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The purpose of this WiKi is to host all technical documentation for the 2023 game from a robot, electrical, pneumatic, and controls perspective.
This WiKi contains useful information such as CANID mappings, pneumatic mapping, schematic references, controls notes (gamepads, calibration, etc.) and more.
New to 2023, change requests and change freezes will be implemented into the software and electrical development of the robot. These procedures ensure any change made that could critically affect the robot have been verified and approved by the proper parties.
For example, if a change to the code that will affect the driving of the robot is being made, this must be processed through a change request to ensure the change will not affect the robot in a negative way.
More details as to how to submit a change request for code/electrical and what the hierarchy approval process is for different changes can be found HERE.
This section of the WiKi contains documentation for each subsystem of robot, CAN ID & port mappings, as well as pneumatics documentation.
The following pages define each of the robots subsystems. Including a BOM and the required parts.
- Drivebase
- Pivot
- Telescopic Arm
- Gripper
- Intake
- Faceplant
In order to ease troubleshooting, code debugging, and component replacement/swap, this wiki acts as the master sheet for all CANIDs, port numbers, valve numbers etc.
When installing any component, or adding code. The CANID/port/valve/etc. MUST be added to this wiki first, match in code, and be labeled on the physical device.
For reference of all CANIDs on the 2023 robot see THIS page.
For reference of all DIOs and sensor ports see THIS page.
For reference of all PWM ports see THIS page.
For reference of all pneumatic valve ports see THIS page.
The electrical schematics for the 2023 Robot live in the EasyEDA software. EasyEDA is a web-based schematic design and management software. It allows the team to have a digital version of the robot’s wiring for reference in troubleshooting and testing.
See the EasyEDA section for more information on how to access the software and use it properly.
NOTE: Schematics are useless if they are not a living document that updates with the robot. It is ESSENTIAL that changes made to the physical robot are also updated in schematics
Pivot Offset: 196.5 Cone Pickup: 127 Cube Pickup: 132 Scoring: 50 Release: 60
To reduce headaches as to what the current gamepad button map is, the Driver and Operator pages in this Wiki act as the official and UPDATED version of the button mapping. When changes are made in code to button mapping, this page MUST be updated to reflect said changes. This way, anyone can reference the page and operate the robot. Failure to maintain this document and keep it in line with the code base will most certainty lead to headaches and other issues.
Any calibration procedures, such as limelight tuning, odemetry tuning, robot characterization, etc. live within this section. Tuning processes should be created as Standard Operating Procedures (SOPs) such that anyone can follow and complete the process. For a complete list of all procedures, see the sidebar.
Essential to the operation of the robot in a competition environment, these pages contain the SOPs that must be preformed pre and post match. Also included is the system check procedure for the 2023 robot.