Scorpi modules - Revision history

Jca: /* Power on */

2025-03-25T18:59:48Z

Power on

← Older revision		Revision as of 20:59, 25 March 2025
Line 381:		Line 381:
	This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.		This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.

	[[file:Scorpi-power-mgmt_4.png \| ~~600px~~]]		[[file:Scorpi-power-mgmt_4.png \| 650px]]

	The motor_controller board holds the power-on switch.		The motor_controller board holds the power-on switch.

Jca: /* Power on */

2025-03-25T18:59:34Z

Power on

← Older revision		Revision as of 20:59, 25 March 2025
Line 381:		Line 381:
	This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.		This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.

	[[file:~~scorpi~~-power-~~mgmt_3~~.png \| 600px]]		[[file:Scorpi-power-mgmt_4.png \| 600px]]

	The motor_controller board holds the power-on switch.		The motor_controller board holds the power-on switch.

Jca: /* Power on */

2025-03-25T18:55:25Z

Power on

← Older revision		Revision as of 20:55, 25 March 2025
Line 381:		Line 381:
	This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.		This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.

	[[file:hw-power-~~control-modules~~.png \| 600px]]		[[file:scorpi-power-mgmt_3.png \| 600px]]

	The motor_controller board holds the power-on switch.		The motor_controller board holds the power-on switch.

Jca: /* Power control */

2025-03-25T14:19:51Z

Power control

← Older revision		Revision as of 16:19, 25 March 2025
Line 393:		Line 393:
	When power is turned on (by the switch or from firmware), a signal is available to turn on an additional board (the out-on plug).		When power is turned on (by the switch or from firmware), a signal is available to turn on an additional board (the out-on plug).

	=== Shutdown ===		=== Shutdown request ===

	The Raspberry Pi must be shut down before power is removed. Therefore, a shutdown must be requested.		The Raspberry Pi must be shut down before power is removed. Therefore, a shutdown must be requested.
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	* On Scorpi, any press initiates a shutdown.		* On Scorpi, any press initiates a shutdown.

	A shutdown sends a "power off" message to the "teensy_interface," which is relayed on the MQTT side.		A shutdown can also be initiated from MQTT:
			topic: robobot/cmt/T0/off (to teensy 0)
			message: 40 (number of seconds to allow the Raspberry to shut down)

			=== Shutdown processing ===

			The Teensy sends a "power off" message to the "teensy_interface," which is relayed on the MQTT side.
	The MQTT message informs all subscribers about the shutdown request.		The MQTT message informs all subscribers about the shutdown request.

Line 413:		Line 419:
	message: Name of off-requester, e.g. "Teensy"		message: Name of off-requester, e.g. "Teensy"

			The "teensy_interface" will then (after 2 seconds) terminate.

			The "off_by_mqtt" process will receive the MQTT shutdown message. Five seconds later it will issue the BASH command "shutdown now."
			The "off_by_mqtt" runs with root privileges.

			This will terminate any additional processes and make a nice shutdown.

			After 40 seconds, the Teensy boards will cut their power.

	The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.		The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.

Jca: /* Power on relay */

2025-03-25T14:08:26Z

Power on relay

← Older revision		Revision as of 16:08, 25 March 2025
Line 391:		Line 391:
	=== Power on relay ===		=== Power on relay ===

	When power is turned on (by the switch or from firmware), a signal is available to turn on an additional board.		When power is turned on (by the switch or from firmware), a signal is available to turn on an additional board (the out-on plug).

	=== Shutdown ===		=== Shutdown ===

Jca: /* Power control */

2025-03-25T14:07:08Z

Power control

← Older revision		Revision as of 16:07, 25 March 2025
Line 377:		Line 377:
	=== Power on ===		=== Power on ===

	~~Press~~ the ~~switch on~~ the battery if the ~~battery is off~~.		If the battery is off, i.e., there is no light in the battery on button, then turn it on using the button.

	This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.		This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.
Line 385:		Line 385:
	The motor_controller board holds the power-on switch.		The motor_controller board holds the power-on switch.
	A MOSFET controls the power from the battery.		A MOSFET controls the power from the battery.
	When the switch is pressed, the MOSFET turns on. When the Teensy is booted, pin 35 goes high, keeping the power on.		When the switch is pressed, the MOSFET turns on.

			When the Teensy is booted, pin 35 goes high, keeping the power on.

			=== Power on relay ===

			When power is turned on (by the switch or from firmware), a signal is available to turn on an additional board.

	=== Shutdown ===		=== Shutdown ===
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	* On a Robobot		* On a Robobot
	** < 5 seconds, initiate mission start.		** < 5 seconds, initiate mission start.
	** > 5 seconds, initiates a ~~shotdown~~.		** > 5 seconds, initiates a shutdown.
	* on Scorpi, any press initiates a shutdown.		* On Scorpi, any press initiates a shutdown.

	A shutdown sends a "power off" message to the "teensy_interface," which is relayed on the MQTT side.		A shutdown sends a "power off" message to the "teensy_interface," which is relayed on the MQTT side.
Line 404:		Line 410:
	The "urobot" module in the "teensy_interface" sends an MQTT "shutdown" message.		The "urobot" module in the "teensy_interface" sends an MQTT "shutdown" message.
	The "shutdown" message is		The "shutdown" message is
			topic: "robobot/cmd/shutdown"
			message: Name of off-requester, e.g. "Teensy"


	The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.		The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.

	~~=== Buttons ===~~



	~~An external button can turn the power on (for 2 seconds after release).~~

	~~An external signal (3-5V) from another board can also turn the board on.~~

	~~Once turned on, the Teensy keeps the power on until ordered to turn it off.~~

Jca: /* Power control */

2025-03-25T13:57:59Z

Power control

← Older revision		Revision as of 15:57, 25 March 2025
Line 377:		Line 377:
	=== Power on ===		=== Power on ===

	Press the on~~-microswitch~~ if the battery is ~~ON (red light on switch)~~.		Press the switch on the battery if the battery is off.

	~~Press~~ the switch on the battery if the ~~battery~~ is ~~off~~.		This will (in most cases) also turn on the system. The exception is if it was recently turned off. In that case, the power-on microswitch needs to be activated, too.

			[[file:hw-power-control-modules.png \| 600px]]

			The motor_controller board holds the power-on switch.
			A MOSFET controls the power from the battery.
			When the switch is pressed, the MOSFET turns on. When the Teensy is booted, pin 35 goes high, keeping the power on.

	=== Shutdown ===		=== Shutdown ===

	The Raspberry Pi must be shut down before power is removed.		The Raspberry Pi must be shut down before power is removed. Therefore, a shutdown must be requested.

	~~Trigger the shutdown~~ by the "~~power~~ off request" microswitch.		Shutdown can be initiated by the "off request" microswitch or the start/off switch on the motor driver board.
	The ~~"turn yaw"~~ board ~~then~~ sends a ~~shutdown order~~ to the ~~Teensy interface~~, ~~ending~~ in an MQTT message~~, informing all other boards to cut power in (30) seconds. After this, then Raspberry Pi shuts down~~.
			The motor driver board reaction may vary.
			* On a Robobot
			** < 5 seconds, initiate mission start.
			** > 5 seconds, initiates a shotdown.
			* on Scorpi, any press initiates a shutdown.

			A shutdown sends a "power off" message to the "teensy_interface," which is relayed on the MQTT side.
			The MQTT message informs all subscribers about the shutdown request.

			The "urobot" module in the "teensy_interface" sends an MQTT "shutdown" message.
			The "shutdown" message is

	The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.		The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.
Line 392:		Line 409:
	=== Buttons ===		=== Buttons ===

	~~[[file:hw-power-control-modules.png \| 600px]]~~

	~~The motor_controller board holds the power switch. A MOSFET is controlling the power from the battery.~~

	An external button can turn the power on (for 2 seconds after release).		An external button can turn the power on (for 2 seconds after release).

Jca: /* Power control */

2025-03-23T15:49:55Z

Power control

@@ Line 373: / Line 373: @@
 A separate DC-DC converter provides the 5V for the servo.
-=== Power control ===
+== Power control ==
 [[file:hw-power-control-modules.png | 600px]]
@@ Line 384: / Line 401: @@
 Once turned on, the Teensy keeps the power on until ordered to turn it off.

Jca: /* Power ON and shutdwon */

2025-03-23T15:47:31Z

Power ON and shutdwon

← Older revision		Revision as of 17:47, 23 March 2025
Line 274:		Line 274:
	The MQTT is assumed to acquire the desired velocity and curvature, which are used in autonomous mode.		The MQTT is assumed to acquire the desired velocity and curvature, which are used in autonomous mode.


	~~== Power ON and shutdwon ==~~

	~~=== Power on ===~~

	~~Press the on-microswitch if the battery is ON (red light on switch).~~

	~~Press the switch on the battery if the battery is off.~~

	~~=== Shutdown ===~~

	~~The Raspberry Pi must be shut down before power is removed.~~

	~~Trigger the shutdown by the "power off request" microswitch.~~
	~~The "turn yaw" board then sends a shutdown order to the Teensy interface, ending in an MQTT message, informing all other boards to cut power in (30) seconds. After this, then Raspberry Pi shuts down.~~

	~~The battery load should now be close to zero (only the battery BMS and the on-switch LED should be left active.~~

	== Sensor interface ==		== Sensor interface ==

Jca: /* Power control */

2025-03-23T15:47:11Z

Power control

← Older revision		Revision as of 17:47, 23 March 2025
Line 396:		Line 396:
	The motor_controller board holds the power switch. A MOSFET is controlling the power from the battery.		The motor_controller board holds the power switch. A MOSFET is controlling the power from the battery.

	An external button can turn the power on (for 2 seconds).		An external button can turn the power on (for 2 seconds after release).

	An external signal (3-5V) from another board can also turn the board on.		An external signal (3-5V) from another board can also turn the board on.