Control System Hardware Setup

Follow the step-by-step directions in the FIRST Control System manual.
FRC 2011 Control System Manual
FRC 2010 Control System Manual
FRC 2009 Control System Manual

Power

The system requires several different voltages

• 5v - for the Axis Ethernet camera and D-Link robot WiFi (special converter 12v-to-5v)
• 6v - selectable by Digital sidecar jumper for powering servos
• 12v - motors, solenoids, and analog sensors
• 24v - for the cRIO and optional 24v solenoids

Tools and materials needed include:

• Wire strippers
• Wire cutters
• Wago tool
• #6 ring terminal crimpers
• #12 ring terminal crimpers
• 10mm nut driver
• 7/16 nut driver or rachet & 7/16 socket
• Medium straight bladed screwdriver
• #6 wire
• #6 ring or clamp terminals
• #18 wire
• #12+ wire (for motors)
• #12 ring terminals

A typical order for connecting everything is:

• 12V Battery to 120amp breaker/switch (requires #6 clamp or crimp terminals and tools)
• 12V battery and 120amp switch to Power Distribution Panel (PD) CAUTION: the nuts on the PD are metric NOT 1/4-20
• PD to cRIO via 24v connector
• PD to wireless bridge using special 12v connection
• PD to camera using 5v connection
• PD standard 12v breaker to wago connectors on the Analog Bumpers, Digital Sidecar, and Pneumatic Bumper
• PD to Speed Controllers and spikes
• Digital Sidecar to robot signal light
• Solenoid wires to the solenoid bumper (optionally to a spike)

Control

• 37-pin cable from the cRIO to the Digital Sidecar
• 25-pin Dsub connectors for the Analog and pneumatic bumpers/breakout boards
• Ethernet cables for the WiFi
• Ethernet cable as a pit tether
• PWM cables for speed controllers, servos, relays, solenoids, analog & digital sensors
• Homemade/purchased CAN cables if optional CAN is used with Jaguar speed controllers(only)
• I2C Interface communication connection

PWM Control

Serial-CAN Control

Ethernet-CAN Control

Connections to make:

• Driver Station (DS) to cRIO - lots of IP Network Variations , simplest is DS via wireless to robot access point(AP), then AP Ethernet connection to cRIO port 1
• Ethernet cross-over cable from camera to cRIO port 2
• DB37 cable from cRIO module 4 to the Digital Sidecar (optionally from module 6 to a 2nd Digital Sidecar)
• Servos attached to white PWM outputs. For Servos Only, 2-pin jumpers go beside the servo PWM pins to give them power.
• PWM cables from Spikes to the Relay pins on a Digital Sidecar
• PWM cables from the white PWM pins on the Digital Sidecar to Victor speed controllers
• Jaguar speed controllers have three control options: PWM, Serial-CAN, Ethernet-CAN. see diagrams.

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