2010 KoP Improvements

[EricVanWyk]

Moderator -

Can you please pull the 2010PD thread out of "Feedback Thread: Robot Control System" and place it here? I am much too interested in the results of that conversation to conflate it with this one.

Thank You!
- Eric

Originally Posted by Jon236

Eric, speaking of 2010 enhancements, what improvements were made to the Analog Breakout?

Jon -

Long story short, the 2010AB provides more accurate sensor data than the 2009AB, except in two corner cases that I believe are not found in FRC.

The 2010AB significantly improves on the accuracy and the noise of the 2009AB, at the cost of a greatly reduced maximum output current. Additionally, it features reverse voltage protection. Now the all of the blue-plastic boards (DSC, Breakouts, PD*) can handle cross-wired input power.

The 2009AB can happily push just under 3 amps all day long. The 2010AB can theoretically push half an amp, if the correct conditions are met and the electrons find your lightning-goat sacrifice pleasing.

But, the noise is now well below a single-count on the ADC. There will be a notable decrease in fuzziness of some sensors, such as potentiometers. Also, I added some low pass filters, so noise coupled in from e.g. motors should be somewhat reduced. Unfortunately, this does limit the usefulness of any analog sensors that operate in the kilohertz plus range. I don't think any are really in use in FRC, so I'm happy with it.

If anyone does use analog sensors that are faster than a few kilohertz or use more than half an amp, please let me know.

* The PD protects itself, the camera, the cRIO, and the router when cross-wired. Attached Victors, Jaguars, and Spikes will likely destroy themselves.

[Jon236]

Originally Posted by EricVanWyk

Moderator -

Can you please pull the 2010PD thread out of "Feedback Thread: Robot Control System" and place it here? I am much too interested in the results of that conversation to conflate it with this one.

Thank You!
- Eric



Jon -

Long story short, the 2010AB provides more accurate sensor data than the 2009AB, except in two corner cases that I believe are not found in FRC.

The 2010AB significantly improves on the accuracy and the noise of the 2009AB, at the cost of a greatly reduced maximum output current. Additionally, it features reverse voltage protection. Now the all of the blue-plastic boards (DSC, Breakouts, PD*) can handle cross-wired input power.

The 2009AB can happily push just under 3 amps all day long. The 2010AB can theoretically push half an amp, if the correct conditions are met and the electrons find your lightning-goat sacrifice pleasing.

But, the noise is now well below a single-count on the ADC. There will be a notable decrease in fuzziness of some sensors, such as potentiometers. Also, I added some low pass filters, so noise coupled in from e.g. motors should be somewhat reduced. Unfortunately, this does limit the usefulness of any analog sensors that operate in the kilohertz plus range. I don't think any are really in use in FRC, so I'm happy with it.

If anyone does use analog sensors that are faster than a few kilohertz or use more than half an amp, please let me know.

* The PD protects itself, the camera, the cRIO, and the router when cross-wired. Attached Victors, Jaguars, and Spikes will likely destroy themselves.

Thanks Eric....as proof to the robustness of the breakouts, we had the pneumatic break-out 24 v supply cross-wired inadvertently. A splice went to the cRio. When powered on, the only casualty was the wire...the cRio and pneumatic break-out did well.

So good work Eric!

The suggestion on the previous post for a break-out panel that plugs into the cRio modules is intriguing. It eliminates several failure points. I realize that it is too late to get something like that into play for 2011, but for 2012 and beyond, it would be worthy of consideration.