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Servo switching was quite common in the early days of robotic combat, but using it has many drawbacks and is not recommended
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The response time of a servo is fast, but the time it takes the servo to rotate and trigger the lever switch will add a perceptible lag to the motor s activation A half-second lag in your robot s response can make a big difference in the arena Servo switching introduces extra moving parts into your control system that can break or jam and cause the motor to stop working or, even worse, turn on and refuse to turn off A servo switching system will have trouble meeting fail-safe requirements present in most competition rules Depending on your radio type, loss of signal may result in all servos connected to the radio simply locking in place If the motor was on when contact was lost, it ll stay on until you can switch the bot off manually Even if your radio has the feature of returning all the servos to the neutral position if radio signal is lost, loss of power in your radio receiver or a severed connection between the receiver and the servo can still result in a motor stuck running
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c a u t i o n For safety reasons, servo switching should not be used for controlling drive motors or weapons that can injure someone if the servos or relays should fail
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Remember that you must have absolute control of your robot at all times and you must be able to shut it off remotely even if internal control parts break inside Servo switching can be used for applications in which failures are not safety issues, such as for an arm that turns your robot right side up or an electrically driven lifting arm
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Solid-State Logic A better method to control the relays is to use solid-state logic to interpret the control signal from the radio and trigger the relays when the appropriate signal is received You can use a programmable microcontroller, such as the Basic Stamp from Parallax, Inc, and program it to receive the command signal from the R/C receiver and convert that signal into an output signal The output signal is then used to turn a transistor on or off, and the transistor is used to supply power to the relay coils Figure 7-9 shows a simple schematic that illustrates transistor-relay control In the figure, a low-voltage signal is used to turn a transistor on and off The schematic drawing shown on the left is an NPN transistor A positive voltage to the transistor base (shown as a B on the transistor) will turn it on and the relay will be energized The schematic to the right uses a PNP transistor In this schematic, the relay coil is energized when there is no voltage signal to the base An NPN transistor is analogous to a NO-SPST switch, and a PNP transistor is analogous to a NC-SPST switch A flyback diode is required to protect the transistor when the relay is
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de-energized At the instant a relay coil is de-energized, the magnetic field in the coil collapses A collapsing magnetic field will create a momentary current spike, which will induce a voltage spike that will exceed the original voltage that was in the coil This spike can damage the transistor By adding a diode in parallel with the coil, the diode will allow a path for the current flow back to the original source, thus protecting transistor When a diode is used in this application, it is called a flyback diode Another solution is to use solid-state relays instead of using the transistor approach Solid-state relays come in small plastic enclosures that are about 2 inches square in size A low-current, 5-volt signal will open or close the circuit Depending on the model, it can handle currents up to 40 amps For low-powered applications, a solid-state relay can be used instead of electromechanical relays such as solenoids Fortunately for the less electronically astute, off-the-shelf solutions are available For example, Team Delta (wwwteamdeltacom) sells four types of simple remote controlled switching boards that are used in many combat robots The RCE200 is a single-output control board that uses a transistor driver to run a load of up to 9 amps enough to run most relays The RCE210 is a relay module that can switch a load of up to 24 amps, enough to run smaller motors The RCE220 and RCE225 interface boards are dual-relay controllers with ratings of 12 and 24 amps, respectively These controllers can switch two independent motors or can be wired in an H-bridge configuration to run one motor in forward and reverse The RCE220 and RDE225 boards can also be used as a switch to control the coils on larger solenoids to control a higher-powered motor, or they can be configured as an H-bridge for low-powered motors Figure 7-10 illustrates this type of a setup When using relays to drive motors, it is recommended that you use fuses between the relays and the batteries for all non-drive motors Due to the harsh environment combat robots operate in, shock impacts of weapons damage may cause a relay to momentarily short out If this happens, the batteries will be destroyed
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