paper: The HERO for FRC

[Cothron Theiss]

Originally Posted by marshall

The HERO does provide PWM outputs but it's not something we've tested. If you go that route though, you'll need to breakout the 10pin .05" headers to PWM connections.

Something like this should work for breaking out the PWM connectors: http://core-electronics.com.au/servo...ompatible.html

Thank you for that; I'll let them know that option exists.

[tr6scott]

Have a wiring diagram to share, and a priced BOM?
I have two robots that I would also like to keep running, I have one already working with the ardunio and 221 hardware.

Can you talk about what the srx breakout was used for?

[marshall]

Originally Posted by tr6scott

Have a wiring diagram to share, and a priced BOM?
I have two robots that I would also like to keep running, I have one already working with the ardunio and 221 hardware.

Can you talk about what the srx breakout was used for?

Wiring is dead simple, it's 12V and CAN. I don't have a diagram but maybe I can bribe a student into making one. It really isn't hard though.

The breakouts were used to attach the encoders on the drivetrain to the Talon SRXs. We plan on testing out motion magic and motion profiling on this robot within the next few months so we'll need the encoders. We also needed them to attach to the limit switches to prevent our mechanism from breaking.

BOM:

1x HERO - $60
6x Talon SRX - $90x6 = $540
4x Encoder Breakouts - $10x4 = $40
Total Cost = $640

That might seem like a lot if you are buying all of the parts new but I suspect most teams won't be and instead might be looking to keep their stronghold robot online and working which might be using CAN today. The bulk of the cost is from the Talon SRXs and if you don't need to purchase those or plan on purchasing new ones then it's not that bad.