System Architecture Overview
The 2025 REEFSCAPES robot electrical system represents our most advanced integration of power distribution, motor control, sensor feedback, and communication networks. This section provides comprehensive documentation of our system architecture.
🔋 Power Distribution Architecture
Our power management system is built around the REV Power Distribution Hub (PDH), providing centralized control and monitoring of all electrical loads.
Power Distribution Hub Channel Assignments
High Current Channels (ATO Fuses):
- Channels 0-3: Swerve Drive Motors (Front Left, Front Right, Back Left, Back Right)
- Channels 4-7: Swerve Steer Motors (Front Left, Front Right, Back Left, Back Right)
- Channels 8-9: Reserved for additional drivetrain
- Channels 10-11: Elevator Gearbox Motors (Kraken X60 pair)
- Channels 12-13: Climb Gearbox Motors (Kraken X60 pair)
- Channels 14-15: Carriage Motors (Kraken X60 pair)
- Channels 16-19: Reserved for mechanism expansion
Low Current Channels (ATM Fuses):
- Channel 20: RoboRIO (5V rail and logic power)
- Channel 21: Robot Radio (OM5P-AN or similar)
- Channel 22: Vision Processing (Limelight units × 4)
- Channel 23: Pneumatic Hub (if equipped)
🌐 Communication Network Architecture
Our robot employs a dual-CAN bus architecture to ensure reliable, high-speed communication between all intelligent devices while maintaining proper load distribution.
CAN ID Assignment Strategy
CAN Bus 1 (RoboRIO) - Device IDs 1-30:
- ID 1: Power Distribution Hub
- ID 2: Pneumatic Hub
- ID 3: Pigeon IMU
- IDs 4-10: Reserved for additional control devices
- IDs 11-20: Sensor devices (limit switches, beam breaks)
- IDs 21-30: Auxiliary systems
CAN Bus 2 (CANivore) - Device IDs 31-60:
- IDs 31-34: Swerve Drive Motors (FL, FR, BL, BR)
- IDs 35-38: Swerve Steer Motors (FL, FR, BL, BR)
- IDs 39-42: Swerve CANcoders (FL, FR, BL, BR)
- IDs 43-44: Elevator Motors
- IDs 45-46: Climb Motors
- IDs 47-48: Carriage Motors
- IDs 49-55: Mechanism encoders
- IDs 56-60: Reserved for expansion
🎛️ Motor Control Architecture
Our motor control strategy balances performance, reliability, and maintainability across all robot subsystems.
Swerve Drive System
Drive Motors (4x Kraken X60):
- Gear Ratio: 6.75:1 (L2 configuration)
- Wheel Size: 4" diameter
- Free Speed: ~16 ft/s theoretical
- Control Mode: Velocity closed-loop with feedforward
Steer Motors (4x Kraken X60):
- Gear Ratio: 150/7:1 (~21.43:1)
- Control Mode: Position closed-loop
- Feedback: Integrated magnetic encoder + CANCoder absolute
- Range: Continuous 360° rotation
Optimization Features:
- Current limiting to prevent brownouts
- Temperature monitoring and thermal protection
- Predictive maintenance based on current draw patterns
📡 Vision and Sensor Integration
Our robot incorporates multiple vision systems and sensors for autonomous operation and enhanced driver control.
Vision Processing Network
Limelight Configuration:
- 4x Limelight 3: Distributed around robot perimeter
- Network: Dedicated Ethernet switch for vision traffic
- Power: Isolated 12V supply with noise filtering
- Mounting: Vibration-isolated with protective covers
BrainBox Integration:
- Purpose: Additional computation for complex vision tasks
- Connectivity: Ethernet network integration
- Power: Dedicated supply with UPS capability
- Cooling: Active thermal management
Sensor Network Architecture
Critical Sensors:
- Pigeon IMU: Primary navigation and balance feedback
- 4x CANcoders: Absolute position feedback for swerve modules
- Through-bore Encoders: Mechanism position feedback
- Limit Switches: End-of-travel protection
- Beam Breaks: Object detection and positioning
Sensor Power Management:
- Dedicated 5V and 3.3V power rails
- Noise filtering and isolation
- Individual sensor protection fuses
- Redundant power paths for critical sensors
Vision System Redundancy: Multiple Limelight units provide overlapping fields of view, ensuring reliable target tracking even if individual units fail or are obstructed.
🔗 Integration Standards
Signal Integrity Requirements
High-Speed Digital:
- Proper impedance matching for CAN signals
- Twisted pair wiring for differential signals
- EMI shielding in high-noise environments
- Ground plane continuity
Power Distribution:
- Separate power and signal grounds
- Star grounding topology for sensitive circuits
- Power supply filtering and regulation
- Inrush current limiting
Physical Integration
Connector Strategy:
- Standardized connector types by application
- Color coding for different signal types
- Keying to prevent incorrect connections
- Environmental sealing where required
Wire Management:
- Service loops at connection points
- Strain relief for all connections
- Cable routing away from moving parts
- Accessibility for maintenance and troubleshooting
EMI Considerations: High-current motor drives can generate significant electromagnetic interference. Proper shielding, grounding, and cable routing are essential for reliable sensor and communication system operation.