RoboCup: Redesign 2014-2015

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 [FINISH UPLOADING IMAGES TO THIS PAGE. MANY ARE MISSING]

Phase II: Design

Controlling Unit

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Completed

• Obtain mbeds for robot use

Layout

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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

Completed

[LOTS OF THINGS HERE NEED UPDATING]

Need to recover what was removed from previous versions of this page.

Radio

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CC1101 C++ library

Current protocol [LINK TO BE CREATED & UPDATED]

To Do

• Determine optimal secondary frequency for base station updates
• Test methods using breakout boards and compare data rates
• Successfully communicate using two (2) NRF24L01+ transceivers and two (2) mbeds
• Research and determine best steps for structuring radio protocol with primary and seconday frequencies

Completed

• Successfully communicate using two (2) CC1101 transceivers and two (2) mbeds
• Obtain breakout boards for CC1101 and NRF24L01+

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
• Complete all Unknown fields for the FPGA's SPI protocol in the above tables

Completed

• Finalized that the 2015 motor will use the current FPGA
  • Xilinx Spartan-3E

Motors

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http://wiki.robojackets.org/w/File:Maxon_50W_Motor_Custom_Design.pdf

http://wiki.robojackets.org/w/File:Maxon_50W_Motor_Datasheet.pdf

To Do

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

Completed

• Finalize the protyping designs of single motor controllers

Motion Sensing

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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

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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