FTC WORK SHOP ELECTRICAL WIRING. Electrical Board Controller Wiring NXT Wiring Main 12 Volt Power Wiring Samantha Wiring
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1 FTC WORK SHOP ELECTRICAL WIRING Electrical Board Controller Wiring NXT Wiring Main 12 Volt Power Wiring Samantha Wiring 1
2 In the first section we will be wiring a basic robot using the supplies that comes in the base Tetrix kit. 12 volt power wiring to include battery, switch, Samantha Module, controllers and drive motors. Control Wiring from the NXT to each of the controllers, NXT to one Lego motor, servo motor to servo controller, Encoder wiring from the motors to the controllers. 2
3 Electrical Board If you would like to make your own electrical board purchase polycarbonate 1/8 thickness and cut it 13 x 7 inches. You can layout the Tetrix parts like shown in this presentation to mark all the holes. Drill all the hole 3/16 diameter. The large slot hole is 1 x 3 inches but you could just cut a square section out 1.75 x 3 inches. 3
4 BUILD NXT Mount Connect the Lego parts as shown all parts are in the Tetrix kit
5 BUILD NXT Mount Connect the Lego parts as shown all parts are in the Tetrix kit
6 Install NXT onto base Note: Mounting nuts are installed upside down because kit screws are too short. I would suggest purchasing longer screws and replace all Tetrix nuts with NyLock nuts, even for the robot build I would use NyLock nuts. 6
7 Controller Install Install the controllers using threaded rod couplers, nuts and bolts as shown Use the threaded rod couplers to support the upper controllers 7
8 Power Switch Install Install angle bracket using nuts and bolts as shown Attach the switch mount that came with the Tetrix kit 8
9 Battery Mount Install 2 inch screws and bottom the nuts to the base Note: A Velcro strap should be installed to hold the battery down 9
10 Samantha Module The Samantha Module needs to be wired right after the main switch per FTC published best practice using a terminal block or butt splice connectors Visit FTC Tool Box for more Samantha Module information 10
11 Samantha Module The Samantha Module needs to be mounted outside the frame and high as possible per FTC published best practice The cable should hang down straight with no strain. Support the cable when it comes out of the Samantha Module. A ½ inch gear hub is the right size for holding the cable off the mount. The USB cable needs to be removed at competition for flashing the Module so make it accessible. 11
12 Controller Power Wiring When terminating the Samantha Module provide an extra set of wires and connect to the first controller in the wiring chain 12
13 Controller Power Wiring Connections are made to the terminals marked Battery on the controllers. Connect wiring from the first controller to the second controller. Make sure to connect red to positive and black to negative. 13
14 Controller Power Wiring Connect the motor leads to the motor controller terminals marked Motor 1 and Motor 2. Red to positive and black to negative. Connect only one motor to Motor 1 and only one motor to Motor 2 14
15 Servo and Lego Motor Wiring Servos are connected to the servo controller via the Channel ports. More than one servo can be used. The Lego motors are plugged into the NXT port A, B or C 15
16 Connect Wired Base to Chasse Now that your wiring is completed you can mount the wired base plate (using the holes that line up) to the drive chasse and connect the motor leads to the drive motors. The encoder leads can be connected to the motor controllers. Make sure that you connect motor one encoder to motor one and motor two encoder to motor two. 16
17 Control Wiring Connect a control wire from the NXT to the motor controller. Connect a control wire from the motor controller to the servo controller 17
18 Basic Wiring Complete On this robot the drive wheels are the front and the electrical base can be moved all the way back if needed. Your robot may be different in lay out and design. This electrical base can be located any where on your design as long as you allow for a 13 x 7 inch space. Remember that the power switch and NXT needs to be easily accessible for the judges. 18
19 FTC WORK SHOP ELECTRICAL WIRING ADVANCE SECTION Additional Controller Wiring Additional NXT Wiring Additional Power Wiring Multiplexer Wiring Sensor wiring 19
20 Installing Additional Controllers Nut and bolt the second motor controller as shown. Be sure to use the threaded rod couplers on the rear of the controller like the picture 20
21 Installing Additional Controllers Nut and bolt the third motor controller as shown. Be sure to use the threaded rod couplers like the picture 21
22 Installing Additional Controllers Nut and bolt 2 ½ or 3 inch screw to the base plate as shown. It will be the support for the next controller. 22
23 Installing Additional Controllers Attach two threaded rod coupler using two 1 ½ screws to the front of the fourth motor controller and screw it through the coupler but do not tighten them all the way. Slide the fourth motor controller down into position and tighten the 1 ½ screws to the third motor controller threaded rod couplers and tighten. Install the nuts on the 2 ½ screws to secure the fourth motor controller 23
24 Power Wiring The Additional Controllers Connect the black and red wires from the first motor controller to the second and from the second to the third and from the third to the fourth 24
25 Additional Control Wiring Installed Connect a control wire from the NXT to the second motor controller. Connect Control wires from the second controller to the third and from the third to the fourth motor controller. Be carful how many controllers are daisy chained, your code might get lost on the way to the last controller 25
26 Multiplexer Installation Multiplexers allow for the addition of sensors when the NXT ports are full. There are two types of multiplexers, powered and unpowered. Powered work for sensors that require power to operate like a light sensor. A unpowered multiplexer is used for sensors that don t require power like a touch switch or limit switch. 26
27 Completed Wiring System You can add sensors, motors and servos as you need them. It is up to you and your team to learn to use them and learn more about their use 27
28 Mounting Options You can mount the electrical board any way you would like Make sure when you change it s orientation that the judges can easily access the NXT and the power switch 28
29 SCHEMATIC 29
30 Thank You For Attending Power point by Joe Weber FRC Team 1322 FTC Team 5954 FTC Team 7032 FLL Team White Wolves Involved in FIRST since 1999 Member of MMRA Kettering FRC Committee 30
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