FTC 2015 Electronic Modules

 

Core Power Distribution Module

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The Modern Robotics Core Power Distribution Module incorporates a 7 port USB hub and 6 x 12v power distribution terminals to support power and USB connections for up to 7 Core USB modules

The Modern Robotics Core Power Distribution Module incorporates a 7 port USB 2.0 hub and 6 x 12v power distribution terminals with Anderson PowerPole® connectors.  The Power Distribution Module offers a convenient and safe way to wire your robot’s 12v supply from the battery to all motor, servo and other modules that require 12v.  All modules are protected by a 20A replaceable fuse and an integrated on/off switch.

Specifications

Power 9 – 15 volts DC. 20 amps max.
Individual power port power 9 – 15 volts DC. 5 amps max.
Total power port power limit 9 – 15 volts DC. 18A max.
Number of power ports 6 max.
USB 5v hub port current supply 500 mA max.
Total USB 5v current available 4 amps max.
USB compatibility USB 1.0, USB 2.0
USB main port connection USB mini, no connection to pin 5 (+5v connection)
USB hub port connection USB type A
Unit dimensions – LxWxH 96 x 105 x 24 millimeters
Unit weight 138 grams

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Core Motor Controller

The Core Motor Controller has two motor channels to connect and control two 9 – 15 volt DC motors, with optional encoders.

The Core Motor Controller has two motor channels to connect two 9 – 15 volt DC motors. Through the Motor Controller functions you can control the speed and direction of each motor. Each motor channel port has an encoder port for motors equipped with encoders.

The Core Motor Controller is powered by the Core Power Distribution Module using the supplied power cable and communications with the Android device is via USB.

The Motor Controller has three modes for motor control and each channel can be independently controlled from the user program. The three modes of operation are;

  • Run with controlled power – Set the motor speed and direction.
  • Run at constant speed – Set a desired motor speed and the controller will maintain that speed, even if there is a change of load on the motor.
  • Run to Position – Set a desired encoder position and the controller will move the motor until the target position is reached and then it will maintain that motor position.

Other control options include setting a motor direction for cases where you have a motor on each side of a robot that need one to rotate in the reverse direction but still refer in your code to both motors rotating “forward”.

Specifications

Power 9 – 15 volts DC. 10 amps max.
Motor power 9 – 15 volts DC. 5 amps max.
Motor encoder Two phase, 5 volts DC, 50Ma max.
Recommended motor Matrix 12v motor
Number of motors 2 max.
USB 5v current consumption 20 mA max.
USB compatibility USB 1.0, USB 2.0
Required USB driver FTDI VCP
USB connection method Optically isolated
USB connector USB mini, pin 5 (+5v connection)
Motor control modes Constant power -100% – +100%
Constant speed -100% – +100%
Run with constant speed to target position (32 bit value)
Choice of float or brake at 0% power
Reset current encoder value
Battery voltage monitoring 0 – 20 volts with 20mV resolution
Encoder logic levels Logic 0 – 0 volts, Logic 1 – 5 volts
Encoder input configuration Pull-up 4.7k ohm to 5 volts, 4.7k ohm current limit
Encoder pin header Pin1 – PHB, Pin 2 – Gnd, Pin 3 – PHA, Pin 4 +5v
Unit dimensions – LxWxH 72 x 88 x 24 millimeters
Unit weight 67 grams

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Core Servo Controller

The Core Servo Controller has a USB interface with 6 ports to drive up to 6 servos.

The Core Servo Controller has six (6) servo ports to connect 6 volt digital servos. The position of each servo can be independently set and once set the servo will move to the desired position.

Power for the Servo Controller comes from the Core Power Distribution Module using the supplied power cable.

Programming

Example Java code for Android to define the servo ports and set servos to position.

public class ServoExample extends OpMode {

Servo my_servo;

public ServoExample() {

}

@Override
public void start() {

my_servo = hardwareMap.servo.get(“My Servo”);

}

@Override
public void run() {

/*
The servo ranges from 0 to 1 but soft limits
should be set around .10 and .9 to not exceed
the servos mechanical limits.
*/
my_servo.setPosition(.75);

}

Specifications

Power 9 – 15 volts DC. 4 amps max.
Individual servo power 6 volts DC. 1.5 amps max.
Total servo power limit 6 volts DC.   5A max.
Recommended servo Matrix digital servo
Number of servos 6 max.
USB 5v current consumption 20 mA max.
USB compatibility USB 1.0, USB 2.0
Required USB driver FTDI VCP
USB connection method Optically isolated
USB connector USB mini, pin 5 (+5v connection) used for FT232R chip only.
Servo control modes Disabled
Set target position (8 bit value)
Servo logic levels Logic 0 – 0 volts, Logic 1 – 5 volts
Servo pulse current limit 470 ohm resistor
Servo pin header Pin1 – Gnd, Pin 2 – +6v, Pin 3 – Control pulse
Unit dimensions – LxWxH 72 x 88 x 24 millimeters
Unit weight 70 grams

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Core Device Interface Module

The Core Device Interface Module has 26 ports to connect an array of sensors and devices that can be digital, analog or I2C input and/or output.

 The Device Interface Module (DIM) interfaces external sensors and other devices to an Android controller.  With a total of 26 port connections divided into 5 general classes, the DIM gives a convenient way to attach a wide range of Modern Roboitc sensors, or brew your own devices and control your world.

The port categories are;

  • digital I/O (input – output)

  • Analog input
  • Analog output
  • PWM output
  • I2C bus

Digital I/O Ports– 8 ports (D0 – D7) can be individually set as a digital input or a digital output.

Analog Input Ports – 8 ports which sample the voltages present with a 10 bit analog to digital converter giving vales from 0 – 1023. All 8 inputs are sampled once every 1 mS.

Analog Output Ports – 2 with a voltage range of -4 volts to +4 volts. There are four operating modes for each port,

  • DC output

  • sine wave output
  • square wave output
  • triangle wave output

PWM Output Ports– 2 PWM (Pulse Width Modulation) output ports which create a 5v logic level variable mark/space waveform. 16 bit timers with 1 µS resolution are used for both the pulse repetition time and pulse width, permitting a wide range of frequencies and pulse.

I2C bus– An I2C bus with 6 connections for up to 6 I2C devices. The I2C operates in Standard mode: 100 kbps

The Core Device Interface enables the host Android or PC programs to independently access each connected device.

Specifications

Power 5 volts DC. 200 mA max.
Individual port power Unspecified
Total port power 5 volts DC, 150mA max.
Recommended devices Core compatible devices.
USB 5v current consumption 200 mA max.
USB compatibility USB 1.0, USB 2.0
Required USB driver FTDI VCP
USB connection method Direct
USB connector USB mini, pin 5 (+5v connection) used as main power supply.
Port control modes, digital Digital port input or output control – logic 0 or logic 1.
Analog input port 0 – 5 volts via 10 bit analog to digital converter
Analog output port -4 –+4 volts at 1mA
Analog output port modes DC, sine, square or triangle
Analog output frequency Frequency range 0 – 8 KHz
I2C port 100KHz, with maximum 27 byte data buffer per port
PWM port Repetition time and pulse width 1 – 65535µS
Digital connector Pin 1 – Gnd, pin 2 – +5 volts, pin 3 – digital signal
Digital signaling levels Logic 0 – 0 volts, logic 1 – 5 volts
Digital current limit 220 ohm resistor
Analog input connector Pin 1 – Gnd, pin 2 – +5 volts, pin 3 – analog signal
Analog input configuration 2.2k ohm resistor series, 1.0M ohm to ground
Analog output connector Pin 1 – Gnd, pin 2 – analog signal
Analog output current limiter 1.0k ohm resistor
PWM connector Pin 1 – Gnd, pin 2 – +5 volts, pin 3 – digital output
PWM logic levels Logic 0 – 0 volts, Logic 1 – 5 volts
PWM current limit 220 ohm resistor
I2C connector Pin 1 – Gnd, pin 2 – SCL, pin 3 – SDA, pin 4 – +5 volts
I2C signaling 100KHz clock with 5v logic levels.
I2C configuration 47 ohm series resistor, 4.7k ohm pull-up resistor
Unit dimensions – LxWxH 72 x 73 x 16.2 millimeters
Unit weight 45 grams

 

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Core Legacy Module

The Modern Robotics Core Legacy Module provides a way to connect LEGO® and HiTechnic® sensors and components designed for the LEGO NXT to an Android or PC based system. The Legacy Module has 6 LEGO style NXT compatible ports for connecting NXT compatible devices.

The Modern Robotics Core Legacy Module provides backward compatibility to enable LEGO NXT devices to connect to an Android device or a PC via a USB connection.  Legacy Module has six (6) ports and virtually any combination of devices can be connected to the module.

The Legacy module firmware supports all NXT LEGO sensors, HiTechnic sensors, Matrix controllers as well as the HiTechnic Tetrix motor and servo controllers. 

An Android App or PC user program can read and write each device separately and by utilizing the speed of the USB connection, a program can read all 6 ports at once. 

The Legacy Module is powered from the USB connection.

Each Legacy Module port can operate in digital as well as analog modes. In digital mode, legacy connector pins 5 and 6 can be set to logic 0 or logic 1.
In analog mode, the voltage on legacy connector pin 1 is measured using a 10 bit analog to digital converter. Additionally, pins 5 and 6 can be set to logic 0 or logic 1 for control of the attached device, such as a LEGO light sensor which uses pin 5 to turn the sensor LED on and off.

In I2C mode, legacy connector pins 5 and 6 are used to communicate with I2C devices in accordance with the LEGO interpretation of I2C. Ports 4 and 5 can additionally be switched into pin 1 9v supply mode to permit LEGO ultrasonic range sensors to be used.

Specifications

Power 5 volts DC. 200 mA max.
Individual port power 20 mA max.
Supported Devices LEGO NXT sensors, HiTechnic NXT sensors and controllers.
Number of ports 6
USB 5v current consumption 200 mA max.
USB compatibility USB 1.0, USB 2.0
Required USB driver FTDI VCP
USB connection method Direct
USB connector USB mini, pin 5 (+5v connection).
Port control modes Analog and digital, with pin 1 9v option on ports 4 and 5
  I2C with maximum 27 byte data buffer per port
Legacy connector Pin 1 – analog input, pins 2 and 3 – Gnd, pin 4 – 4.3v supply,
pin 5 – digital 0 or I2C SCL, pin 5 – digital 1 or I2C SDA.
Unit dimensions – LxWxH 72 x 73 x 23 millimeters
Unit weight 53 grams

 

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