabled and the RSL would be dimmer but not blinking)
  - regular blinks=Enabled
- Standard Ethernet port hardware/comm lights - green for hardware connected, yellow for packet traffic
System:
- OS: NI Linux Real-Time ARMv7-A 3.2.35-rt52-2.0.0f0
- Free Disk space with default LV code: 276MB
- CPU load with default LV code: ~15%
- Free virtual memory with default LV code: 129MB
- Free Physical memory with default LV code: 92.1MB

Things you might want to add on your own:

Short USB A/B cable permanently mounted on the robot to save wear and protect the roboRIO USB device port from damage by runaway tethered robots, paired with a longer USB extension cable connected just when programming.
Short Ethernet extension cable on the Ethernet port to also connect to if that is your preferred connection method.

roboRIO source ($435): AndyMark

Weidmuller Connectors

Those little wire terminals on all the new components.

The small connectors for CAN on the roboRIO and CAN/circuit on the other three new components:PDP,PCM,VRM- are Wiedmuller LSF-SMT Series. They accept wire gauges of 16-24 AWG. Strip the wire end so that when inserted the insulation is enclosed by the cover. To use with stranded wire hold the white button while inserting or removing the wire.

Notes:

Strip your wire 8mm
While easy to use, these connectors have a tendency to cause individual strands of wire to bunch up when they are pushed into the connector. Be very watchful that these "whiskers" don't get exposed and risk shorting to the wire in the next connector.
Stranded wire should be pushed in while holding the button. Without the button the force and resistance, though light, with stranded wire will tend to catch some strands up, push them back, and bunch them around the top risking a whisker short with the connector next to it.
After insertion test the grip with a sharp tug
After insertion inspect for whiskers! If whiskers turn into a recurring problem then tinning the very tip just enough to hold the individual strands together will help. Avoid tinning the entire length of exposed wire, because a better contact is made if the strands can spread out when gripped by the connector.
If the wire comes out repeatedly with a tug, then the stripped part may be too short - needs to leave about .375 inches of bare wire exposed.
Make sure current flows, otherwise you may have gripped the wire insulation. Although that's not very likely on the largest gauge wire, it is on the smallest gauge wire where the insulation is as thick around as bare 16 gauge wire.
The two buttons associated with a wire pair can be held down at the same time to insert/remove both wires at once. The buttons can easily be depressed with a finger or fingenail too.

Video showing proper use
(fast-forward to proper stranded wire use shown halfway through this video)

Good Wiring vs Bad Wiring

Here's an example of using the terminals properly vs improperly. Good termination (left) will not show any visible wire. The Bad photo (right) shows how wire strands have pushed up and bunched around the top from being pushing them into the terminal. With a little robot rattling or being pulled to the side, these Bad terminals will easily short circuit.

Power Distribution Panel (PDP)

Designed and produced by Cross the Road Electronics (CTRE) for FRC, this replaces the previous PDP.
The PDP does NOT control it's outputs in any way, but it does monitor them for current, battery voltage.

Rough dimensions: 7.5" x 4.75" x 1.75"tall (w/ breakers installed)
Weight: 1 lb, 5.3 oz (no breakers)
(4) mounting holes at the corners. (smaller than 1/4-20 and larger than 10-32 fasteners)
(10) 20/30a Wago power outputs (note: the breakers for these sit high, so be extra careful that nothing conductive gets trapped underneath)
(8) 40a Wago power outputs
(1) dedicated power for roboRIO w/10a fuse
(2) dedicated power for Pneumatics Module and/or Voltage Regulator w/20a fuse
status lights - color and blink are usually in tandem and always a steady regular blink
- STAT - status (if voltage drops below 6.5v this will stay yellow even when the battery voltage recovers to let you know that the voltage did drop too low for normal operation. It's called a sticky voltage fault and once a sticky fault is set it stays set until you explicitly clear it (via webpage or using the ClearStickyFaults API).
- COMM - communications
- Color Code:
  - Off = low or no power
  - Green = powered
  - Yellow = low power < 6.5v (this is a sticky voltage fault and remains until cleared by the user through the CAN web interface)
  - Red = critical power < 5v
  - Red irregular blinks = too little power to operate
12v power input, studs are socket cap M6x10mm with a spring washer and protected by a removable cover. The protective cover screws (flat head, internal hex, 6-32, 3/8 in) are removed with a metric 2mm allen wrench and the power lugs inside need a 5mm allen wrench. Because of the close fitting cover the lugs cannot accommodate the screw-type sometimes used by teams, but must be crimped. The crimp lug cannot be too large either (0.44" wide), so measure before buying. The premade battery cables at AndyMark or Cross-the-Road Electronics are the proper size, as are these lugs .
(1) 20a mini-auto fuse (this in turn is protected by short circuit and over current circuits)
(1) 10a mini-auto fuse (this in turn is protected by short circuit and over current circuits)
Monitoring:
- The On-board Data Logging is accessible via WPIlib or web browser interface
- Output amperage is monitored for each of the outputs labeled on the case as channels 0-15 (40hz sample rate, .125a resolution)
- Input Battery voltage
- PDP internal board temperature
- Current short circuit faults
- Hardware fault
- Sticky faults are maintained for low battery, high temperature, and short circuit faults on each of the 16 channel outputs.
- Status back to the roboRIO is sent at a 25ms rate
(2) CAN (in and out or jumper selectable termination resistor for end of chain)
Valid CAN IDs 0-62 with 0 being the default. Note that the PDP can have CAN ID 0 at the same time that the PCM is also set to CAN ID 0, because the IDs only have to be unique by device type.

Performance Notes:

PDP Voltage drops using a load drawing 14.7a:
- The drop across the breaker itself is in the neighborhood of ~.07v
- .2v to .13v drop :20a/30a breakers, one with a loose fit fluctuated depending on how it was wiggled
- .165v drop :20a/30a breakers position that had a tighter fit
- .08v drop :40a breakers which use a more secure fitting style connector

Power Distribution Panel source ($200): AndyMark

Good Fuses vs Bad Fuses

Turns out that most folks at competition don't realize just how hard the Two PDP fuses (not the breakers) have to be pressed in before they are seated. Pressed in far enough and you'll feel them snap into place. If they are properly inserted, then they are impossible to remove by hand.
Left loose and your robot will die or sputter as the fuses rattle loose.

Here are some examples.
The first shows properly seated fuses. At least a third of the plastic case should be inside the PDP fuse slots.
The second shows one of the fuses as most teams insert them (you can even see the bare metal of the prongs).

Voltage Regulator Module (VRM)

Designed and produced by Cross the Road Electronics (CTRE) for FRC, this replaces the 12v/5v regulator and special protected and un-protected power outputs on the old PDP.

Used for additional components that require special protected power, e.g., wireless bridge, camera, sensors. The power output is protected from battery voltage fluctuations and maintains a steady 12v & 5v for electronics sensitive to supply dips.

There are two independent power supplies in the VRM, one 5v and one 12v and each protects itself against continuous power draws above ~1.5a and peaks momentary currents above 2a.
Each of these two power rails also incorporate a current limiter of .5a for two sets of terminals, such that a short on a .5a connection will not affect the corresponding 2a connection, however, a short on a 2a terminal will also shutdown the .5a circuit.

Note: the 5v rail has just enough power to run both the DLink (peak 725ma) and one Axis M1011 camera (peak 1.3a) for a combined peak of 2.025a for a short period of time. The 2a outputs are rated for 2a peak not continuous, but it is a total 2a between the combined 2a/.5a outputs.

Rough dimensions: 2.25" x 2.0" x 0.75"tall
Weight: 1.8 oz
(4) mounting holes (6-32 fasteners) at the corners.
(2) 5v power outputs @ 1.5a nominal continuous combined (2a max surge)
(2) 5v power outputs @ 500ma continuous combined (limited by the previous 1.5a protection)
(2) 12v power outputs @ 1.5a nominal continuous combined (2a max surge)
(2) 12v power outputs @ 500ma continuous combined (limited by the previous 1.5a protection)
Status Lights for 12v & for 5v: normally solid green. Very low voltage (<4v) causes the 5v to flicker
Incorporates protection against shorts

Voltage Regulator Module source ($40): AndyMark

Pneumatics Control Module (PCM)

Designed and produced by Cross the Road Electronics (CTRE) for FRC, this replaces the previous cRIO solenoid module and breakout.
(optional) only required if pneumatics are used.
Provides automatic closed loop for control of compressor according to pressure sensor state.

Rough dimensions: 2.75" x 2.25" x 0.75"tall
Weight: 2.3 oz
(4) mounting holes (6-32 fasteners) at the corners.
(8) Solenoid outputs
Jumper Selectable 12/24v output power. No jumper defaults to 24V.
The 24v for solenoids is guaranteed. The 12v just follows battery voltage.
(1) Pressure sensor input
(1) Compressor power output (compressor connects directly to PCM, no Spike required)
(2) CAN (so it belongs in the middle of a CAN device chain)
Valid CAN IDs 0-62 with 0 being the default. Note that the PCM can have CAN ID 0 at the same time that the PDP is also set to CAN ID 0, because the IDs only have to be unique by device type.
Incorporates protection against compressor and individual solenoid short circuits, as well as compressor high current draw.
Monitoring:
- The On-board Data Logging is accessible via WPIlib or web browser interface
- Compressor overcurrent (sticky)
- Compressor short circuit (sticky)
- Compressor present current
- Solenoids individual currently on or off
- Solenoid individual outputs short circuits (plus one shared sticky fault). 500mA circuit breaker to limit solenoid current.
- Battery voltage
- Solenoid voltage (selected by jumper) - this will be ~24v or for the 12v setting it will be the current battery voltage
- Sticky Faults: These can be viewed through the Web interface or the API. Once a sticky fault is set it stays set until you explicitly clear it (via webpage or using the ClearStickyFaults API).
- Status back to the roboRIO is sent at a 25ms rate
status lights
- Compressor state green (on/off)
- PCM status:
  - Special Note: on startup before the roboRIO has started CAN communication, the PCM status light will blink red. This stops and goes green when roboRIO communication is established.
  - Slow blink green=Disabled
  - Fast blink green=Enabled
  - Fast blink yellow="Light Device LED" (used through the user CAN web interface to identify which device it is)
  - Slow blink yellow=sticky fault occurred some time in the past (must be cleared via web interface or API)
  - Slow blink red=Low voltage (< 4.34v) or other fault states like shorts on the solenoids or compressor
  (video example:Disabled-Enabled-Disabled-Light Device LED-Disabled)
- Each solenoid output has an LED (on/off)

Pneumatics Control Module source ($90): AndyMark

Victor SP

New for this season VexPro & Cross the Road Electronics (CTRE) are releasing newly designed motor controllers.
One, the Victor SP will be controlled via PWM.
Another, the Talon SRX, is a CAN enabled motor controller with additional communication protocols and PID control.

Motor Controller Comparison-Jaguar-Victor-Talon-Victor SP

Motor Controller Height Comparison-Jaguar-Victor-Talon-Victor SP

Selections from the technical specs :

Dimensions: 2.5" x 1.125" x 0.875"tall
.2 lbs including attached wires
Power Input(12AWG, 600 strand, 5.5" long), Motor Output(5.5"), & PWM (17.8" long) cables come pre-attached
Sealed enclosure
Needs some airspace around it to dissipate heat
LED indicators blink proportionately to output speed and in various colors (yellow blink=Disabled, green=forward, red=backwards)
Illuminated "Brake / Coast Calibration" button enables one-touch setting changes and calibration
15 kHz output switching frequency
60a continuous current, 100a surge (2 secs)
4% deadband
(2) mounting holes (6-32 fasteners, #8 nut pockets) recessed and centered at the ends
cable-tie slots too

Video demonstrating: Motor Controller Victor SP Brake Brake Coast Calibrate Light

Brake mode (red light on), Coast mode (red light off), Calibration mode (status lights alternating blinking-followed by flashing red indicating calibration failure)

To switch between Brake/Coast momentarily push the Brake/Coast/Calibrate button. The button is illuminated red when the Victor-SP is in Brake mode and un-illuminated when in Coast.

To calibrate, hold the button until the the status LEDs (the LEDs on the sides) begin to rapidly blink between red and green. While continuing to hold the button, move the joystick to full forward then to full reverse. This can be repeated if desired. Allow the joystick to return to neutral then release the button. If the calibration succeeded you should see the Status LEDs blink green, if it failed they will blink red.
To restore default calibration, with the controller unpowered, press and hold the button while applying power to the controller until the status LEDs blink green.

Victor SP source ($60): Vex Robotics

Talon SRX

New for this season VexPro & Cross the Road Electronics (CTRE) are releasing newly designed motor controllers.
The Talon SRX, is a CAN enabled motor controller with CAN, SPI, Digital IO, and USART (serial) communication protocols and PID control.

Selections from the technical specs :

Dimensions: 2.75" x 1.85" x 0.96"tall
.2 lbs including attached wires
Power, Ground, Output cables come pre-attached
Sealed enclosure
Needs some airspace around it to dissipate heat
LED indicators blink proportionately to output speed
Illuminated "Brake / Coast Calibration" button enables one-touch setting changes and calibration
15 kHz output switching frequency
60a continuous current, 100a surge (2 secs)
4% deadband
(2) mounting holes (6-32 fasteners) recessed and centered at the ends
(2) CAN connectors
CAN connector serves for alternate PWM control

On a separate .05" pin header, these pins are available:
- (1) Quadrature encoder connection
- (2) Limit Switch connections - one to limit forward/ one for reverse
- (1) Analog Input (for 3.3v)
- 3.3v/5v power pins

Talon SRX source ($80): Vex Robotics

Existing Components

The control system components that carry over from prior years include:

Victor/Jaguar/Talon speed controllers (phasing out after this season)
Spike Relay
Robot Status Light
Laptop Driver Station
Wireless (for Beta Testing it is the same Rev B DLink as last year)

Speed Controller-Jaguar

Note: This model is being phased out in favor of the Victor SP and Talon SRX motor controllers

<i>FIRST</i> 2009 Luminary Micro Speed Controller Diagram

<i>FIRST</i> 2010 Luminary Micro Speed Controller

One Page Intro., Jaguar Getting Started

This Jaguar H-bridge speed controller comes from Vexrobotics.

20 kHz PWM frequency
5ms update rate
40 amps continuous w/over-current self-protection: 100 amp for .2 sec/60 amps for 2 sec
Standard R-C Servo type (PWM) interface
CAN interface as well
Status LED indicates run, direction, and fault conditions
Limit switch inputs for forward and reverse directions (MUST have jumpers or limit switches connected for the Jaguar to operate in forward or reverse)
Brake/coast mode selection
Larger than an IFI Victor 884 Speed Controller
Calibration feature
NOT reverse polarity protected
Terminals use 6-32
Valid CAN IDs 1-63 with ID 1 being the factory default. Jag IDs should be set to something other than the factory default of 1, since any new Jag plugged into the CAN network would be in conflict with any already existing device at address 1. Note that the Jaguar CAN ID can be the same as any different device type (e.g. PCM or PDP), because the IDs only have to be unique by device type.

cRIO Jaguar PWM specs (and test measurements using a run-of-the-mill digital voltmeter):

Period: 5ms
Reverse: .67ms (measured voltage: 0.67v)
Neutral: 1.5ms (measured voltage: 1.49v)
Forward: 2.33ms (measured voltage: 2.33v)

The Jaguar provides smoother control and is especially valuable at fine-tuned low speed control and it self-protects against over-current/temp. The Victor can handle some higher current stress for longer periods of time, but in a severe over-current case it would fail catastrophically. There are also reports of the Jaguar not working well with the Denso window motors. In any case new applications should be throughly tested to see which speed controller is more appropriate.

Fault Conditions

A slow flashing Red LED indicates that the MDL-BDC detected one of the following fault conditions:

Power supply under-voltage
Over temperature
Over current
Limit switch activated in the current direction of motion

When a fault condition occurs, the motor shuts down and the LED indicates a fault state during the fault condition and for 3 seconds after the fault cause is cleared (except for the limit switch fault, which is cleared instantly). A slow flashing Yellow LED indicates that the MDL-BDC is not receiving a valid control signal.

CALIBRATION PROCEDURE

To calibrate the servo-style PWM input for a specific range, connect a PWM source, then:

1. Hold down the USER switch with a straightened paperclip.
2. After 5 seconds, the LED flashes Red and Green quickly to indicate Calibration mode.
3. Instruct the controller to send a full-forward signal.
4. Instruct the controller to send a full-reverse signal.
5. Instruct the controller to return to a neutral signal.
6. The LED flashes Green and Yellow quickly to indicate a successful calibration. (Red & yellow means failure to calibrate)
7. Release the USER switch.

The MDL-BDC samples these signals and centers the speed range and neutral position between these limits. A calibration failure will be signaled if an out-of-range signal is detected.
To reset the servo-style PWM input to the default factory range:

1. Disconnect the power to the MDL-BDC.
2. Hold down the USER switch with a straightened paperclip.
3. Reconnect power to the MDL-BDC
4. After 5 seconds, the LED flashes Red and Green slowly to indicate a successful calibration reset to factory settings.
5. Release the USER switch.

To use a CAN interface with the Jaguar, see the Jaguar Getting Started document for CAN wiring instructions.
In addition, the roboRIO no longer uses the RS232 port for CAN communications, so the wiring for the first Jaguar in a CAN chain just requires that the two CAN wires be connected to one of the PDP CAN ports.

Source: Discontinued

Speed Controller-Victor

Note: This model is being phased out in favor of the Victor SP and Talon SRX motor controllers
This has been around longer than the Jaguar and has different characteristics. The Victor allows high current for longer than the Jaguar, while the Jaguar permits finer control. The Jaguar also does not seem to work well with the Window motors under certain circumstances, causing the Window motors to heat up unusually and be shutdown by the Window motor's thermal overload protection.
The Victor has improved models over the years (883/884/888), and the current model 888 have improved response.

IFI Victor 884 Callout

Victor 888 Speed Controller User Manual

Rough dimensions: 2.7" x 2.2" x 2.0"tall (extra space is required for fan ventilation)
120 Hz switching frequency (PWM output chop rate)
Standard R/C type PWM (red wire is unused-open circuit), Input pulse 1-2ms, rate 15-30ms
40 amps continuous (conservatively rated for FRC application)
6-15v min/max
3% minimum throttle
handles higher current applications than the Jaguar, but doesn't have the self-protection features that the Jaguar does
Standard R-C Servo type (PWM) interface
Brake/coast mode selection (checked 60 times per second)
much smaller footprint than a Jaguar
Status LED indicates power, neutral control signal, forward full, backward full
Calibration feature
cooling fan rated for 6-16v
Cannot be used with Brushless motors
NOT reverse polarity protected
Less linear output than the Jaguar
Terminals use 6-32 x 1/4 in

cRIO victor PWM specs (and test measurements using a run-of-the-mill digital voltmeter):

Period: 10ms
Reverse: 1ms (measured voltage: 0.5v)
Neutral: 1.5ms (measured voltage: 0.75v)
Forward: 2ms (measured voltage: 1.0v)

Source: Discontinued

Speed Controller-Talon

Note: This model is being phased out in favor of the Victor SP and Talon SRX motor controllers
Brushed DC motor speed control featuring a sealed design with passive cooling and a footprint slightly smaller than a Victor. Without the optional fan it is also much shorter.
From Cross the road electronics

Rough dimensions: 1.9" x 2.7" x 1.2"tall (without optional fan)
Input voltage: 6-28 VDC
Continuous current: 60 A
Peak current: 100 A
Input PWM signal: 0.9-2 ms @ 333 Hz
Input resolution: 10-bit (1024 steps)
Output resolution: 10-bit (1024 steps)
Output switching frequency: 15 kHz
Locked-antiphase rectification
Smart LED, blinks proportional to throttle
Simple calibration
User selectable brake/coast
4% neutral dead band
Linear throttle response
Terminals use 6-32

Talon Users Manual

Source: Discontinued

Spike Relay

The Spike is not a PWM device although it is controlled by a PWM-style cable. It can not be connected to an R/C hobby type receiver. The Spike is designed to plug into special Relay Ports.

Control Signal Hi: 3V min @ 4mA; Lo: open or ground.
Operating Voltage 6V to 16V
Maximum Current 20A continuous
Surge Current 100A for < 2 second
Max Switching Rate 20 operations per second no load, 6 operations per minute for rated life at rated load
Initial Operate Time 5 ms typical
Initial Release Time 2 ms typical
Expected Mechanical Life 10 million operations
Expected Electrical Life 100K operations at 20A, 14VDC, 1mH
Power Connector 1/4" blade connectors
Signal Connector Uses a standard non-shrouded PWM cable (3 wires)
Typical Application Power one motor with variable speed forward, reverse, or off (shunt brake)

Blue Spike Guide

Source: VexPro

HiTec Servo

The HiTec servo is a small motor that can be commanded to rotate to a particular position in a range of ~270 degrees. It has a varied of "horns" or the white part in the accompanying photo that are interchangeable, and are often used with homegrown mechanical linkages to increase their effectiveness.
This attaches to the roboRIO PWM outputs and is powered by the 6v power from the PWM connection,

HiTec Servo HS-322HD

Source: AndyMark

Driver Station (DS) Application

First, The Driver station is really a custom FRC application that can be run on most Windows OS's The Driver Station application is closed source to secure dependable robot safety protocols and must be used by all teams to compete.
The Driver Station provides feedback on PC to robot communications (overall and ping statuses for components in the network).

Some useful capabilities include:

Setup tab
- Click on the arrow next to the team number to list any robots that are responding to the existing team number filter. Holding shift will show all responding devices on the network. Selecting from the list will choose that robot co connect to.

A companion application called the Dashboard can be created by the team from tools provided by FIRST or completely generated on their own. A fully operational and comprehensive default Dashboard LabVIEW application comes from FIRST, which can be used as-is, modified, replaced completely, or eliminated, as the team desires.
The default Dashboard provides:

One robot camera display
data feedback on joystick positions&buttons

Driver Station (DS) (2012/2013/2014/2015 version) Hardware

FRC provides teams starting out with a rugged low-end netbook called a Classmate to serve as host to the Driver Station software.
It has enough power to support all the basic Driver Station and Dashboard operations.

<i>FIRST</i> 2012/2013/2014 Classmate Driver Station

Any laptop is now legal with only the Driver station application a requirement.
Rookies are still provided with a Classmate. FIRST provides new (optional) Classmate images to update older Classmates to Windows 7 (if necessary) and pre-install the current year's programming environment(s). The oldest E09 only installs the Driver Station, because the very limited disk space does not leave enough room for today's larger programming tools.

It is important to install the proper image for the model Classmate. The wrong image will give you an operational netbook, but the drivers will be incorrect. Usually the first indication that the wrong image was loaded is that the video appears stretched and is limited to 800x600 or 640x480 rather than the normal 1024x600.
You can find the Classmate model number inside the battery compartment.

A rolling press of all three [ ] \ keys will Enable the robot
Enter key = Disable robot

The 2012/13/14 Classmate power adaptor produces 2.1 amps @ 19v with center positive on the barrel connector.

Classmate E12 Specs

Any laptop is legal. Only the FRC Driver Station application is required.

Safe, Secure Driver Station Laptop Operation:

Run the Driver Station application as administrator, so it is least likely to be blocked from creating/modifying the .ini file in Public Documents/FRC.
Clean up your laptop: Turn off all firewalls, anti-virus scanners, Microsoft Security, automatic update services like AutoDesk, Skype, Box, streaming music services, anything that isn't the bare operation system/Driver station app/Dashboard app.
The built-in Ethernet port will eventually get damaged with the typical rough handling they get being connected/disconnected for each match. The cable retention clip breaks on many machines. Employ an Ethernet pigtail tied down to a driver station panel to reduce stress on the built-in Ethernet port. A usb-Ethernet adaptors works as a substitute when the regular port is broken or your laptop doesn't have a port.
Triple check that your IP settings are exactly what is required by the playing field:
- Ethernet port IP - DHCP
- Disable wireless and all other unused network cards.
Keep your laptop battery fully charged and plugged in at ALL times. Many failures are due to a lack of laptop battery power - USB ports brown-out, laptops slow down or sleep to conserve power or go to sleep/hibernate while a match is in progress.
Disable all power saving features and keep your laptop plugged in at all times instead: in the pit, on a power inverter in match queue, in the field Player Station power outlet.
Windows is notorious for cutting power to external ports while the laptop is on battery or after hibernating/sleeping.

USB safeguards:
- Set USB power saver settings to avoid power cutbacks.
  - Step 1: Device Manager
    - Open the Device Manager. Win 8, hold the Windows key and press the 'x' key to open a menu in the lower-left and select "Device Manager." Using Win 7, open the Start Menu, type "Device Manager" in the search field, and click it.
    - Expand "Universal Serial Bus controllers"
    - Right-click each entry titled "USB Root Hub" and select "Properties"
    - Change to the "Power Management" tab
    - Uncheck the check box next to "Allow the computer to turn off this device to save power"
    - Press "OK"
    - Repeat this for each "USB Root Hub" entry
    - Reboot the computer
  - Step 2: Power Options
    - Search for "Power Options" and open them or go to Control Panel -> Power Options
    - For your current Power Plan choose "Change Plan Settings"
    - Select "Never" for everything if you know what's good for you (okay this isn't a USB thing, but hey). (Note: this means you have to be really conscientious about keeping the laptop plugged in at ALL times (Pit, Queue, Field).
    - Choose "Change advanced power settings"
    - Choose "USB Settings" -> "USB selective suspend setting"
    - -> On battery: Disabled
    - -> Plugged in: Disabled
- If using more than one USB device, i.e., multiple joysticks, distribute the USB load across all the laptop USB ports that you have. Keep critical joysticks on their own USB port.
- Avoid ganging multiple USB devices up on a single USB hub. Bigger hubs are worse, because larger hubs and more devices require more power and USB has a 500mA limit. If used, small hubs are best.
- Avoid complicated joysticks that draw an excess of USB power. Power hungry fancy sticks or ones with glittery LEDs require more power and won't fare as well as plain vanilla generic joysticks when a brown-out occurs.
Ethernet port safeguards:
- The same as for USB, set the Ethernet port power saver settings to avoid power cutbacks.
  - Open the Device Manager. Win 8, hold the Windows key and press the 'x' key to open a menu in the lower-left and select "Device Manager." Using Win 7, open the Start Menu, type "Device Manager" in the search field, and click it.
  - Expand "Network adaptors"
  - Right-click each entry and select "Properties"
  - Change to the "Power Management" tab
  - Uncheck the check box next to "Allow the computer to turn off this device to save power"
  - Press "OK"

Joysticks

FRC Logitech F310 Game Controller Mapping

FRC Extreme 3D Pro Game Controller Mapping

Logitech Attack 3, xBox 360, Logitech F310 (mapping changes for a Dual Action/xBox Emulator switch on bottom and for a Sports mode switch on top) Extreme 3D Pro
(click on game controllers for 2015 FRC mapping of buttons & axes)

To control the robot the Kit of Parts includes the classic Attack3 Joystick and others through FIRST Choice or the physical kit. Any USB wired game controller can be used, such as Xbox 360 or Playstation 3 USB compatible game controllers. It just has to be recognizable by the Windows OS with an appropriate hardware driver on the Driver Station laptop as a game controller. Non-game controllers such as keypads are not recognized by the Driver station application.

Note: Some game controllers (like the F310 above) have mode buttons and switches that change how the buttons and axes are mapped. This can inadvertently lead to a mysterious loss of control if the driver hits the button/switch accidentally. Controllers without such a switch are more foolproof to use.

Warning: power hungry controllers and loaded down USB hubs may brown out during competition. Basic controllers connected directly to the laptop USB ports with power saving turned off are safest. When the driver station is running on laptop battery it begins to cut power to USB ports starting with the ports with the highest power drain. Usually, that means starting with ports connected to bigger drain USB hubs that have several devices hanging off them, or LED heavy game controllers.
Changing Windows USB Power Settings

Source: Game console retailers like Best Buy, GameStop, Target, Walmart

Texas Instruments MSP430 Launchpad (2015)

FRC TI Stellaris Launchpad Evaluation Kit

The Launchpad requires custom firmware provided by TI to set it up to behave like a standard HID joystick (or two joysticks), making buttons and dials available for user custom designed control board extensions.
The board itself is powered by and communicates through a USB connection to the laptop/netbook running the Driver Station application.

A Gamepad Tool to setup the board is included as part of the FRC Update package (where the Driver Station comes from too). Several optional pinout setups are available through the Gamepad Tool. Directions and further information/help is provided by the TI wiki: MSP430 LaunchPad Operator Interface for FIRST Robotics Competition

Source: TI Store

Texas Instruments Stellaris Launchpad Evaluation Kit LM4F120 (2014)

The Stellaris requires custom firmware provided by TI to set it up to behave like a standard HID joystick (or two joysticks), making buttons and dials available for user custom designed control board extensions. The unit is stackable with other breakout boards to add capability or simplify screw terminal connections.

The Stellaris is powered by and communicates through a USB connection to the laptop/netbook running the Driver Station application.
User Manual
Using the Stellaris LaunchPad in FRC

Source: Digikey

Cypress CY8CKIT-049-42xx

This year's version of the Cypress demo board can be used for driver station buttons and potentiometers.
One end of the board itself is a USB connector that can be plugged directly into a laptop, but it needs to be supported somehow. It can also connect to a standard A/A USB cable that then plugs into the laptop making a somewhat more secure connection.
The board has through holes where wires must be soldered to make use of the connections you want.

Additional information is at: Cypress CY8CKIT-049-42xx

Rockwell Robot Status Light

Wired one way it will flash forever, but wired correctly it will repeat exactly what the RSL LED on the roboRIO does.
Ground, Power and most importantly-a jumper MUST be used.
RSL Wiring

The RSL blink pattern tells what state the robot is in. The patterns can be changed year-to-year but in 2015 they are:

solid=Disabled
regular blinks=Enabled

Main Breaker/Robot Power Switch

The battery connects through Anderson connectors to this 120 amp breaker used as the main robot power switch. It is very unlikely that this will ever trip under normal conditions as it withstands amperage much greater than 120a for some period of time before tripping. If it does trip you have a serious electrical problem, or ill designed overloaded power draws.

Squeeze the black lever to turn on.
Push the red button to turn off.

120amp Main Breaker/Robot Power Switch Spec.

Source: AndyMark

Snap Action Breakers

These mount in the Power Distribution Panel and are self-resetting 40/30/20 amp breakers for individual circuit protection. It's important to remember that these only safeguard the wiring, and it's critical that they each be used with the properly rated wire gauge (or better). They do not protect devices like the speed controllers.
Snap-Action 30/20a Breaker Spec.
Snap-Action 40a Breaker Spec.

Source: VexPro or AndyMark

EnerSys NP18-12 or MK ES17-12 Batteries

FRC robots are restricted to specific 12v batteries approved by FIRST for competition. FIRST greatly expanded the list of approved battery models and has been willing to consider approving different models, but direct communication with FIRST including battery specs are required. All battery models used in competition must appear on an approved FIRST list checked by inspectors. One or two batteries are provided in the Kit and if they are the same past years batteries can be used as spares. It's a good idea to have several (4-5) batteries (and chargers) for competition.

Specs: EnerSys NP18-12 Datasheet
MK ES17-12 Datasheet

Material Safety Data Sheet (MSDS):
EnerSys NP18-12 MSDS

Source: AndyMark

Sensors

The choice of sensors is generally wide open. These are sensors that have appeared in the KOP in past years or that are commonly encountered on FRC robots. FIRST generally places only a few rules restrictions on sensors, such as limitations on potentially hazardous higher powered laser-based sensors and a $400 max price per unit.

FRC 2011 Sensor Manual

USB Cameras

<i>FIRST</i> Microsoft Lifecam HD-3000 USB Camera

Any USB camera will work with the roboRIO that is Linux UVC compatible (there's a list of compatible USB cameras at that link).
We tested both the Microsoft HD3000 LifeCam (shown) and the Logitech HD Pro Webcam C920 on the roboRIO.

Since it is a USB device connected directly to the roboRIO you must have user code to process and/or forward the video stream to the Dashboard for viewing.

Source: AndyMark

Axis 206/M1011/M1013 Webcam

This optional network camera is connected through the DLink network bridge (any cable/camera model). For the default camera code to work with it there must be a special user account - username: FRC/password: FRC

Note: the screw mount on the camera back takes an M4 metric nut.
The power plug is size H: Tip size: 3.4mm O.D.x1.3mm I.D.

<i>FIRST</i> Axis M1011images/ Webcam Yellow status

<i>FIRST</i> Axis M1011images/ Webcam Yellow status

<i>FIRST</i> Axis M1011 Webcam Yellow status

Camera Image Compression vs. image file size

Axis 206:
- Adjustable focus lense
- Manual
- Datasheet
Axis M1011:
- Fixed focus lense
- Manual
- Datasheet
- Installation Guide
Axis M1013:
- Adjustable focus lense
- Datasheet
- Axis M1013-14 Quick Guide
- Axis M1013 User Manual

Source: AndyMark

Camera Gimbal (aka, Pan & Tilt Assembly)

If your camera use calls for searching for targets where a fixed mounting position is inappropriate, then something like this can be purchased through AndyMark
Camera Pan and Tilt Assembly Diagrams

Kit Gyroscope

Analog Devices ADW22307 1-axis Analog Gyroscope

Accelerometer-Gyro Guide

Wire to analog input:

rate connects to signal
next pin connects to 5v power
pin at corner of board connects to ground (-)

The gyro positive direct is shown on the board.
The second triplet of pins returns temperature (not commonly used).
FRC Gyroscope Specs

Kit Accelerometer

Analog Devices ADXL345 3-axis Digital Accelerometer.

Maximum of 250 degrees per second for the Analog Devices ADW22307. Nominal output is 2.5V at standstill, plus 7mV/¡/s.
This connects to either the roboRIO SPI or I2C communication ports.
SPI output (J4):
wire to Digital I/O pins on the roboRIO

Connect CK, DI, DO, CS in order to four Digital I/O pins
Connect 0V to a ground (-) pin
Connect 5v to a power pin

The alternate I2C output (J2):
wire to the pins on the roboRIO found next to the input power connector. By default, the I2C address of this accelerometer board is 0x3A. The address can be changed to 0xA6 by shorting J1 with a blob of solder.

Connect 5V to 5V from a DIO power pin. Not that the I2C 3.3v pin doesn't have enough power for this particular sensor board.
SCL to SCL
SDA to SDA
(-) to Ground

FRC Accelerometer Specs

Pneumatic Pressure Sensor

The pressure switch sensor is used as part of the pneumatic sub-system. It tells the controller when to turn the compressor on as the air pressure drops, and when to turn it off as pressure reaches maximum.
It connects to a specific reserved input on the PCM. The terminals are interchangable.

one terminal -> ground (-)
one terminal -> signal

Spec: Nason Pressure Switch

Potentometer

Potentiometers (or "pots") in robotics are most frequently coupled to a mechanism to measure the angle of rotation or a distance of mechanism travel. It is a simple analog device that's a little noisy, so doesn't return an exact value and has a certain amount of flicker in it's readings. Think of a volume control knob (avoid "audio tapers" for robotics use though) or a light dimmer.
Pots come in several useful varieties:

Rotary - several versions: 270 degree (most common), 3-turn/5-turn/10-turn (useful for great rotations), infinite rotation (usually with a 10 degree deadspot)
Linear - limited travel, typically used as faders on sound or lighting boards.
String - the most expensive type has a spring loaded wire reel that measures how far it is pulled out.

They have three terminals:

ground (-)
signal
power (+)

with two wiring options: 1) voltage divider, or 2) variable resistor
The voltage divider (used when connected as a cRIO Analog input) uses all three terminals.
The variable resistor only requires the ground and signal terminals.

Source: Radio Shack (search for "potentiometer")

Limit Switch

Limit switches are intended to be pressed by some mechanical mechanism to signal a stop or limit of movement.
The switch connects to a roboRIO digital input and is marked on the side with a simple wiring diagram.

NC stands for "Normally Closed" and means the switch will read as closed until it is activated
NO stands for "Normally Open" meaning the switch will read as open until it is activated

There are design reasons that you may want one over the other, but often it doesn't matter which is chosen. Normally Closed is desirable when you want to know if the switch is broken as a safety measure. This might be helpful if you have a mechanism that destroys itself if you cannot detect the limit. If the switch gets ripped off or otherwise becomes disconnected, then it will read as if the mechanical limit has been reached and your code can prevent the mechanism from moving in the direction of the limit switch.
Normally Open is how most people typically think of switches operating.
There are two wiring options. The switch only requires two connections:

COM1 -> ground (-)
NC2 -> signal (or NO3 -> signal)

As with most switches, there is no polarity to the connections and they are reversible.
FRC Limit Switch Spec

Source: Radio Shack (search for "SPDT switch")

Defunct components

pre-2016 Wireless

In 2016 the D-Link DAP-1522 Rev B AP/bridge has been discontinued.

<i>FIRST</i> 2012 Robot Radio DAP-1522 Rev B

WARNING: This is a 5 volt device and requires the use of the VRM 5v/2a power for use on the competition robot.

Source: Discontinued

D-Link DAP-1522 Rev B manual (2012)
D-Link DAP-1522 Rev B Firmware for FRC (2012)