Thread: 2012 FRC Team 1717 Uncut
View Single Post
  #103   Spotlight this post!  
Unread 24-07-2012, 00:26
jakemochas jakemochas is offline
Programmer
FRC #1717 (The D'Penguineers)
Team Role: Student
  
Join Date: Jan 2012
Rookie Year: 2012
Location: United States
Posts: 22
jakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud ofjakemochas has much to be proud of
Re: 2012 FRC Team 1717 Uncut
Quote:
Originally Posted by Gdeaver View Post
I notice the wheel position sensor is not in the pictures. What sensor did you use.

Quote:
Originally Posted by Akash Rastogi View Post
Do you mean a sensor for the rotation of the module? I believe it is pictured in the black bracket in this picture
Quote:
Originally Posted by Gdeaver View Post
Looks like the sensor mount and a coupling but, what sensor was used. It does not appear that the timing belt pulleys are 1:1 so I'm guessing a quadrature encoder?

For turning, we keep track of our absolute position using a US Digital M4A. The sensor is setup 1:1 with the absolute wheel position. You can see the bent sheet metal bracket in Wheel Module Picture 3 to the front left.

For the drive, we are using an optical encoder that is attached to a small aluminum shaft. This shaft is directly coupled to the CIM motor and therefore one-to-one with the speed of the CIM. It keeps track of wheel rotations. You can see the flat mounting plate in Wheel Module Picture 4 right next to my thumb.