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

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{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
|-
 
|-
−
! scope="col" | Byte
 
 
! scope="col" | Command
 
! scope="col" | Command
 +
! scope="col" | Read/Write
 +
! scope="col" | Definition
 +
|-
 +
| style="text-align: center;" | 0x00
 +
| style="text-align: center;" | Read Only
 +
| style="text-align: center;" | Receive Data Readings
 
|-
 
|-
 
| style="text-align: center;" | 0x01
 
| style="text-align: center;" | 0x01
 +
| style="text-align: center;" | Write
 
| style="text-align: center;" | Set motor speeds
 
| style="text-align: center;" | Set motor speeds
 +
|}
 +
 +
 +
 +
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 +
|-
 +
! scope="col" | Array Index
 +
! scope="col" | Bit(s)
 +
! scope="col" | Definition
 +
|-
 +
| style="text-align: center;" | 0
 +
| style="text-align: center;" | 7..0
 +
| style="text-align: center;" | FPGA Version (0x04 in 2014)
 +
|-
 +
| style="text-align: center;" | 1
 +
| style="text-align: center;" | 7..0
 +
| style="text-align: center;" | Encoder 1 Count (LSB)
 +
|-
 +
| style="text-align: center;" | 2
 +
| 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;" | 3
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Encoder 2 Count (LSB)<br/>
 +
|-
 +
| style="text-align: center;" | 4
 +
| 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;" | 5
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Encoder 3 Count (LSB)<br/>
 +
|-
 +
| style="text-align: center;" | 6
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Encoder 3 Count (MSB)<br/>
 +
|-
 +
| style="text-align: center;" | 7
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Encoder 4 Count (LSB)<br/>
 +
|-
 +
| style="text-align: center;" | 8
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Encoder 4 Count (MSB)<br/>
 +
|-
 +
| style="text-align: center;" | 9
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Motor Fault
 +
|-
 +
| style="text-align: center;" | 10
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Kicker Status
 +
|-
 +
| style="text-align: center;" | 11
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Kicker Voltage
 +
|-
 +
| style="text-align: center;" | 12
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Hall Count 1
 +
|-
 +
| style="text-align: center;" | 13
 +
| 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;" | 14
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Hall Count 3<br/>
 +
|-
 +
| style="text-align: center;" | 15
 +
| style="text-align: center;" | 7..0
 +
| style="text-align: center;" | Hall Count 4<br/>
 +
|-
 +
| style="text-align: center;" | 16
 +
| style="text-align: center;" | 7..0<br/>
 +
| style="text-align: center;" | Hall Count 5<br/>
 
|}
 
|}
  
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| style="text-align: center;" rowspan="3" | 6
 
| style="text-align: center;" rowspan="3" | 6
 
| style="text-align: center;" | 7..4
 
| style="text-align: center;" | 7..4
−
| style="text-align: center;" | <span style="background-color:#FFFF00;"></span><span style="line-height: 20.7999992370605px; text-align: center;">Reserved (Always 0)</span><span style="background-color:#FFFF00;"></span><br/>
+
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;">Reserved (Always 0)</span><br/>
 
|-
 
|-
 
| style="text-align: center;" | 3..2
 
| style="text-align: center;" | 3..2
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|}
 
|}
  
−
 
+
<span style="line-height: 1.2;">To Do</span>
−
 
 
−
{| border="1" cellspacing="1" cellpadding="1" style="width: 500px;"
 
−
|-
 
−
! scope="col" | Array Index
 
−
! scope="col" | Bit(s)
 
−
! scope="col" | Definition
 
−
|-
 
−
| style="text-align: center;" | 0
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span>
 
−
|-
 
−
| style="text-align: center;" | 1
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="line-height: 20.7999992370605px; text-align: center;"><span style="background-color:#FFFF00;">Unknown</span></span>
 
−
|-
 
−
| style="text-align: center;" | 2
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 3
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 4
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 5
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 6
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 7
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 8
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 9
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 10
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span><br/>
 
−
|-
 
−
| style="text-align: center;" | 11
 
−
| style="text-align: center;" | <br/>
 
−
| style="text-align: center;" | <span style="background-color:#FFFF00;">Unknown</span>
 
−
|}
 
−
 
 
−
==== To Do ====
 
  
 
*Transition the I<sup>2</sup>C bus lines to the microcontroller
 
*Transition the I<sup>2</sup>C bus lines to the microcontroller
 
*Update Verilog for new balanced encoder signals ('''A+''', '''A-''', '''B+''', '''B-''')
 
*Update Verilog for new balanced encoder signals ('''A+''', '''A-''', '''B+''', '''B-''')
 
**( ''('''A+''') + ('''A-''') == 0'' ) should be true for no errors
 
**( ''('''A+''') + ('''A-''') == 0'' ) should be true for no errors
−
*Complete all <span style="background-color:#FFFF00;">Unknown</span> fields for the FPGA's SPI protocol in the above tables
 
  
 
==== Completed ====
 
==== Completed ====
  
 +
*Determine what communications occur over the SPI bus
 
*Finalized that the 2015 motor will use the current FPGA
 
*Finalized that the 2015 motor will use the current FPGA
 
**Xilinx Spartan-3E
 
**Xilinx Spartan-3E

Revision as of 22:47, 6 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 [FINISH UPLOADING IMAGES TO THIS PAGE. MANY ARE MISSING]

Phase II: Design

Controlling Unit

To Do

Completed

  • Obtain mbeds for robot use

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

Completed

  • 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
  • Finalize method for adjusting motor wire lengths when motors arrive
  • Determine placement of battery location

Radio

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.

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


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


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

Reserved (Always 0)

3..2 Motor 1 Drive Mode
1..0 Motor 1 Speed (MSB)
3 7..0 Motor 2 Speed (LSB)
4 7..4 Reserved (Always 0)
3..2 Motor 2 Drive Mode
1..0 Motor 2 Speed (MSB)
5 7..0 Motor 3 Speed (LSB)
6 7..4 Reserved (Always 0)
3..2 Motor 3 Drive Mode
1..0 Motor 3 Speed (MSB)
7 7..0 Motor 4 Speed (LSB)
8 7..4 Reserved (Always 0)
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

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

  • Determine what communications occur over the SPI bus
  • Finalized that the 2015 motor will use the current FPGA
    • Xilinx Spartan-3E

Motors

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

To Do

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

Completed

Error Detection

To Do

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

Completed

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

Electronics Assembly

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

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

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