The Electrical sub-team manages all of the electrical wiring and components on the robot from the battery to the motors.

Lead Mentor: Ross Johnson

Common robot electrical components

• 12v/18AH Sealed Lead Acid Batteries ​http://www.andymark.com/product-p/am-0844.htm
  

See the attached file on the care and feeding of rechargable batteries.

• 120A circuit breaker ​http://www.andymark.com/120-amp-robot-main-circuit-breaker-p/am-0282.htm
• Power Distribution Panel ​http://www.andymark.com/cross-the-road-power-distribution-panel-p/am-2856.htm
  • 20A and 40A thermal circuit breakers ​http://www.andymark.com/product-p/am-0288.htm
  • Voltage converters, regulators, monitors, contained in PDP module.
    
  • Additional regulator for custom circuits: ​http://www.andymark.com/product-p/am-3068.htm
  • CAN terminator
• Voltage regulator(s) Voltage Regulator Module ​http://www.andymark.com/product-p/am-2857.htm
• Motor controllers
  • PWM Controlled (Victor SP, Talon SR, Brown Jaguar, Victor 888)

Victor SP: ​http://www.andymark.com/Victor-SP-p/am-2855.htm

• CAN Controlled (Talon SRX, Black Jaguar)

Talon SRX: ​http://www.andymark.com/Talon-SRX-p/am-2854.htm

• Talon SRX breakout board(s)

• RoboRio embedded computer ​http://www.andymark.com/NI-roboRIO-p/am-3000.htm
• Radio (WiFi Bridge)​http://www.andymark.com/OM5P-AN-p/am-3277.htm
• Pneumatics control module ​http://www.andymark.com/product-p/am-2858.htm
• Spike (relays)​http://www.vexrobotics.com/217-0220.html
• Robot Status Light (RSL) aka the blinky light
• Sensors
  • Encoders

Example: USDigital E4T:​http://www.andymark.com/E4T-OEM-Miniature-Optical-Encoder-Kit-p/am-3132.htm Example: CIM Coder: ​http://www.andymark.com/encoder-p/am-3314.htm

• Limit switches
  Typical Limit Switch: Honeywell V7-9W1AE9-048 ​http://www.digikey.com/product-search/en?keywords=480-2892-ND
  This switch was used on the 2015 Robot.
  
• Ultrasonic range finders ​http://www.andymark.com/product-p/am-2435.htm
  ​http://www.andymark.com/product-p/am-2434.htm
  
• IR reflective range finders 4-30cm range ​http://www.phidgets.com/products.php?category=2&product_id=3520_0
  10-80cm range ​http://www.phidgets.com/products.php?category=2&product_id=3521_0
  20-150cm range ​http://www.phidgets.com/products.php?category=2&product_id=3522_0
  These require an interface board ​http://www.phidgets.com/products.php?category=2&product_id=1101_0
  *Note* Interface boards have to be read from an ANALOG input on the RoboRio?
  
• Beam-break sensors
• LIDAR

• Cameras

Wiring and Cable Dressing

Crimping Technique *Various flavors of crimp terminals and why we use them

• Tab Terminals / Quick Disconnects / Butt Splices
• Molex 2 pin connectors ​http://www.digikey.com/en/product-highlight/m/molex/standard-093-pin-and-socket-connectors

Molex 02-09-1104 (Female Crimp Terminal)
Molex 02-09-2103 (Male Crimp Terminal)
Molex 19-09-1029 (Male Connector Body)
Molex 19-09-2029 (Female Connector Body)
Sources: Mouser Electronics, Digi-Key Electronics
These are designed for currents up to 14 Amperes and wires up to 14 AWG

• Andersen Powerpole PP45 ​http://www.andymark.com/product-p/am-2874.htm

This is what we use for currents up to 45 Amperes and wires larger than 14 AWG.
Note: Talon SRX and Victor SP require this type for a good connection.

Soldering Technique

Electrical Rules and Guidelines

• Motors and 40A Circuits: 12 GA.
• 30A Circuits: 14 GA.
• 20A Circuits: 18 GA.
• Inspection sheet