New Speed Controller Announced

[Dowjonesbotics]

those are awesome

[pogenwurst]

This sounds awesome -- however:

Originally Posted by Press release

The Jaguar also includes features that will be utilized in FIRST Robotics Competitions after 2009. In addition to the powerful 32-bit computing and signal processing capabilities of the Stellaris MCU, Jaguar includes an industry-standard Controller Area Network (CAN) interface for real-time networking, a three-pin quadrature interface enabling precise position and speed control, and an analog input for an alternative method of servo operation.

Why would we not be allowed to use the quadrature interface until "...Competitions after 2009"? It seems a bit silly to buy speed controllers with 32-bit ARM chips, and then choose not to utilize the advanced features enabled by the use of such a chip.

[Nate Smith]

It's possible that the speed controller people and the control system people didn't get together in time to make it happen for 2009, and rather than throw more variables into what I can only assume is a somewhat already tested control system, they are only going to have basic use of the speed controllers for 09, and add in new features for the 2010 hardware. It may also just be a case of "the features are there, but the control system only supports v883 style control out of the box...experiment at your own risk." I'm sure we will find out more as things get closer...

[Klake]

One thing that I noticed (and do not like) is that there is no ventilation for the drive MOSFETs or etc inside. Driving 20amp motors will get them warmed up and those look like they will be nice and toasty.

[Alan Anderson]

Originally Posted by Klake

One thing that I noticed (and do not like) is that there is no ventilation for the drive MOSFETs or etc inside.

Where did you "notice" this? It's contradicted by the Jaguar's reference sheet, and the ventilation grille on the top is recognizable as such in the posted image.

[ajlapp]

Once they implement CAN, I hope that they also consider some other control friendly strategies:
using current messurements to allow for velocity (and even position) control without the use of encoders or other sensors. I discuss this here: What Dr Joe Wants for Christmas... (Man, I love referencing myself ;-).
implementing PID control onboard the speed controller (send it your gains and from then on just give it a desired position -- let IT figure out what the PWM outputs should be)

From the tech at the Luminary booth here at NI Week.....

-full current sensing and feedback for position control, when they unlock the feature in '010
-onboard PID, you tell it the constants and it goes to work

The unit has a cool limit switch feature also built in. you can wire a limit switch directly to the esc for both directions of operation as a built-in software stop.

The standard pwm connection still applies for now. the CAN interface is either disabled or now allowed for our use, though the demo unit they were running was linked up via ethernet cable. looked pretty slick.

Woody said we'd be able to use victors this season to carry us through the transition. The most exciting news, is that both the FIRST rep and the NI rep said the price point for the Jaguar was going to be significantly less than the victor....."we'll be happy" were his exact words!

[Greg Needel]

Originally Posted by ajlapp

From the tech at the Luminary booth here at NI Week.....

Any chance you can post some real photos of it with something for scale (a dollar bill)

[Billfred]

Originally Posted by ajlapp, emphasis mine

-full current sensing and feedback for position control, when they unlock the feature in '010

Perhaps someone can find this out: If we go wild on speed controllers for 2009, will we be able to enable these features in 2010 when it's the night before ship day and we need just that one extra speed controller?

[Cory]

Originally Posted by vivek16

Freaking awesome! This means we won't end up ripping victors off of old robots.

thanks, Vivek

It won't be so awesome for the teams who will have thousands of dollars in effectively useless Victors once FIRST transitions fully into the new control system.

I'm extremely concerned with the size of all the components of the new control system. All these pieces together are absolutely massive compared to what we've been using.

[sgreco]

Originally Posted by Cory

It won't be so awesome for the teams who will have thousands of dollars in effectively useless Victors once FIRST transitions fully into the new control system.

I'm extremely concerned with the size of all the components of the new control system. All these pieces together are absolutely massive compared to what we've been using.

I saw the new control system, but how big is the new speed controller?

[Tomasz Bania]

Originally Posted by Cory

It won't be so awesome for the teams who will have thousands of dollars in effectively useless Victors once FIRST transitions fully into the new control system.

I'm extremely concerned with the size of all the components of the new control system. All these pieces together are absolutely massive compared to what we've been using.

On the other hand, that may mean they will offer larger dimensions to fit all the new components in.

[psyco_klown]

Originally Posted by Tomasz Bania

On the other hand, that may mean they will offer larger dimensions to fit all the new components in.

i doubt they would allow the size length and width to change do it still has to go through a doorway, but the height could change.

[Cory]

Originally Posted by Tomasz Bania

On the other hand, that may mean they will offer larger dimensions to fit all the new components in.

One can dream...doubt it though.

I'd rather get a weight allowance than a size allowance.

Originally Posted by Sgreco27

I saw the new control system, but how big is the new speed controller?

It looks significantly bigger, based on the fact that there would be no room for an RJ-45 connector on the 884's, but the new controllers have the jack plus room to spare.

[Richard McClellan]

Originally Posted by Cory

I'd rather get a weight allowance than a size allowance.

Getting more weight allowance is not likely. It has been 148lbs the last few years (with battery and bumpers) because by OSHA standards, two people cannot safely lift more than 150lbs. If they increased the weight limit, you'd have to get 3 people to carry each robot.

[acdcfan259]

Originally Posted by Cory

It won't be so awesome for the teams who will have thousands of dollars in effectively useless Victors once FIRST transitions fully into the new control system.

I imagine there's ways to recycle some of the components.