UiPath Test Automation using UiPath Test Suite series, part 2
First fare 2010 lab-view sensors for frc robots
1. FIRSTFare 2010Sensors for FRC Robots Dennis C. Erickson ~ Senior Mentor for Teams 1510 and 2898 Daniel Bramblett ~ Team 1510 Amy Wiegand ~ Team 2915 1
2. Introduction A Wide Variety of Sensors can be Used to enhance the operation of the Robot Primarily used in the Offensive Mode but are also used in Defensive Operations as an Environment Monitor (e.g., Something’s Coming) 2
12. Ultrasonic Sensor Use to determine distance to friend or foe. Good from about 8 inches to 20 feet Suggest using a software filter to smooth the data 6 Operates at 42kHz with readings every 50ms
13. Ultrasonic Sensor 7 The Block Diagram and the Front Panel Used in the Main Robot Application
14. Gyroscope Sensor Yaw Rate Gyro Senses angular changes about the top surface axis of the device and provides an output voltage proportional to the instantaneous angular rate change. The output is useful for guidance, stability, rate of closure and control of the robot platform. Inertial guidance Especially useful in designing “smart” Autonomous software 8 Best to mount flat near the robot’s center of rotation
18. Gyroscope and Accelerometer Sensors 12 Knowing the instantaneous robot angle and distance traveled at that angle, the position on the field can be determined.
19. Differential Peak-Detecting Gear Tooth Sensor Hall Effect sensor used for detecting and counting magnetic fields from ferrous gear teeth related to a robot’s drive operations. For example, it can count teeth on a gear to measure and, through the RC, control robot speed. 13 Use counter VIs for analysis.
20. Encoder Sensor Use to determine rate of closure, count events (wheel rotations), monitor chain health Used in conjunction with the counter VIs Mostly located on a gear box or a motor 14