Intro to FRC

Karl Schulze & April Gaydos

Who we are?
• Karl Schulze
• Class of ‘13
• Mechanical Engineering Junior
• Likes pina coladas
• April Gaydos
• 4 Years on Team 2080
• Mechanical Engineering Junior
• Likes getting caught in the rain
What we will talk about
• Wheels • Motors/actuators
• Drive Train • Electronics
• Pneumatics • Coding
• Common Tools • Games
Wheels
They go up and down on buses.
Types of Wheels
• Traction

• Omni

• Mecanum

Wheels Drive Train Pneumatics Common Tools

Wheels - Traction
• “Normal” Wheels
• Standard wheels with varying amounts of traction, strength
& weight
• Kit of Parts (KOP)
• AndyMark (AM) or VEX Pro
• Pneumatic
• Slick
• Custom

Wheels Drive Train Pneumatics Common Tools

Wheels - Omni
• Rollers are attached to the circumference, perpendicular to

the axis of rotation of the wheel

• Allows for omni directional motion

• Used in the Slide and Holonomic Drivetrains

Wheels Drive Train Pneumatics Common Tools

Wheels - Mecanum
• Rollers are attached to the circumference, on a 45 degree

angle to the axis of rotation of the wheel

• Allows for omni directional motion

• Need to be individually motored

• Used for (obviously) Mecanum Drivetrain

Wheels Drive Train Pneumatics Common Tools

Drive Train
The suspension is killing me.
 Drive Train
• Tank

• Slide

• Mecanum

• Holonomic

Wheels Drive Train Pneumatics Common Tools

 Drive Train - Tank
• Left and right wheel(s) are driven independently
• Typically in sets of two (1-4 sets is common, sometimes
higher)
• Strengths
• Simple & cheap to design, build, and program
• Easy to drive
• Potential for high speed and/or pushing force
• Weaknesses
• Slightly less agile than other drivetrains

Wheels Drive Train Pneumatics Common Tools

 Drive Train – Slide/ H-Drive
• Similar layout to tank drive, with an extra wheel(s) perpendicular to the rest
• Must use all omni-wheels
• Strengths
• Fairly easy and cheap to design, build, and program
• Agile
• Weaknesses
• No potential for high pushing force
• Extra wheel(s)/motor(s)/gearbox(es) required to allow robot translate

Wheels Drive Train Pneumatics Common Tools

 Drive Train - Mecanum
• Similar layout to tank drive, but each wheel must be driven
independently
• Must use 4 mecanum wheels
• Strengths
• Fairly easy to design & build
• Agile
• Weaknesses
• No potential for high pushing force
• Challenging to program and learn to drive well
• Extra Gearboxes and wheels are expensive

Wheels Drive Train Pneumatics Common Tools

 Drive Train - Holonomic
• 4 omni-wheels positioned on 45⁰ angle in the corners of the
frame
• Each wheel must be driven independently
• Strengths
• Agile
• Weaknesses
• No potential for high pushing force
• Very challenging to program and learn to drive well
• Requires extra gearboxes

Wheels Drive Train Pneumatics Common Tools

Pneumatics
The world of air.
What is pneumatics?
• Uses air to conduct a push or pull force
• https://youtu.be/WksVDib_Vxs

Wheels Drive Train Pneumatics Common Tools

Why pneumatics?
• Lighter
• Motors/gears > Cylinders/compressors
• Simple
• Closed system
• Adjustable
• Can easily be changed or adjusted
• Strong
• Can lift over 180 lbs depending on the configuration

Wheels Drive Train Pneumatics Common Tools

Pneumatics Components
• Compressor
• Viair 090C Air Compressor
• Included in rookie kit of parts
• Output: 120 psi
• Follow the arrows

Wheels Drive Train Pneumatics Common Tools

Pneumatics Components
• Pressure release valve
• Included in rookie kit of parts
• Must be connected to compressor with hard fittings
• 120 psi pressure relief
• Pressure switch
• Normally closed
• Connects to both pneumatics and electronics pieces
• Opens at 115 psi and closes at 95 psi saving battery power

Wheels Drive Train Pneumatics Common Tools

Pneumatics Components
• Air Tank
• Stores air within system
• Withstand up to 125 psi
• Do not over pressurize
• Tanks can explode
• Keep fasteners loose
• Keep tanks protected and away from harm
• Condensation will occur

Wheels Drive Train Pneumatics Common Tools

Pneumatics Components
• Main Regulator (black)
• Limits downstream air pressure
• Air pressure < 60 psi
• Secondary Regulator (yellow)
• Placed after main regulator
• Further reduces air pressure for different components
Follow the arrows to prevent damage to system.

Wheels Drive Train Pneumatics Common Tools

Pneumatic Components
• Solenoid valves
• Open and close with electronic/programming commands
• Must use one solenoid per cylinder

Wheels Drive Train Pneumatics Common Tools

Pneumatics Components
• Gauges must be on both the working side and
downstream side of system
• Present on Compressor and all regulators
• Brass fittings used to connect pneumatics
pieces
• Taping is used to prevent leaks

Wheels Drive Train Pneumatics Common Tools

Pneumatics Components
• Tubing
• Comes in a variety of sizes and colors
• Used to allow air to travel through the system
• Cylinders
• Parts that conduct the push or pull force
• Come in different sizes
• Particular calculations to determine force
measurements (force calculator)

Wheels Drive Train Pneumatics Common Tools

 Gauge
Storage Tank
Compressor Pressure Switch
(1 per cylinder)
Relief Valve

Main Regulator w/
Cylinder Solenoid Pressure Gauge

Break off with secondary

regulator w/ gauge,
solenoid, and cylinder
Common Tools
Back to the Basics!
Common Tools
• Saws
• Hand
• Band
• Hydraulic Band
• Circular
• Sawzall

Wheels Drive Train Pneumatics Common Tools

Common Tools
• Mills
• Primarily for making holes (drill press)
• Can fit many bits
• Spin vertically downward
• Can also be used to cut

Wheels Drive Train Pneumatics Common Tools

Bits
• Sizes are fraction of an inch
• Depending on the set, it can be
as accurate as 1/64

Wheels Drive Train Pneumatics Common Tools

Common Tools
• Lathe
• Rotates the workpiece on an axis
• Turning operation typically used for
• Cutting
• Sanding
• Knurling
• Drilling
• Deforming
• Facing
• Turning
• These operations can be done using other tools
but a lathe can increase accuracy and overall
quality, as well as save time.

Wheels Drive Train Pneumatics Common Tools

Common Tools
• Grinder
• Used to smooth rigged edges
• Most metals and wood
• “lazy filing”

Wheels Drive Train Pneumatics Common Tools

Common Tools
• Solder
• Electronic
• Used to attach Wires to boards/other wires
• Melting the actual solder with a hot metal iron and
letting it harden

Wheels Drive Train Pneumatics Common Tools

Common Tools
• Welding
• Used to attach metal to metal
• Can be complicated with specific
materials
• Also can be very dangerous if you
don’t know what your doing

Wheels Drive Train Pneumatics Common Tools

Motors/ Actuators
Makes the world go round
Motors/Actuators
• FRC provides an annual list of permitted
motors/actuators.
• Resource page
• List of permitted motors/actuators
• How many can be used?
• What part numbers are available?
• Where can I buy this part?
• Part specifications

Motors/Actuators Electronics Coding Games

Electronics
Remember, with great power comes i(^2)*R
Electronics
• Battery
• Provides Power
• Has to be 12 V
• Only a (+) and (-) port

Motors/Actuators Electronics Coding Games

Electronics
• Power Distributing Board
• Distributes power from as 12VDC battery to
various components throughout the system

Motors/Actuators Electronics Coding Games

Electronics
• Voltage Regulator Module
• Input Voltage
• Output Resistance
• Purpose: to regulate and control power for the robot radio,
custom circuits and vision cameras

Motors/Actuators Electronics Coding Games

Electronics
• Pneumatic Control Module
• Contains inputs and outputs for 12V and 24V solenoids
and the on-board compressor
• Contains a pressure sensor to automatically regulate
pressure
• roboRio turns PCM on/off

Motors/Actuators Electronics Coding Games

Electronics
• RoboRIO
• Brain of the Robot
• Holds all code and programs
• Main communicator of the robot

Motors/Actuators Electronics Coding Games

Electronics
• Motor Controllers
• Connected to each individual motor
• Provide a variable voltage for each DC
motor
• Many types and “brands”

Motors/Actuators Electronics Coding Games

Electronics
• Controller/ Receiver
• Sending your actual controls to the robot
• Can come in many shapes and sizes
• Can even just be a laptop
• Commonly used: joystick, keyboard, xbox controller

Motors/Actuators Electronics Coding Games

Programming Language
Pay no attention to the man behind the curtain.
 Programming Languages
Most commonly used: Java, C++, Labview

Information, tutorials, and additional resources are all on the resource

page!

Motors/Actuators Electronics Coding Games

The Game
What’s this robot supposed to do anyway?
 Games
• Activity!
• FRC Breakaway
• https://www.youtube.com/watch?v=IEHAj3EmpMw

Motors/Actuators Electronics Coding Games

 Games
• Activity!
• FRC Logomotion
• https://www.youtube.com/watch?v=DTJOXTIaa9g

Motors/Actuators Electronics Coding Games

Questions?