RoboCup: Redesign 2014-2015
Contents
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
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
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
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
- 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
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
Charging Lead
Balancing Board
All Batteries
Zippy Flightmax 2500mAh 5S 20C
Zippy Flightmax 1800mAh 5S 40C
Phase III: Production
https://learn.sparkfun.com/tutorials/electronics-assembly
http://www.soldermask.com/ <- Sparfun uses these guys for all their solder stencils
