Difference between revisions of "RoboCup: Redesign 2014-2015"

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== Phase I: Techanical Analysis ==
+
= <span style="color:#B22222;"><span style="background-color:#FFFFE0;">ATTENTION:&nbsp;</span></span><span style="background-color:#FFFFE0;">THIS PAGE WAS ABANDONED DURING THE 2015 REDESIGN IN FAVOR OF THE ROBOCUP BOARD ON&nbsp;</span>[https://trello.com/ <span style="background-color:#FFFFE0;">TRELLO</span>]<span style="background-color:#FFFFE0;">.</span> =
 +
 
 +
= Phase I: Technical Analysis =
  
 
The first stage of the 2014-2015 RoboCup redesign involves brainstorming potential upgrades by researching new technologies/resources since the last revision. A parallel analysis of current robot bugs and potential enhancements is also done at this time. Outlined below is a listing of resources that the team used in this brainstorming stage.
 
The first stage of the 2014-2015 RoboCup redesign involves brainstorming potential upgrades by researching new technologies/resources since the last revision. A parallel analysis of current robot bugs and potential enhancements is also done at this time. Outlined below is a listing of resources that the team used in this brainstorming stage.
  
−
[[RoboCup: Competition 2014|Competition 2014]]&nbsp;documentation
+
[[RoboCup:_Competition_2014|Competition 2014]]&nbsp;documentation
  
 
[[TDP|Team Description Papers]] (''TDP'')
 
[[TDP|Team Description Papers]] (''TDP'')
Line 15: Line 17:
 
During the design phase, specifications are determined for each section of the robot. Experimental&nbsp;results are documented here from all&nbsp;quantitative findings. This phase is also where the high-level ideas from ''Phase I'' are tracked to ensure completion.
 
During the design phase, specifications are determined for each section of the robot. Experimental&nbsp;results are documented here from all&nbsp;quantitative findings. This phase is also where the high-level ideas from ''Phase I'' are tracked to ensure completion.
  
−
=== Logical Controlling Unit ===
+
=== Microcontroller/FPGA Processing ===
  
 
----
 
----
Line 21: Line 23:
 
[http://developer.mbed.org/cookbook/Assembly-Language#debugging-an-mbed-project-using-the-keil mbed Debugging]
 
[http://developer.mbed.org/cookbook/Assembly-Language#debugging-an-mbed-project-using-the-keil mbed Debugging]
  
−
==== To Do ====
+
==== <s>To Do</s> ====
  
−
*Successfully communicate over [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus SPI] with a current FPGA and mbed
+
*<s>Successfully communicate over [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus SPI] with a current FPGA and mbed</s>
  
 
==== Completed ====
 
==== Completed ====
  
 
*Build development board for testing FPGA configuration from [http://developer.mbed.org/handbook/LocalFileSystem mbed's flash storage]
 
*Build development board for testing FPGA configuration from [http://developer.mbed.org/handbook/LocalFileSystem mbed's flash storage]
 +
**Tested and confirmed working
 
*Obtain [http://developer.mbed.org/platforms/mbed-LPC1768/ mbeds]&nbsp;for robot use
 
*Obtain [http://developer.mbed.org/platforms/mbed-LPC1768/ mbeds]&nbsp;for robot use
 
**''How:'' 15 mbeds donated by ECE department
 
**''How:'' 15 mbeds donated by ECE department
Line 37: Line 40:
 
[http://wiki.robojackets.org/mediawiki/images/e/e1/RoboCup2014Design-MaxPCB_Dimensions.pdf Max PCB Dimensions]
 
[http://wiki.robojackets.org/mediawiki/images/e/e1/RoboCup2014Design-MaxPCB_Dimensions.pdf Max PCB Dimensions]
  
−
==== To Do ====
+
==== <s>To Do</s> ====
  
−
*Determine location and placement for dribbler motor header
+
*<s>Determine best solution for integrating serial identification to mechanical bases</s>
−
*Determine optimal placement direction for drive motor's phase connections (motor board)
+
*<s>Add connection header for ball sensor to control board</s>
−
*Add connection header for ball sensor to control board
+
*<s>Test motor wire modifications before working on the entire batch of motors</s>
−
*Add wires among connections in CAD assembly files
+
*<s>Determine kicker connections and integration</s>
−
*Test motor wire modifications before working on the entire batch of motors
+
**<s>Tentative plans for a [http://en.wikipedia.org/wiki/PCI_Express PCI Express Mini] conenction on the motor board's edge</s>
−
*Determine kicker connections and integration
+
*<s>Determine options using [http://www.camloc.us/camloc-quarter-turns-catalog.php quarter-turn screws] for electrical board attachment</s>
−
*Determine options using [http://www.camloc.us/camloc-quarter-turns-catalog.php quarter-turn screws] for electrical board attachment
 
  
 
==== Completed ====
 
==== Completed ====
  
 +
*Research options for using Altium for schematic and board layout designs
 +
**''Completed Task:'' Contact them for a 30 day trial
 +
**''Outcome:'' Altium sponsorship with 6 "On-Demand" licenses for [http://www.altium.com/altium-designer/overview Altium Designer]
 +
*Determine location and placement for dribbler motor header
 
*Update hall connection header to right angled one
 
*Update hall connection header to right angled one
 
*Add pin locations to all connection housings in CAD part files
 
*Add pin locations to all connection housings in CAD part files
−
*Update the 14-pin connection header (female) for the control-to-motor board connection
+
*<s>Update the 14-pin connection header (female) for the control-to-motor board connection</s>
 +
**''Update:'' Abandoned for different board-to-board connectors
 
*Finalize method for adjusting motor wire lengths when motors arrive
 
*Finalize method for adjusting motor wire lengths when motors arrive
 
**''Decision:''&nbsp;Unsolder from motor's PCB, trim to length, and resolder to motor's PCB
 
**''Decision:''&nbsp;Unsolder from motor's PCB, trim to length, and resolder to motor's PCB
 
**''Reason:'' Did not want to delay ordering motors any futher & hand soldering results in higher yields compared against hand crimping
 
**''Reason:'' Did not want to delay ordering motors any futher & hand soldering results in higher yields compared against hand crimping
 
*Determine placement of battery location
 
*Determine placement of battery location
 +
**''Decision:'' Horizontally under all electronics
  
 
=== Radio ===
 
=== Radio ===
Line 63: Line 71:
 
[http://developer.mbed.org/teams/RoboJackets/code/RoboCup-SSL-2015-Firmware/ CC1101 C++ library]
 
[http://developer.mbed.org/teams/RoboJackets/code/RoboCup-SSL-2015-Firmware/ CC1101 C++ library]
  
−
[http://developer.mbed.org/cookbook/nRF24L01-wireless-transceiver nRF24L01+ C++ library]
+
<s>[http://developer.mbed.org/cookbook/nRF24L01-wireless-transceiver nRF24L01+ C++ library]</s>
−
 
 
−
Current protocol <span style="background-color:#FFFF00;">[LINK TO BE CREATED & UPDATED]</span>
 
  
−
==== To Do ====
+
==== <s>To Do</s> ====
  
−
*[https://redmine.robojackets.org/issues/463 Determine optimal secondary frequency] for base station updates
+
*<s>Obtain breakout boards for [http://www.ti.com/product/cc1201 CC1201]&nbsp;transceivers with integrated [http://www.digikey.com/product-detail/en/ANT-916-CHP-T/ANT-916-CHP-TCT-ND/1534437 ANT-916-CHP] antenna</s>
−
*Test methods using breakout boards and compare data rates
+
*<s>Order [http://www.ti.com/product/cc1201 CC1201] samples from [http://www.ti.com/ TI]</s>
−
*Successfully communicate using two (2) [https://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24L01P nRF24L01+] transceivers and two (2) [http://developer.mbed.org/platforms/mbed-LPC1768/ mbeds]
+
**<s>Current quantity: <code>21</code></s>
−
*Research and determine best steps for structuring radio protocol with ''primary ''and ''seconday ''frequencies
+
*<s>Successfully communicate using two (2) [http://www.ti.com/product/cc1201 CC1201] transceivers and two (2) [http://developer.mbed.org/platforms/mbed-LPC1768/ mbeds]</s>
−
**The Crazyflie project has basic&nbsp;[http://wiki.bitcraze.se/projects:crazyflie:firmware:comm_protocol radio documentation] for how they implemented real-time communication with room for expansion
+
*<s>Research and determine best steps for structuring radio protocol with ''primary ''and ''seconday ''frequencies</s>
−
*Test packet optimizations - [http://koti.kapsi.fi/jpa/nanopb/ Nanopb]&nbsp;is promosing for this
+
**<s>The Crazyflie project has basic&nbsp;[http://wiki.bitcraze.se/projects:crazyflie:firmware:comm_protocol radio documentation] for how they implemented real-time communication with room for expansion</s>
 +
*<s>Test packet optimizations - [http://koti.kapsi.fi/jpa/nanopb/ Nanopb]&nbsp;is promosing for this</s>
  
 
==== Completed ====
 
==== Completed ====
  
 +
*Obtain TI's [http://www.ti.com/tool/cc-debugger CC Debugger] for interfacing transceivers with [http://www.ti.com/tool/smartrftm-studio SmartRF Studio]
 +
**''How:'' Digi-Key
 +
*<s>Successfully communicate using two (2) nRF24L01+ transceivers and two (2) mbeds</s>
 +
**''Result:'' Task abandoned. Determined that a 2<sup>nd</sup> frequency band provided only nominal benefits
 +
*Test methods using breakout boards and compare data rates
 +
**''Result:'' Packet processing (<code>~60 bytes</code>) for receptions estimated to consume <code>0.2ms</code> to <code>0.3ms</code> of processing time @ <code>60 packets/sec</code>
 +
*Determine optimal secondary frequency for base station updates
 +
**''Decision:'' End result's data rate is only nominally benefitial for high-throughput broadcasting. No 2<sup>nd</sup> transceiver
 
*Research integration options of the&nbsp;[http://www.ti.com/product/CC1111F32?keyMatch=cc1111&tisearch=Search-EN CC1111&nbsp;]and&nbsp;[https://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24LU1P nRF24LU1+]
 
*Research integration options of the&nbsp;[http://www.ti.com/product/CC1111F32?keyMatch=cc1111&tisearch=Search-EN CC1111&nbsp;]and&nbsp;[https://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24LU1P nRF24LU1+]
 
**''Decision:'' Do not use SoC parts for the base station
 
**''Decision:'' Do not use SoC parts for the base station
Line 87: Line 102:
 
*Obtain breakout boards for [https://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24L01P nRF24L01+]
 
*Obtain breakout boards for [https://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24L01P nRF24L01+]
 
**''How:'' eBay
 
**''How:'' eBay
 +
 +
[[File:RadioPrototype.png|500px|RadioPrototype.png]]
  
 
=== FPGA ===
 
=== FPGA ===
Line 92: Line 109:
 
----
 
----
  
−
A few major change to the FPGA's [http://en.wikipedia.org/wiki/Verilog Verilog] code must be made for the 2015 redesign. This means documentation mean be produced/located for how the FPGA currently communicates on the SPI bus and append documentation for new protocol.
+
A few minor changes to the FPGA's [http://en.wikipedia.org/wiki/Verilog Verilog] code must be made for the 2015 redesign. This includes migrating the [<sup>2</sup>C] interface with the kicker board to the [http://developer.mbed.org/platforms/mbed-LPC1768/ mbed] platform & enhancing encoder connections to support the new [http://en.wikipedia.org/wiki/Differential_signaling differential signals].
  
−
<u>'''Setting up a computer for Verilog development'''</u>
+
==== Setting up a computer for Verilog development ====
  
 
#Create an account on [http://www.xilinx.com/ Xilinx's website]
 
#Create an account on [http://www.xilinx.com/ Xilinx's website]
Line 101: Line 118:
 
#*The current version at the time of this writing is ''14.7 ''(size: ~6GB)
 
#*The current version at the time of this writing is ''14.7 ''(size: ~6GB)
 
#*The '''<span style="color:#FF8C00;">ISE Design Suite</span>''' is no longer supported
 
#*The '''<span style="color:#FF8C00;">ISE Design Suite</span>''' is no longer supported
−
#*The newer version of Xilinx's software is called [http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools.html Vivado Design Tools]&nbsp;and does not support the [http://www.xilinx.com/support/documentation/data_sheets/ds312.pdf Spartan-3E] FPGA
+
#*The newer version of Xilinx's software is called [http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools.html Vivado Design Tools], but it&nbsp;does not support the [http://www.xilinx.com/support/documentation/data_sheets/ds312.pdf Spartan-3E] FPGA
 
#Install the program to your computer
 
#Install the program to your computer
 
#*The installer will prompt you to select an edition to install
 
#*The installer will prompt you to select an edition to install
 
#**Select ''ISE WebPACK''
 
#**Select ''ISE WebPACK''
 
#Obtain a license at the Xilinx page for [http://www.xilinx.com/getlicense license management]
 
#Obtain a license at the Xilinx page for [http://www.xilinx.com/getlicense license management]
−
#*You will be an email once your license request is approved
+
#*Open the link sent to you after requesting a license
−
#Download the license
 
−
#*Follow the link sent in the email
 
 
#*Navigate to the <span style="color:#000080;">'''Manage Licenses'''</span> tab
 
#*Navigate to the <span style="color:#000080;">'''Manage Licenses'''</span> tab
 
#*Download the license called <span style="color:#0000FF;">ISE WebPACK License</span>
 
#*Download the license called <span style="color:#0000FF;">ISE WebPACK License</span>
−
#Save the downloaded license file to the Xilinx directory of your computer
+
#Save the downloaded license file to the <code>~/.Xilinx </code>directory of your computer
 +
#*The program will require you to locate the license's path at first startup
  
−
<u>'''Mandatory user-provided files for Verilog synthesis'''</u>
+
==== Mandatory user-provided files for Verilog synthesis ====
  
−
*Verilog files(s)
+
*[https://en.wikipedia.org/wiki/Verilog Verilog ]files(s)
 
**Defines the HDL implementation
 
**Defines the HDL implementation
−
**.v
+
**File Extension: <code>.v</code>
−
*Configuration file
+
*[http://www.xilinx.com/support/documentation/sw_manuals/xilinx11/cgd.pdf Xilinx Constraint File]
 
**Defines parameters for correct synthesis to the hardware (pin mappings)
 
**Defines parameters for correct synthesis to the hardware (pin mappings)
−
**.ucf
+
**File Extension: <code>''.ucf''</code>
 +
 
 +
==== FPGA commands from the 2011 robot: ====
  
 
{| class="wikitable" style="width: 500px;"
 
{| class="wikitable" style="width: 500px;"
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! scope="col" | Definition
 
! scope="col" | Definition
 
|-
 
|-
−
| style="text-align: center;" | 0x00
+
| style="text-align: center;" | <code>0x00</code>
 
| style="text-align: center;" | Read Only
 
| style="text-align: center;" | Read Only
 
| style="text-align: center;" | Receive Data Readings
 
| style="text-align: center;" | Receive Data Readings
 
|-
 
|-
−
| style="text-align: center;" | 0x01
+
| style="text-align: center;" | <code>0x01</code>
−
| style="text-align: center;" | Write
+
| style="text-align: center;" | Read/Write
 
| style="text-align: center;" | Set motor speeds
 
| style="text-align: center;" | Set motor speeds
 
|}
 
|}
  
−
 
+
==== Example SPI Transfer (0x00 Read) ====
  
 
{| class="wikitable" style="width: 500px;"
 
{| class="wikitable" style="width: 500px;"
Line 145: Line 163:
 
! scope="col" | Definition
 
! scope="col" | Definition
 
|-
 
|-
−
| style="text-align: center;" | 0
+
| style="text-align: center;" | <code>0</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
−
| style="text-align: center;" | FPGA Version (0x04 in 2014)
+
| style="text-align: center;" | FPGA Version (<code>0x04 </code>in 2014)
 
|-
 
|-
−
| style="text-align: center;" | 1
+
| style="text-align: center;" | <code>1</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | Encoder 1 Count (LSB)
 
| style="text-align: center;" | Encoder 1 Count (LSB)
 
|-
 
|-
−
| style="text-align: center;" | 2
+
| style="text-align: center;" | <code>2</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">Encoder 1 Count (MSB)</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">Encoder 1 Count (MSB)</span><br/>
 
|-
 
|-
−
| style="text-align: center;" | 3
+
| style="text-align: center;" | <code>3</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Encoder 2 Count (LSB)<br/>
 
| style="text-align: center;" | Encoder 2 Count (LSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" | 4
+
| style="text-align: center;" | <code>4</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">Encoder 2 Count (MSB)</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px;">Encoder 2 Count (MSB)</span><br/>
 
|-
 
|-
−
| style="text-align: center;" | 5
+
| style="text-align: center;" | <code>5</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Encoder 3 Count (LSB)<br/>
 
| style="text-align: center;" | Encoder 3 Count (LSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" | 6
+
| style="text-align: center;" | <code>6</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Encoder 3 Count (MSB)<br/>
 
| style="text-align: center;" | Encoder 3 Count (MSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" | 7
+
| style="text-align: center;" | <code>7</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Encoder 4 Count (LSB)<br/>
 
| style="text-align: center;" | Encoder 4 Count (LSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" | 8
+
| style="text-align: center;" | <code>8</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Encoder 4 Count (MSB)<br/>
 
| style="text-align: center;" | Encoder 4 Count (MSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" | 9
+
| style="text-align: center;" | <code>9</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Motor Fault
 
| style="text-align: center;" | Motor Fault
 
|-
 
|-
−
| style="text-align: center;" | 10
+
| style="text-align: center;" | <code>10</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Kicker Status
 
| style="text-align: center;" | Kicker Status
 
|-
 
|-
−
| style="text-align: center;" | 11
+
| style="text-align: center;" | <code>11</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Kicker Voltage
 
| style="text-align: center;" | Kicker Voltage
 
|-
 
|-
−
| style="text-align: center;" | 12
+
| style="text-align: center;" | <code>12</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Hall Count 1
 
| style="text-align: center;" | Hall Count 1
 
|-
 
|-
−
| style="text-align: center;" | 13
+
| style="text-align: center;" | <code>13</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Hall Count 2</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Hall Count 2</span><br/>
 
|-
 
|-
−
| style="text-align: center;" | 14
+
| style="text-align: center;" | <code>14</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Hall Count 3<br/>
 
| style="text-align: center;" | Hall Count 3<br/>
 
|-
 
|-
−
| style="text-align: center;" | 15
+
| style="text-align: center;" | <code>15</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | Hall Count 4<br/>
 
| style="text-align: center;" | Hall Count 4<br/>
 
|-
 
|-
−
| style="text-align: center;" | 16
+
| style="text-align: center;" | <code>16</code>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | 7..0<br/>
 
| style="text-align: center;" | Hall Count 5<br/>
 
| style="text-align: center;" | Hall Count 5<br/>
 
|}
 
|}
  
−
 
+
==== Example SPI Transfer (0x01 Write) ====
  
 
{| class="wikitable" style="width: 500px;"
 
{| class="wikitable" style="width: 500px;"
Line 222: Line 240:
 
! scope="col" | Definition
 
! scope="col" | Definition
 
|-
 
|-
−
| style="text-align: center;" | 0
+
| style="text-align: center;" | <code>0</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
−
| style="text-align: center;" | Packet Type (0x01)
+
| style="text-align: center;" | Packet Type (<code>0x01</code>)
 
|-
 
|-
−
| style="text-align: center;" | 1
+
| style="text-align: center;" | <code>1</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | Motor 1 Speed (LSB)
 
| style="text-align: center;" | Motor 1 Speed (LSB)
 
|-
 
|-
−
| style="text-align: center;" rowspan="3" | 2
+
| style="text-align: center;" rowspan="3" | <code>2</code>
 
| style="text-align: center;" | 7..4
 
| style="text-align: center;" | 7..4
 
| style="text-align: center;" |  
 
| style="text-align: center;" |  
−
<span style="line-height: 20.7999992370605px; text-align: center;">Reserved (Always 0)</span>
+
<span style="line-height: 20.7999992370605px; text-align: center;"><var>Reserved </var>(Always <code>0x00</code>)</span>
  
 
|-
 
|-
Line 242: Line 260:
 
| style="text-align: center;" | Motor 1 Speed (MSB)
 
| style="text-align: center;" | Motor 1 Speed (MSB)
 
|-
 
|-
−
| style="text-align: center;" | 3
+
| style="text-align: center;" | <code>3</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | Motor 2 Speed (LSB)<br/>
 
| style="text-align: center;" | Motor 2 Speed (LSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" rowspan="3" | 4
+
| style="text-align: center;" rowspan="3" | <code>4</code>
 
| style="text-align: center;" | 7..4
 
| style="text-align: center;" | 7..4
−
| style="text-align: center;" | Reserved (Always 0)
+
| style="text-align: center;" | <var>Reserved </var>(Always <code>0x00</code>)<br/>
 
|-
 
|-
 
| style="text-align: center;" | 3..2
 
| style="text-align: center;" | 3..2
Line 256: Line 274:
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Motor 2 Speed (MSB)</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Motor 2 Speed (MSB)</span><br/>
 
|-
 
|-
−
| style="text-align: center;" | 5
+
| style="text-align: center;" | <code>5</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | Motor 3 Speed (LSB)<br/>
 
| style="text-align: center;" | Motor 3 Speed (LSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" rowspan="3" | 6
+
| style="text-align: center;" rowspan="3" | <code>6</code>
 
| style="text-align: center;" | 7..4
 
| style="text-align: center;" | 7..4
−
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Reserved (Always 0)</span><br/>
+
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;"><var>Reserved</var> (Always <code>0x00</code>)</span><br/>
 
|-
 
|-
 
| style="text-align: center;" | 3..2
 
| style="text-align: center;" | 3..2
Line 270: Line 288:
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Motor 3 Speed (MSB)</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Motor 3 Speed (MSB)</span><br/>
 
|-
 
|-
−
| style="text-align: center;" | 7
+
| style="text-align: center;" | <code>7</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Motor 4 Speed (LSB)</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Motor 4 Speed (LSB)</span><br/>
 
|-
 
|-
−
| style="text-align: center;" rowspan="3" | 8
+
| style="text-align: center;" rowspan="3" | <code>8</code>
 
| style="text-align: center;" | 7..4
 
| style="text-align: center;" | 7..4
−
| style="text-align: center;" | Reserved (Always 0)<br/>
+
| style="text-align: center;" | <var>Reserved </var>(Always <code>0x00</code>)<br/>
 
|-
 
|-
 
| style="text-align: center;" | 3..2
 
| style="text-align: center;" | 3..2
Line 284: Line 302:
 
| style="text-align: center;" | Motor 4 Speed (MSB)<br/>
 
| style="text-align: center;" | Motor 4 Speed (MSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" | 9
+
| style="text-align: center;" | <code>9</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | Dribbler Motor Speed (LSB)<br/>
 
| style="text-align: center;" | Dribbler Motor Speed (LSB)<br/>
 
|-
 
|-
−
| style="text-align: center;" rowspan="5" | 10
+
| style="text-align: center;" rowspan="5" | <code>10</code>
 
| style="text-align: center;" | 7
 
| style="text-align: center;" | 7
 
| style="text-align: center;" | Kicker Charge<br/>
 
| style="text-align: center;" | Kicker Charge<br/>
 
|-
 
|-
 
| style="text-align: center;" | 6
 
| style="text-align: center;" | 6
−
| style="text-align: center;" | Chipper Enable (1=Chip, 0=Kick)
+
| style="text-align: center;" | Chipper Enable (<code>1=Chip</code>, <code>0=Kick</code>)
 
|-
 
|-
 
| style="text-align: center;" | 5..4
 
| style="text-align: center;" | 5..4
−
| style="text-align: center;" | Reserved (Always 0)<br/>
+
| style="text-align: center;" | <var>Reserved </var>(Always 0)<br/>
 
|-
 
|-
 
| style="text-align: center;" | 3..2
 
| style="text-align: center;" | 3..2
Line 304: Line 322:
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Dribbler Motor Speed (MSB)</span><br/>
 
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Dribbler Motor Speed (MSB)</span><br/>
 
|-
 
|-
−
| style="text-align: center;" | 11
+
| style="text-align: center;" | <code>11</code>
 
| style="text-align: center;" | 7..0
 
| style="text-align: center;" | 7..0
−
| style="text-align: center;" | Kicker Power (, 255=6ms)
+
| style="text-align: center;" | Kicker Power (&lt;</code&gt;, <code>0xFF=6ms</code>)
 
|}
 
|}
  
−
==== <span style="line-height: 1.2;">To Do</span> ====
+
==== Required Pins ====
 +
 
 +
*<code>MOSI</code>
 +
*<code>MISO</code>
 +
*<code>SCK</code>
 +
*<code>nCS</code>
 +
*<code>PROG_B</code>
 +
 
 +
==== <s><span style="line-height: 1.2;">To Do</span></s> ====
  
−
*Transition the [http://en.wikipedia.org/wiki/I%C2%B2C I<sup>2</sup>C] bus lines to the microcontroller
+
*<s>Research the options for interfacing a 7-segment LED into the FPGA for battery voltage & error code displays</s>
−
*Update Verilog for new balanced encoder signals ('''A+''', '''A-''', '''B+''', '''B-''')
+
*<s>Transition the [<sup>2</sup>C] bus lines to the microcontroller</s>
−
**( ''('''A+''') + ('''A-''') == 0'' ) should be true for no errors
+
*<s>Update Verilog for new [http://en.wikipedia.org/wiki/Differential_signaling differential encoder signals] ('''A+''', '''A-''', '''B+''', '''B-''')</s>
−
*Update Verilog for [https://redmine.robojackets.org/issues/355 driving a bootstrap circuit]
+
**<s>( ''('''A+''') + ('''A-''') == 0'' ) should be true for no errors</s>
 +
**<s>Balanced signal standard:&nbsp;[http://en.wikipedia.org/wiki/RS-422 <span style="color:#0000FF;">EIA RS 422</span>]</s>
 +
*<s>Update [https://en.wikipedia.org/wiki/Verilog Verilog] for [https://redmine.robojackets.org/issues/355 driving a bootstrap circuit]</s>
 +
*<s>Add a writable register for enabling/disabling motor encoders</s>
  
 
==== Completed ====
 
==== Completed ====
  
−
*Document steps for synthesizing Verilog files
+
*Obtain [http://www.digilentinc.com/Products/Detail.cfm?NavTop=2&NavSub=423&Prod=S3EBOARD&CFID=7334243&CFTOKEN=db388705151e1ac-29BC204A-5056-0201-0218C3C976F487B0 Spartan-3E development board]
−
*Successfully configured an FPGA from the mbed's on board flash storage
+
**''How:'' Found a used board on eBay
−
*Successfully synthesized a ''Hello World''&nbsp;Verilog file using Xilinx's [http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/design-tools.html ISE Webtools]
+
*Determine required pins for connecting FPGA
−
*Determine what communications occur over the SPI bus
+
**''Documented above''
 +
*Document steps for synthesizing [https://en.wikipedia.org/wiki/Verilog Verilog ]files
 +
**''Documented above''
 +
*Successfully configured an FPGA from the [https://developer.mbed.org/handbook/LocalFileSystem mbed's on board flash storage]
 +
*Successfully synthesized a <code>Hello World</code>&nbsp;Verilog file using Xilinx's [http://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/design-tools.html ISE Webtools]
 +
*Determine what communications occur over the [https://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus SPI] bus
 
**''Documented in the tables above''
 
**''Documented in the tables above''
 
*Finalized that the 2015 motors will use the current FPGA
 
*Finalized that the 2015 motors will use the current FPGA
Line 331: Line 365:
 
----
 
----
  
−
[http://wiki.robojackets.org/w/File:Maxon_50W_Motor_Custom_Design.pdf Maxon 50W Custom Motor Drawing]
+
[http://wiki.robojackets.org/w/File:Maxon_50W_Motor_Custom_Design.pdf Maxon EC45Flat&nbsp;Custom Motor Drawing (50W)]&nbsp;'''PN:&nbsp;339285X'''
  
−
[http://wiki.robojackets.org/w/File:Maxon_50W_Motor_Datasheet.pdf Maxon 50W Motor Datasheet]
+
[http://wiki.robojackets.org/w/File:Maxon_50W_Motor_Datasheet.pdf Maxon&nbsp;EC45Flat&nbsp;Motor Datasheet (50W)]&nbsp;'''PN:&nbsp;339285X'''
  
−
==== To Do ====
+
[http://www.maxonmotor.com/maxon/view/product/motor/ecmotor/ec/ec16/400161 Maxon EC16 Motor Datasheet (30W)] '''PN: 400161'''
  
−
*Order motor controller boards
+
==== <s>To Do</s> ====
−
*[https://redmine.robojackets.org/issues/341 Test different circuits] and document data result set to wiki
+
 
 +
*<s>Successfully control one of the new 50W motors with an mbed and Spartan-3E interface</s>
 +
*<s>Modify four (4) of&nbsp;the sample motors to accomidate integration into a prototyped robot</s>
 +
**<s>''Last Task:'' Place connectors onto the wires for all four (4) motors</s>
 +
*<s>Order motor controller boards</s>
 +
**<s>''Update:'' Underway</s>
 +
*<s>[https://redmine.robojackets.org/issues/341 Test different circuits] and document data result set to wiki</s>
  
 
==== Completed ====
 
==== Completed ====
  
 
*Order 3 [http://www.ti.com/product/drv8301?keyMatch=drv8301&tisearch=Search-EN DRV8301]&nbsp;Pre-Drivers from [http://www.ti.com/ TI]
 
*Order 3 [http://www.ti.com/product/drv8301?keyMatch=drv8301&tisearch=Search-EN DRV8301]&nbsp;Pre-Drivers from [http://www.ti.com/ TI]
 +
**''Update:'' Many samples from TI are in the electrical room now
 
*Finalize the protyping designs of single motor controllers
 
*Finalize the protyping designs of single motor controllers
 
*Order motors
 
*Order motors
Line 351: Line 392:
  
 
[http://developer.mbed.org/components/MPU-9250/ MPU-9250 C++ library]
 
[http://developer.mbed.org/components/MPU-9250/ MPU-9250 C++ library]
 +
 +
[http://developer.mbed.org/users/onehorse/code/MPU6050IMU/ MPU-6050 C++ library]
 +
 +
[https://github.com/bitcraze/crazyflie-firmware/blob/master/drivers/src/mpu6050.c Craxyflie's C code&nbsp;[MPU-6050]]
  
 
[http://developer.mbed.org/cookbook/PID PID C++ library]
 
[http://developer.mbed.org/cookbook/PID PID C++ library]
  
−
==== To Do ====
+
[https://github.com/RoboJackets/robocup-software/issues/118 GitHub Issue] for motion controlling unit
  
−
*Integrate the [http://www.invensense.com/mems/gyro/mpu9250.html MPU-9250] into the [http://en.wikipedia.org/wiki/I%C2%B2C I<sup>2</sup>C] data bus lines from the mbed
+
==== <s>To Do</s> ====
 +
 
 +
*<s>Determine best integration options for using motion processor sensor readings for enhancing on-board motion control</s>
 +
*<s>Successfully read sensor data from one of the potential motion processing chips</s>
 +
*<s>Determine if the [http://www.invensense.com/mems/gyro/mpu6050.html MPU-6050] is should replace the [http://www.invensense.com/mems/gyro/mpu9250.html MPU-9250] according to the benefits of having a 3-axis magnometer</s>
 +
*<s>Integrate the [http://www.invensense.com/mems/gyro/mpu9250.html MPU-9250] into the [<sup>2</sup>C] data bus lines from the mbed</s>
  
 
==== Completed ====
 
==== Completed ====
  
 +
*Order breakout boards (3) for [http://www.invensense.com/mems/gyro/mpu6050.html MPU-6050]
 +
**''How:'' eBay
 
*Order breakout board for [http://www.invensense.com/mems/gyro/mpu9250.html MPU-9250]
 
*Order breakout board for [http://www.invensense.com/mems/gyro/mpu9250.html MPU-9250]
 +
**''How:'' eBay
  
 
=== Error Detection & Indication ===
 
=== Error Detection & Indication ===
Line 366: Line 419:
 
----
 
----
  
−
==== To Do ====
+
==== <s>To Do</s> ====
  
−
*Determine best solution for controlling the [http://www.adafruit.com/products/1655 WS2812B]&nbsp;<span style="color:#FF0000;">R</span><span style="color:#00cc00;">G</span><span style="color:#0000CD;">B</span> LED
+
*<s>Determine best solution for controlling the [http://www.adafruit.com/products/1655 WS2812B]&nbsp;<span style="color:#FF0000;">R</span><span style="color:#00cc00;">G</span><span style="color:#0000CD;">B</span> LED</s>
 +
**<s>''Update:'' This may be abandoned because of the LED's precise timing for control</s>
  
 
==== <span style="line-height: 20.7999992370605px;">Completed</span> ====
 
==== <span style="line-height: 20.7999992370605px;">Completed</span> ====
 
<ul style="line-height: 20.7999992370605px;">
 
<ul style="line-height: 20.7999992370605px;">
−
<li>Create breakout board for&nbsp;[http://www.microchip.com/wwwproducts/Devices.aspx?product=MCP23017 MCP23017]&nbsp;and place on [https://github.com/RoboJackets/robocup-pcb GitHub repository]</li>
+
<li>Determine error LED interface locations with the I/O expander
−
</ul>
+
*''Decision:''&nbsp;Motor 1, Motor 2, Motor 3, Motor 4, Dribbler Motor, Power Section, Radio Section, IMU Section&nbsp;[Required&nbsp;LEDs: 8<code>]</code></li>
 +
 
 +
 
 +
*<code>Order a [https://www.sparkfun.com/products/9544 Bus Pirate]</code>
 +
**''How:'' Sparkfun
 +
*Order breakout board for <span style="color:#FF0000;">R</span><span style="color: rgb(0, 204, 0); line-height: 20.7999992370605px;">G</span><span style="color:#0000FF;">B</span> LED
 +
**''How:'' Sparkfun
 +
*Create breakout board for&nbsp;[http://www.microchip.com/wwwproducts/Devices.aspx?product=MCP23017 MCP23017]&nbsp;and place on [https://github.com/RoboJackets/robocup-pcb GitHub repository]
 +
 
 +
=== Ball Sense ===
 +
 
 +
----
  
−
=== Kicker Board ===
+
''Main Article: [[RC15BallSense|RC15BallSense]]''
 +
 
 +
The ball sensor is a pair of a laser diode and a phototransistor.
 +
 
 +
=== Kicker Board & Detection ===
  
 
----
 
----
  
−
==== To Do ====
+
==== <s>To Do</s> ====
  
−
*[https://redmine.robojackets.org/issues/352 Measure the current] from kicker boards currently used
+
*<s>Create a small microcontroller interface for the kicker board</s>
−
*Update the kicker board to accommodate&nbsp;the new battery's voltage of 18.5V
+
**<s>''Original Plan:'' Use a [http://www.ti.com/lsds/ti/microcontrollers_16-bit_32-bit/msp/ultra-low_power/msp430g2x_i2x/overview.page MSP430G2x]&nbsp;from [http://www.ti.com/ TI]</s>
 +
**<s>''Updated Plan:'' Use one of Atmel's [http://www.atmel.com/products/microcontrollers/avr/tinyavr.aspx ATtiny] microcontrollers</s>
 +
***<s>''Why:'' Much easier to implement a custom [http://en.wikipedia.org/wiki/In-system_programming ISP] with the mbed</s>
 +
****<s>Can use the [http://arduino.cc/en/main/software Arduino IDE]</s>
 +
****<s>[http://developer.mbed.org/cookbook/mAVRISP mbed library] already exists</s>
 +
**<s>''Why: ''To allow for more disjoint kicker board development in future years. An attempt to perform more consistent soldnoid discharges with the microcontroller will&nbsp;be attempted this year.</s>
 +
*<s>Use a&nbsp;[[RC15MechanicalBaseIdentification|Serial Identification Chip]]&nbsp;for unique detection of mechanical bases</s>
 +
*<s>[https://redmine.robojackets.org/issues/352 Measure the current] from kicker board currently used</s>
 +
**<s>Data exists for the 2011 kicker board. There is a 2011 kicker board (barebone)&nbsp;equipped&nbsp;with a [http://en.wikipedia.org/wiki/Silicon-controlled_rectifier silicon-controlled rectifier] and [http://en.wikipedia.org/wiki/Shunt_(electrical) shunt resistor] for capturing oscilliscope data for this. Use a digital oscilliscope and export sampled data for waveform recreation/analysis.</s>
 +
*<s>Update the kicker board to accommodate&nbsp;the new battery's voltage of 18.5V</s>
  
 
==== Completed ====
 
==== Completed ====
 +
 +
*Generate snapshots of the 2011 kicker board graphs for reference
 +
**''Where: ''Exported oscilliscope data saved in the firmware directory on software's GitHub repository. Python scripts exist for analyzing the data.
 +
*Determine the number of capacitors that will be used
 +
**''Decision:''&nbsp;<font face="monospace">four (<code>4</code>) <code>820uF</code> capacitors</font>
  
 
=== Battery & Power ===
 
=== Battery & Power ===
Line 392: Line 475:
 
The following contains a listing of batteries that were considered for the 2015 design along with other battery/power adapters and accessories.
 
The following contains a listing of batteries that were considered for the 2015 design along with other battery/power adapters and accessories.
  
−
==== To Do ====
+
==== <s>To Do</s> ====
  
−
*Determine power switch [https://redmine.robojackets.org/issues/345 placement and integration]
+
*<s>Determine power switch [https://redmine.robojackets.org/issues/345 placement and integration]</s>
 +
**<s>''Option 1: ''Use a small switch paired with a relay</s>
 +
**<s>''Option 2:'' Use standard mechanical switch</s>
 +
*<s>Research switching regular modules</s>
 +
**<s>[http://www.digikey.com/product-detail/en/OKI-78SR-5/1.5-W36-C/811-2196-5-ND/2259781 OKI-78SR] module</s>
  
 
==== Completed ====
 
==== Completed ====
  
−
==== Battery ====
+
*Change the first switching regulator to accomidate for the higher voltage battery
 +
**New part number:&nbsp;[http://www.ti.com/product/lm25010 LM25010]
 +
*Finalized the new design's battery selection
 +
**Result:&nbsp;[http://www.hobbyking.com/hobbyking/store/__9944__ZIPPY_Flightmax_2200mAh_5S1P_40C.html Zippy Flightmax 2200mAh 5S 40C]
  
−
[http://www.hobbyking.com/hobbyking/store/__9944__ZIPPY_Flightmax_2200mAh_5S1P_40C.html Zippy Flightmax 2200mAh 5S 40C]
+
==== Battery Accessories ====
  
−
==== Connector ====
+
*Connector:&nbsp;[http://www.hobbyking.com/hobbyking/store/__10414__Male_XT60_connectors_5pcs_bag_GENUINE.html XT60 (Male)]
 +
*Connector Lead:&nbsp;[http://www.hobbyking.com/hobbyking/store/__10254__XT60_Male_w_12AWG_Silicon_Wire_10cm_5pcs_bag_.html XT60 12AWG 10cm]
 +
*Charging Cable:&nbsp;[http://www.hobbyking.com/hobbyking/store/__10266__Charge_Cable_w_Male_XT60_gt_4mm_Banana_plug.html XT60 Banana Plug]
 +
*Balancing Board:&nbsp;[http://www.hobbyking.com/hobbyking/store/__10360__Quattro_4x6S_Charge_Balance_board.html Charge/Balance Board]
  
−
[http://www.hobbyking.com/hobbyking/store/__10414__Male_XT60_connectors_5pcs_bag_GENUINE.html XT60 (Male)]
+
==== All Batteries ====
  
−
[http://www.hobbyking.com/hobbyking/store/__10254__XT60_Male_w_12AWG_Silicon_Wire_10cm_5pcs_bag_.html XT60 12AWG 10cm]
+
The following list contains batteries that were considered and known about during the battery selction period. The list is not inclusive.
  
−
==== Charging Lead ====
+
*[http://www.hobbyking.com/hobbyking/store/__24844__Zippy_K_Flightmax_2500mah_5S1P_20C_Lipoly_Battery.html Zippy Flightmax 2500mAh 5S 20C]
 +
*[http://www.hobbyking.com/hobbyking/store/__9939__ZIPPY_Flightmax_1800mAh_5S1P_40C.html Zippy Flightmax 1800mAh 5S 40C]
 +
*[http://www.hobbyking.com/hobbyking/store/__25516__ZIPPY_Compact_2450mAh_5S_35C_Lipo_Pack.html Zippy Compact 2450mAh 5S 35C]
 +
*[http://www.hobbyking.com/hobbyking/store/__9461__Turnigy_2200mAh_5S_30C_Lipo_Pack.html Turnig 2200mAh 5S 30C]
 +
*[http://www.cheapbatterypacks.com/product/813/1699/Thunder-Power-PL25-Series-2000mah-185v-5S-16C-LiPo-Battery-Pack.aspx Thunder Power 2000mAh 5S 16C]
  
−
[http://www.hobbyking.com/hobbyking/store/__10266__Charge_Cable_w_Male_XT60_gt_4mm_Banana_plug.html XT60 Banana Plug]
+
=== Dribbler ===
  
−
==== Balancing Board ====
+
----
  
−
[http://www.hobbyking.com/hobbyking/store/__10360__Quattro_4x6S_Charge_Balance_board.html Charge/Balance Board]
+
==== <s>To Do</s> ====
  
−
==== All Batteries ====
+
*<s>Test diamond dribbler shape</s>
 +
*<s>If diamond-shaped dribbler fails, test hourglass dribbler shape</s>
 +
*<s>Test heatshrink viability as dribbler material</s>
 +
*<s>Verify notched dribbler effectiveness</s>
  
−
[http://www.hobbyking.com/hobbyking/store/__24844__Zippy_K_Flightmax_2500mah_5S1P_20C_Lipoly_Battery.html Zippy Flightmax 2500mAh 5S 20C]
+
==== Completed ====
−
 
 
−
[http://www.hobbyking.com/hobbyking/store/__9939__ZIPPY_Flightmax_1800mAh_5S1P_40C.html Zippy Flightmax 1800mAh 5S 40C]
 
  
−
[http://www.hobbyking.com/hobbyking/store/__25516__ZIPPY_Compact_2450mAh_5S_35C_Lipo_Pack.html Zippy Compact 2450mAh 5S 35C]
+
*Created prototype of and tested notched dribbler
 +
*Tested viability of electrical tape as dribbler material
 +
*Created prototype of diamond-shaped dribbler with heatshrink
  
−
[http://www.hobbyking.com/hobbyking/store/__9461__Turnigy_2200mAh_5S_30C_Lipo_Pack.html Turnig 2200mAh 5S 30C]
+
==== Testing Results ====
  
−
[http://www.cheapbatterypacks.com/product/813/1699/Thunder-Power-PL25-Series-2000mah-185v-5S-16C-LiPo-Battery-Pack.aspx Thunder Power 2000mAh 5S 16C]
+
*Electrical tape is ineffective as a dribbler material. Fails to impart spin on the ball and leaves residue
 +
*Notch in center of dribbler is highly effective at keeping ball centered on dribbler. Increases tolerance for robot movement without losing control of the ball. Seems to be an improvement over current plain dribbler design.
  
 
== Phase III: Production ==
 
== Phase III: Production ==
Line 436: Line 537:
 
----
 
----
  
−
[https://learn.sparkfun.com/tutorials/electronics-assembly https://learn.sparkfun.com/tutorials/electronics-assembly]
+
==== General ====
 +
 
 +
*Sparkfun's [https://learn.sparkfun.com/tutorials/electronics-assembly PCB assembly]&nbsp;process
 +
*EEVblog on [https://www.youtube.com/watch?v=imdtXcnywb8 anti-static bags] for component storage
 +
 
 +
==== Solder Paste Stencil Creation ====
 +
 
 +
SparkFun uses [http://www.soldermask.com/ SolderMask, Inc] for their stencil needs
  
−
[http://www.soldermask.com/ http://www.soldermask.com/]&nbsp;<- Sparfun uses these guys for all their solder stencils
+
*Laser cutting kapton film
−
[[Category:RoboCup]]<br/>[[Category:Electrical]]
+
**Material: [http://www.mcmaster.com/#2271k3/=v8lsob Kapton Polyimide Film]
 +
***''Size:'' <code>12" x 12"</code>
 +
***''Thickness:'' <code>0.005"</code>
 +
**Test Equiptment
 +
***''Laser Cutter:'' [http://www.troteclaser.com/en-US-US/Laser-Machines/Mid-Size/Pages/Speedy300.aspx Trotec Speedy 300] (<code>140W</code>)
 +
**Test Results
 +
***Will '''not '''produce required results for making a stencil
 +
*Chemical etching aluminum
 +
**Untested but very promosing
 +
 
 +
==== Prototype PCB&nbsp;Etching ====
 +
 
 +
===== <s>To Do</s> =====
 +
 
 +
*<s>Etch [http://www.ti.com/product/cc1201 CC1201] radio module boards once design is complete</s>
 +
 
 +
===== Completed =====
 +
 
 +
*Order UV curing lamp
 +
**''How:'' eBay
 +
*Order UV soldermask paints
 +
**''How:'' eBay
 +
*Obtain necessary etching chemicals
 +
**''Decision:''&nbsp;[http://en.wikipedia.org/wiki/Hydrogen_peroxide Hydrogen Peroxide] & [http://en.wikipedia.org/wiki/Hydrochloric_acid Muriatic Acid]
 +
[[Category:RoboCup]] [[Category: 2014-2015]]

Latest revision as of 21:39, 13 June 2018

ATTENTION: THIS PAGE WAS ABANDONED DURING THE 2015 REDESIGN IN FAVOR OF THE ROBOCUP BOARD ON TRELLO.

Phase I: Technical Analysis

The first stage of the 2014-2015 RoboCup redesign involves brainstorming potential upgrades by researching new technologies/resources since the last revision. A parallel analysis of current robot bugs and potential enhancements is also done at this time. Outlined below is a listing of resources that the team used in this brainstorming stage.

Competition 2014 documentation

Team Description Papers (TDP)

Electrical Board Error Logs

Past Electrical Designs

Phase II: Design

During the design phase, specifications are determined for each section of the robot. Experimental results are documented here from all quantitative findings. This phase is also where the high-level ideas from Phase I are tracked to ensure completion.

Microcontroller/FPGA Processing

mbed Debugging

To Do

  • Successfully communicate over SPI with a current FPGA and mbed

Completed

  • Build development board for testing FPGA configuration from mbed's flash storage
    • Tested and confirmed working
  • Obtain mbeds for robot use
    • How: 15 mbeds donated by ECE department

Mechanical/Electrical Integration

Max PCB Dimensions

To Do

  • Determine best solution for integrating serial identification to mechanical bases
  • Add connection header for ball sensor to control board
  • Test motor wire modifications before working on the entire batch of motors
  • Determine kicker connections and integration
  • Determine options using quarter-turn screws for electrical board attachment

Completed

  • Research options for using Altium for schematic and board layout designs
    • Completed Task: Contact them for a 30 day trial
    • Outcome: Altium sponsorship with 6 "On-Demand" licenses for Altium Designer
  • Determine location and placement for dribbler motor header
  • Update hall connection header to right angled one
  • Add pin locations to all connection housings in CAD part files
  • Update the 14-pin connection header (female) for the control-to-motor board connection
    • Update: Abandoned for different board-to-board connectors
  • Finalize method for adjusting motor wire lengths when motors arrive
    • Decision: Unsolder from motor's PCB, trim to length, and resolder to motor's PCB
    • Reason: Did not want to delay ordering motors any futher & hand soldering results in higher yields compared against hand crimping
  • Determine placement of battery location
    • Decision: Horizontally under all electronics

Radio

CC1101 C++ library

nRF24L01+ C++ library

To Do

  • Obtain breakout boards for CC1201 transceivers with integrated ANT-916-CHP antenna
  • Order CC1201 samples from TI
    • Current quantity: 21
  • Successfully communicate using two (2) CC1201 transceivers and two (2) mbeds
  • Research and determine best steps for structuring radio protocol with primary and seconday frequencies
    • The Crazyflie project has basic radio documentation for how they implemented real-time communication with room for expansion
  • Test packet optimizations - Nanopb is promosing for this

Completed

  • Obtain TI's CC Debugger for interfacing transceivers with SmartRF Studio
    • How: Digi-Key
  • Successfully communicate using two (2) nRF24L01+ transceivers and two (2) mbeds
    • Result: Task abandoned. Determined that a 2nd frequency band provided only nominal benefits
  • Test methods using breakout boards and compare data rates
    • Result: Packet processing (~60 bytes) for receptions estimated to consume 0.2ms to 0.3ms of processing time @ 60 packets/sec
  • Determine optimal secondary frequency for base station updates
    • Decision: End result's data rate is only nominally benefitial for high-throughput broadcasting. No 2nd transceiver
  • Research integration options of the CC1111 and nRF24LU1+
    • Decision: Do not use SoC parts for the base station
    • Reason: Keep radio software on the mbed platform's C++ libraries (SoC would require additional C code for the base station)
  • Order five (5) CC1111 transceivers from TI
  • Successfully communicate using two (2) CC1101 transceivers and two (2) mbeds
  • Obtain breakout boards for CC1101
    • How: Added SMA antenna connector to breakout boards from 2008 fleet
  • Obtain breakout boards for nRF24L01+
    • How: eBay

RadioPrototype.png

FPGA

A few minor changes to the FPGA's Verilog code must be made for the 2015 redesign. This includes migrating the [2C] interface with the kicker board to the mbed platform & enhancing encoder connections to support the new differential signals.

Setting up a computer for Verilog development

  1. Create an account on Xilinx's website
  2. The Xilinx program is called ISE Design Suite (this is on ECE's virtual lab pool computers - can connect to it from anywhere).
    • The desired download link is found under the ISE Design Suite heading
    • The current version at the time of this writing is 14.7 (size: ~6GB)
    • The ISE Design Suite is no longer supported
    • The newer version of Xilinx's software is called Vivado Design Tools, but it does not support the Spartan-3E FPGA
  3. Install the program to your computer
    • The installer will prompt you to select an edition to install
      • Select ISE WebPACK
  4. Obtain a license at the Xilinx page for license management
    • Open the link sent to you after requesting a license
    • Navigate to the Manage Licenses tab
    • Download the license called ISE WebPACK License
  5. Save the downloaded license file to the ~/.Xilinx directory of your computer
    • The program will require you to locate the license's path at first startup

Mandatory user-provided files for Verilog synthesis

  • Verilog files(s)
    • Defines the HDL implementation
    • File Extension: .v
  • Xilinx Constraint File
    • Defines parameters for correct synthesis to the hardware (pin mappings)
    • File Extension: .ucf

FPGA commands from the 2011 robot:

Command Read/Write Definition
0x00 Read Only Receive Data Readings
0x01 Read/Write Set motor speeds

Example SPI Transfer (0x00 Read)

Array Index Bit(s) Definition
0 7..0 FPGA Version (0x04 in 2014)
1 7..0 Encoder 1 Count (LSB)
2 7..0
 Encoder 1 Count (MSB)
3 7..0
 Encoder 2 Count (LSB)
4 7..0
 Encoder 2 Count (MSB)
5 7..0
 Encoder 3 Count (LSB)
6 7..0
 Encoder 3 Count (MSB)
7 7..0
 Encoder 4 Count (LSB)
8 7..0
 Encoder 4 Count (MSB)
9 7..0
 Motor Fault
10 7..0
 Kicker Status
11 7..0
 Kicker Voltage
12 7..0
 Hall Count 1
13 7..0
 Hall Count 2
14 7..0
 Hall Count 3
15 7..0 Hall Count 4
16 7..0
 Hall Count 5

Example SPI Transfer (0x01 Write)

Array Index Bit(s) Definition
0 7..0 Packet Type (0x01)
1 7..0 Motor 1 Speed (LSB)
2 7..4

Reserved (Always 0x00)

3..2 Motor 1 Drive Mode
1..0 Motor 1 Speed (MSB)
3 7..0 Motor 2 Speed (LSB)
4 7..4 Reserved (Always 0x00)
3..2 Motor 2 Drive Mode
1..0 Motor 2 Speed (MSB)
5 7..0 Motor 3 Speed (LSB)
6 7..4 Reserved (Always 0x00)
3..2 Motor 3 Drive Mode
1..0 Motor 3 Speed (MSB)
7 7..0 Motor 4 Speed (LSB)
8 7..4 Reserved (Always 0x00)
3..2 Motor 4 Drive Mode
0..1 Motor 4 Speed (MSB)
9 7..0 Dribbler Motor Speed (LSB)
10 7 Kicker Charge
6 Chipper Enable (1=Chip, 0=Kick)
5..4 Reserved (Always 0)
3..2 Dribbler Motor Drive Mode
1..0 Dribbler Motor Speed (MSB)
11 7..0 Kicker Power (<</code>, 0xFF=6ms)

Required Pins

  • MOSI
  • MISO
  • SCK
  • nCS
  • PROG_B

To Do

  • Research the options for interfacing a 7-segment LED into the FPGA for battery voltage & error code displays
  • Transition the [2C] bus lines to the microcontroller
  • Update Verilog for new differential encoder signals (A+, A-, B+, B-)
    • ( (A+) + (A-) == 0 ) should be true for no errors
    • Balanced signal standard: EIA RS 422
  • Update Verilog for driving a bootstrap circuit
  • Add a writable register for enabling/disabling motor encoders

Completed

  • Obtain Spartan-3E development board
    • How: Found a used board on eBay
  • Determine required pins for connecting FPGA
    • Documented above
  • Document steps for synthesizing Verilog files
    • Documented above
  • Successfully configured an FPGA from the mbed's on board flash storage
  • Successfully synthesized a Hello World Verilog file using Xilinx's ISE Webtools
  • Determine what communications occur over the SPI bus
    • Documented in the tables above
  • Finalized that the 2015 motors will use the current FPGA
    • Decision: Xilinx Spartan-3E
    • Reason: FPGA is only used for motor control & no futher capabilities are needed

Motors

Maxon EC45Flat Custom Motor Drawing (50W) PN: 339285X

Maxon EC45Flat Motor Datasheet (50W) PN: 339285X

Maxon EC16 Motor Datasheet (30W) PN: 400161

To Do

  • Successfully control one of the new 50W motors with an mbed and Spartan-3E interface
  • Modify four (4) of the sample motors to accomidate integration into a prototyped robot
    • Last Task: Place connectors onto the wires for all four (4) motors
  • Order motor controller boards
    • Update: Underway
  • Test different circuits and document data result set to wiki

Completed

  • Order 3 DRV8301 Pre-Drivers from TI
    • Update: Many samples from TI are in the electrical room now
  • Finalize the protyping designs of single motor controllers
  • Order motors

Motion Sensing & Motion Control

MPU-9250 C++ library

MPU-6050 C++ library

Craxyflie's C code [MPU-6050]

PID C++ library

GitHub Issue for motion controlling unit

To Do

  • Determine best integration options for using motion processor sensor readings for enhancing on-board motion control
  • Successfully read sensor data from one of the potential motion processing chips
  • Determine if the MPU-6050 is should replace the MPU-9250 according to the benefits of having a 3-axis magnometer
  • Integrate the MPU-9250 into the [2C] data bus lines from the mbed

Completed

  • Order breakout boards (3) for MPU-6050
    • How: eBay
  • Order breakout board for MPU-9250
    • How: eBay

Error Detection & Indication

To Do

  • Determine best solution for controlling the WS2812B RGB LED
    • Update: This may be abandoned because of the LED's precise timing for control

Completed

  • Determine error LED interface locations with the I/O expander
    • Decision: Motor 1, Motor 2, Motor 3, Motor 4, Dribbler Motor, Power Section, Radio Section, IMU Section [Required LEDs: 8]

    Ball Sense

    Main Article: RC15BallSense

    The ball sensor is a pair of a laser diode and a phototransistor.

    Kicker Board & Detection

    To Do

    • Create a small microcontroller interface for the kicker board
      • Original Plan: Use a MSP430G2x from TI
      • Updated Plan: Use one of Atmel's ATtiny microcontrollers
      • Why: To allow for more disjoint kicker board development in future years. An attempt to perform more consistent soldnoid discharges with the microcontroller will be attempted this year.
    • Use a Serial Identification Chip for unique detection of mechanical bases
    • Measure the current from kicker board currently used
      • Data exists for the 2011 kicker board. There is a 2011 kicker board (barebone) equipped with a silicon-controlled rectifier and shunt resistor for capturing oscilliscope data for this. Use a digital oscilliscope and export sampled data for waveform recreation/analysis.
    • Update the kicker board to accommodate the new battery's voltage of 18.5V

    Completed

    • Generate snapshots of the 2011 kicker board graphs for reference
      • Where: Exported oscilliscope data saved in the firmware directory on software's GitHub repository. Python scripts exist for analyzing the data.
    • Determine the number of capacitors that will be used
      • Decision: four (4) 820uF capacitors

    Battery & Power

    The following contains a listing of batteries that were considered for the 2015 design along with other battery/power adapters and accessories.

    To Do

    • Determine power switch placement and integration
      • Option 1: Use a small switch paired with a relay
      • Option 2: Use standard mechanical switch
    • Research switching regular modules

    Completed

    • Change the first switching regulator to accomidate for the higher voltage battery
    • Finalized the new design's battery selection

    Battery Accessories

    All Batteries

    The following list contains batteries that were considered and known about during the battery selction period. The list is not inclusive.

    Dribbler

    To Do

    • Test diamond dribbler shape
    • If diamond-shaped dribbler fails, test hourglass dribbler shape
    • Test heatshrink viability as dribbler material
    • Verify notched dribbler effectiveness

    Completed

    • Created prototype of and tested notched dribbler
    • Tested viability of electrical tape as dribbler material
    • Created prototype of diamond-shaped dribbler with heatshrink

    Testing Results

    • Electrical tape is ineffective as a dribbler material. Fails to impart spin on the ball and leaves residue
    • Notch in center of dribbler is highly effective at keeping ball centered on dribbler. Increases tolerance for robot movement without losing control of the ball. Seems to be an improvement over current plain dribbler design.

    Phase III: Production

    The final phase for creating the new fleet of robots involves outlining the steps and procedures for robot manufacturing and assebly. Future members can use this area as a reference for the fleet's required maintenance. It may also be benefitial for strengthening tolerances in future fleet builds.

    Electronics Assembly

    General

    Solder Paste Stencil Creation

    SparkFun uses SolderMask, Inc for their stencil needs

    • Laser cutting kapton film
    • Chemical etching aluminum
      • Untested but very promosing

    Prototype PCB Etching

    To Do
    • Etch CC1201 radio module boards once design is complete
    Completed
Retrieved from "https://wiki.robojackets.org/index.php?title=RoboCup:_Redesign_2014-2015&oldid=16513"