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

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==== To Do ====
 
==== To Do ====

Revision as of 02:45, 4 December 2014

Phase I: Techanical 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 it's brainstorming stage.

Competition 2014

Phase II: Design

Layout

Max PCB Dimensions

To Do

  • Determine location and placement for dribbler motor header
  • Determine optimal placement direction for drive motor's phase connections (motor board)
  • Add connection header for ball sensor to control board
  • Add wires among connections in CAD assembly files
  • Test motor wire modifications before working on the entire batch of motors
  • Determine kicker connections and integration

Radio

CC1101 C++ library

To Do

  • Determine optimal secondary frequency for base station updates
  • Test methods using breakout boards and compare data rates

FPGA

A few major change to the FPGA's 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.

Byte Index Definition
0 Packet Type (0x01)
1 Motor 1 Speed (LSB)
2 Unknown
3 Motor 2 Speed (LSB)
4 Unknown
5 Motor 3 Speed (LSB)
6 Unknown
7 Motor 4 Speed (LSB)
8 Unknown
9 Dribbler Motor Speed (LSB)
10 Unknown
11 Kicker Power


Byte Index Definition
0 Unknown
1 Unknown
2 Unknown
3 Unknown
4 Unknown
5 Unknown
6 Unknown
7 Unknown
8 Unknown
9 Unknown
10 Unknown
11 Unknown



To Do

  • Transition the I2C bus lines to the microcontroller
  • Update Verilog for new balanced encoder signals (A+, A-, B+, B-)
    • ( (A+) + (A-) == 0 ) should be true for no errors

Completed

Motors

To Do

  • Order motor controller boards
  • Test different circuits and document data result set to wiki

Motion Sensing

To Do

  • Integrate the MPU-9250 into the I2C data bus lines from the mbed

Completed

  • Order breakout board for MPU-9250

Error Detection

To Do

  • Create breakout board for MCP23017 and place on GitHub repo (robocup-pcb)
    • Update EAGLE part libraries too

Battery & Power

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

Battery

Zippy Flightmax 2200mAh 5S 40C

Connector

XT60 (Male)

XT60 12AWG 10cm

Charging Lead

XT60 Banana Plug

Balancing Board

Charge/Balance Board

All Batteries

Zippy Flightmax 2500mAh 5S 20C

Zippy Flightmax 1800mAh 5S 40C

Zippy Compact 2450mAh 5S 35C

Turnig 2200mAh 5S 30C

Thunder Power 2000mAh 5S 16C

Phase III: Production

https://learn.sparkfun.com/tutorials/electronics-assembly

http://www.soldermask.com/ <- Sparfun uses these guys for all their solder stencils

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