Electrical Level 2 - Robot Electronics

Learning Objective

Apply Level 1's generic electronics foundation to the FRC-specific control system: design and implement power distribution (PDP/PDH, breakers, WAGO connectors) and pneumatics/solenoid wiring, configure motor controllers and CAN bus addressing, integrate standard sensors (limit switches, encoders, gyro/accelerometer), understand the electrical inspection checklist and legal wiring rules, and develop basic troubleshooting skills including brownout diagnosis. This level is self-guided and typically takes a couple of months; completing it means you can perform most of the electrical work the team needs day to day.

Prerequisites

• Electrical Level 1 - Basic Electronics
• Programming Level 1 - Programming Fundamentals

Primary Resources

• WPILib: Introduction to FRC Robot Wiring
• REV: Wiring the Power Distribution Hub
• CTRE: CAN Bus Troubleshooting
• FIRST Pneumatics Manual
• FRC Inspection Checklist
• WPILib: roboRIO Brownout and Understanding Current Draw

Tasks

1. Power Distribution

   • Set up a power distribution panel (PDP/PDH)
   • Configure the main breaker and branch circuit breakers
   • Wire low- and high-current channels using WAGO lever connectors correctly (no tinning, no ferrules)
   • Wire pneumatics/solenoids to a CAN-addressed pneumatics module (PCM/PH)
   • Design power routing for a robot's subsystems

2. CAN Bus & Motor Control

   • Understand CAN bus wiring (CANH/CANL daisy chain, termination resistors, device IDs)
   • Configure motor controllers over CAN
   • Understand motor characteristics (stall current, free speed, etc.)
   • Implement stator and supply current limiting
   • Test motor operation and diagnose a bad CAN connection

3. Sensor Integration

   • Install and wire limit switches
   • Configure encoders
   • Set up a gyro/accelerometer
   • Test sensor operation

4. Legal Wiring & Inspection

   • Understand the FRC electrical inspection checklist
   • Apply legal wiring rules
     • Single power distribution device as sole power source
     • roboRIO fed from its own fused, non-switched circuit
     • Battery leads and connector requirements
     • Chassis electrical isolation
   • Pass a mock electrical inspection

5. System Maintenance

   • Perform basic troubleshooting
   • Diagnose a brownout using the Driver Station CAN/Power tab
   • Maintain electrical documentation (wiring diagrams, channel maps)
   • Create a spare parts inventory

Level 2 Completion Requirements

• Successfully build a complete robot electrical system that passes a mock inspection
• Pass a motor control and CAN bus evaluation
• Demonstrate brownout diagnosis and general troubleshooting skills
• Maintain up-to-date electrical documentation for the robot

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