Custom Solenoid Breakout

[jwfoss]

Last year our electrical sub-team was less than happy with the wiring of the solenoids for all of our pneumatics, and thought of a better option. During the offseason they began to develop as custom solenoid breakout to replace the 2011 Solenoid Breakout Card. Functionally the only difference is that instead of using pwm style cables the custom design uses RJ45 or RJ11 connectors. Note that this would not replace the cRio module, only the Breakout Card that plugs into it.

I admit that my role is primarally mechanical, but the design they showed me was impressive and I would love to see it implemented on our future robots.

The question is, is this legal to do. If it is, great, we will post a whitepaper how what they have done and perhaps instuctions on how do build your own.

From the 2011 Competition Manual We have the following rules that may be applicable:
<R43> Custom circuits shall NOT directly alter the power pathways between the battery, PD Board, speed controllers, relays, motors, or other elements of the robot control system (including the power pathways to other sensors or circuits). Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to the ROBOT’S electrical system is acceptable, because the effect on the ROBOT outputs should be inconsequential.

<R48> All electrical loads (motors, actuators, compressors) must be supplied by an approved power regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is controlled by the cRIO-FRC on the ROBOT.

<R62> All outputs from sensors, custom circuits and additional electronics shall connect to only the following:
A. other custom circuits, or
B. additional COTS electronics, or
C. input ports on the Digital Sidecar, or
D. input ports on the Analog Breakout, or
E. the RS-232 DB-9 RS-232 port on the cRIO-FRC, or

<R67> Items specifically PROHIBITED from use on the ROBOT include:
B. Any pneumatic part or component that has been altered, modified, machined, coated, or changed from its original “out of the box” condition, except as required for normal assembly with other components. The only acceptable modifications are:
• Wiring for pneumatic devices may be modified to interface with the control system.