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Jaguar Brake/coast
We are trying to get a jaguar to brake and can't figure out exactly how to wire it. I saw one thread about a pulldown resistor and two wires in the sidecar with only one in the jaguar, if we are supposed to do it that way then how exactly should it be wired and how big of a resistor do we need?
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Re: Jaguar Brake/coast
Getting the jaguar to brake just involves moving the farleft two pin jumper to the b side
.From....- - .........b...c ..to.....- - .........b...c |
Re: Jaguar Brake/coast
You can wire a digital output to the brake jumpers and control brake from software if you like.
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Re: Jaguar Brake/coast
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Re: Jaguar Brake/coast
Kyle,
You would wire to a digital output but only use the black and white wires. Black to pin 3 and white to pin 2 on the Jag. The +5 volt line is not used. It appears that the jumper input on the Jag for coast and brake is either tied to +3.3 volts or power common. The data sheet for the controller chip does not seem to pull this input high so a pullup resistor (1k) from the Jag 3.3 volt pin (pin 1) to the center pin (pin 2) would likely be needed. Then simply program a digital output to be low for "brake" and high for "coast". we have used a similar method on Victors in the past but do not use Jaguars. |
Re: Jaguar Brake/coast
If using CAN, you can also control Brake/Coast via software directly by issuing commands over the CAN bus.
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Re: Jaguar Brake/coast
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http://www.luminarymicro.com/jaguar Quote:
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Re: Jaguar Brake/coast
I wonder if this applies to old Jaguars or just the new models. The schematic I have for last year's model does not show any pullup for selection. The jumper is connected to +3.3 volts in one position or power supply common in the other.
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Re: Jaguar Brake/coast
I have made these brake coast cables cables before and if I remember correctly the rated max fanout for digital outs on the digital sidecar is 3. So if you have 4 speed controllers on the drive I recommend you daisy chain (or Y-cable) the left controllers to one digital output, then do the right controllers on a separate output. I have daisy chained one digital out to 4 speed controllers on a practice robot. It worked on all 4 controllers, but I wouldn't do this on your competition bot (use atleast 2 digital outs).
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Re: Jaguar Brake/coast
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I sent a PM to Greg asking about this but haven't heard back yet. ~ |
Re: Jaguar Brake/coast
Ether,
In looking at the NI manual as a reference here...http://www.ni.com/pdf/manuals/374069e.pdf It shows an external pullup is needed and the sidecar has a 10k pullup to sidecar +5 volts. Kind of scary that way since there appears to be no protection to the input pin of the LM3S2616 in the Jaguar. |
Re: Jaguar Brake/coast
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Here's what I found: According to the NI 9403 "c_series_do.pdf" document Page 1 Table 1: the 9403 has 32 Sink/Source 5V/TTL inputs/outputs. Output is 5V @ 2 mA. According to document "374069e.pdf" "OPERATING INSTRUCTIONS AND SPECIFICATIONS NI 9403 32-Channel, TTL Digital Input/Output Module", Page 7: Each channel has a DIO pin to which you can connect a digital input or output device. The 32 DIO channels are internally referenced to COM, so you can use any of the four COM lines as a reference for the external signal. ... You can independently configure each DIO channel in software for input or output. The Digital Sidecar (DS) connects to the NI 9403 module. According to "3-2010FRCControlSystemComponent DatasheetsRev1_enc.pdf": (Page 16 Para 3.4.1) Functional Description The Digital Sidecar is a breakout module that is designed to adapt a single cRIO 9403 32-channel digital I/O module into a set of I/O that is familiar to robotics hobbyists. (Page 16 Para 3.4.1.1) Features The Digital Sidecar includes the following features: - 14 general purpose I/O (aka GPIO) lines with available 5V power for each (Page 18 Table) J26 GPIO A 3x14 0.1” pin field for general purpose digital I/O with 5V available on the center pin, ground on the pin closest to the PCB’s edge and I/O signal on the pin furthest from the PCB’s edge. (Page 19 Specifications) GPIO – Pull-Ups 10 kOhms* these signals are passed directly to the NI 9403 module without any series resistance but include pull-ups to 5V *I interpreted these as internal pullups since it says later in the sentence that they are included ~ |
Re: Jaguar Brake/coast
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Re: Jaguar Brake/coast
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Re: Jaguar Brake/coast
Ether,
I was referring to Figure 2 on page 8. |
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