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Many impressive robots have been built using the versatile FIRST Robotics Kit. It was for this reason that when Waterloo Labs was looking for a platform to use for their remote controlled full sized automobile they decided to adopt the FIRST platform to tackle all their control needs.
This document will go through each of the parts used from the FIRST kit and show how they were adapted from their typical roles to control a FIRST Robot to controlling a full sized automobile. This impressive show of the vast potential uses for the FIRST Kit shows the impressive equipment available to the FIRST teams and the endless potential for design applications.
Table of Contents
Power Distribution Board
All of the onboard equipment was powered with a 12V car battery using the FIRST Power Distribution Board to supply power to each sub system.
CompactRIO-9074 and C-Series modules
The CompactRIO, an embedded controller able to be reconfigured for any task, was provided to the FIRST Robotics teams in the form of the cRIO-FRC. For the control of the automobile, an equally capable commercially available cRIO-9074 controller was used. This controller was put in the vehicle to take commands sent from the driver and control the vehicle. All of the inputs and outputs of the cRIO were handled by using the same C-Series modules that come in the FIRST kit, the NI 9403 and NI 9201.
Digital SideCar and Jaguar Motor Controller
The Digital Side Car and Jaguar motor controller were used in conjunction with the 9403 to control the vehicle. Pulse width modulation (PWM) signals were sent from the 9403 to the Digital sidecar which communicated with the Jaguar Motor Controller to drive power window motors from the vehicle itself.
These motors were used to actuate levers and move a motorcycle chain to control the vehicle. More specifically, the Gas and Brake pedals were controlled by a simple lever arm attached to the output shafts of two of the power window motors. Based upon the PWM signal from the Jaguar motor controller the motors would press the levers against the pedals at various intensities simulating a human pressing the gas or brake pedals.
To steer the car, the steering wheel was removed and replaced with a large gear that was connected and driven by the third power window motor by using a motorcycle chain to link the two together.
Summary
With such simple adaptability to multiple applications the FIRST Robotics Kit was easily taken out of it’s usual context and used to create something imaginative and entertaining. Who knows what other educational and challenging projects this Kit could be used for during FIRST off Season?
Related Links
NI and FIRST Robotics
FIRST Community
FIRST Website [External Link]
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