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Home News FIRST Robotics Competition Robot Wiring Overview
Robot Wiring Overview PDF Print E-mail
FIRST Robotics Competition
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Part One: Components

Below are all basic components of the 2009 FIRST Robotics Compeition Control System.  No sensors are included.  This document provides an overall wiring reference.

battery

 Battery
A 12v Motorcycle-Style Battery Provides the Robot's Power

anderson connectors

Quick Disconnect Connectors
Quick disconnect connecters are connected between
the battery and the main power breaker to ease battery replacement.

breaker

 Main Power Breaker
Acts as robot main on-off switch.

distribution board

 Power Distribution Board
Takes 12v input from battery and distributes power to all other devices on robot.

crio

 cRio Mobile Device Controller
The "brains" of the robot.  Can be programmed to output signals which are interpreted by other components. The cRio has modules that snap in to provide different combinations of inputs and outputs.

breakout

 Analog Breakout Board
The Analog breakout board plugs into an analog module on the cRio and takes inputs from analog sensors.  The Analog Breakout board also monitors battery voltage.

sidecar

 Digital Sidecar
The digital sidecar takes the DB37 style output of the cRio and converts it into Hobby PWM-style outputs that can feed signal to speed controllers and relays.  The digital sidecar also powers the robot signal light and takes inputs from digital sensors.

victor

 "Victor" Speed Controller
The "Victor" Speed controller takes a voltage input and outputs voltage to a motor.  The voltage is varied due to an input from a PWM (Pulse Width Modulation) signal from the digital sidecar.

jaguar

 "Jaguar" Speed Controller
The "Jaguar" Speed controller takes a voltage input and outputs voltage to a motor.  The voltage is varied due to an input from a PWM (Pulse Width Modulation) signal from the digital sidecar.

spike

 "Spike" Relay
The "Spike" relay takes a voltage input and outputs voltage to a motor.  The voltage is either full forward (+12v), full reverse (-12v) or off (0v).  The voltage is controlled via a relay output on the digital sidecar.

wga

 Wireless Bridge
The Wireless Bridge recieves power from a dedicated 12v filtered output on the Power Distribution board and connects to the driver station via 802.11n Wi-Fi communication.

signal light

 Robot Signal Light
The robot signal light recieves an input from the digital sidecar and outputs light patterns that indicate the status of the robot.

cim

 Motor
Motors are attached to either speed controllers or relays and take a 12v input.  When voltage is applied, the motor shaft spins.

Part Two: Power Wiring

This section will discuss proper power wiring of an FRC robot.  This guide may be missing small details.  Working with electricity is dangerous!  Do not attempt any wiring, crimping or soldering without proper training from a NASA Lab Mentor.  Always have an experienced team member or mentor check over your wiring before power-on.  This section will reference this diagram.

Battery to Power Distribution Board

Both leads of the battery pass through the Anderson Quick-Disconnect connector.  The negative wire passes straight from the joining quick-disconnect connector to the negative terminal on the power distribution board.  The positive wire passes from the quick-disconnect connector to the "BAT" terminal of the main power breaker.  The "AUX" terminal of the main power connector connects directly to the positive terminal of the power distribution board.

cRio Mobile Device Controller

Wire from the 24v out on the end of the Power Distribution Panel to the 24v in on the cRio Mobile Device Controller.

Analog Breakout Board(s) and Digital Sidecar(s)

Wire from any 12v output on the Power Distribution Panel to the 12v input on each digital sidecar or breakout board.

Robot Signal Light

Wire from the "RSL" output on the Digital Sidecar to the input on the Robot Signal Light.

Wireless Bridge

Wire from the regulated 12v output on the end of the Power distribution panel to the 12v input on the Wireless Brige.

Speed Controllers and Relays

Wire from any 12v output on the Power Distribution Panel to the 12V input on each speed controller or relay.  Note that some motors have minimum fuse ampage ratings.

Part Three: Signal Wiring

This section will use reference this diagram.

Digital Sidecar(s)

Wire one DB-37 Cable from the output of a cRio Digital Module to the input on the digital sidecar.

Wireless Bridge

Connect RJ-45 Ethernet Cable from Port 1 on cRio to input on Wireless Bridge.

Speed Controllers

Connect a PWM cable from one of the ten PWM outputs on a digital sidecar to the PWM input on a motor speed controller.

Relays

Connect a PWM cable from one of the 8 relay outputs on the digital sidecar to the input on the relay.

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