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Module 3 — System Architecture

Objective: define how subsystems fit and interact.

Prereqs: Concept shortlist.

Steps

  • Build block diagrams: intake → indexer → shooter; climb; drivetrain; electronics.
  • Define envelopes, keepouts, mounting faces, loads, and power needs.
  • Set interface specs: mass budget, torque, speed, stroke, connector types.
  • Allocate wiring/pneumatic channels and service loops; confirm controller count and breaker sizing assumptions.

Deliverables

  • Interface document with envelopes, mounting keepouts, mass/power budgets.
  • Packaging sketch that shows subsystem positions.
  • Preliminary wiring/pneumatic routing overlay.

Instructions (numbered)

  1. Draft system block diagram (all subsystems, data/power paths).
  2. Define envelopes/keepouts for each subsystem; note mounts and shared structure.
  3. Allocate power (current draws, breakers) and data (CAN IDs, sensors); plan pneumatics paths if used.
  4. Assign mass budgets and torque/speed targets per subsystem based on requirements.
  5. Create a packaging sketch with rough placement and access/service paths.

Example

  • Drive: 6 Falcon/NEO swerve modules @ 40A; CAN IDs 1–8; mass budget 40 lb; keepouts for bumper mounts.

Best practices

  • Reserve service loops and access paths early.
  • Align electrical and pneumatic routing with mechanical mounts.
  • Tie every interface spec back to requirements (speed, reach, cycle time).

Common mistakes

  • Overstuffing the frame; ignoring access for maintenance.
  • Underestimating total current draw and breaker allocation.
  • No plan for wire/pneumatic routing until late.

Checklist

  • Block diagram with power/data flows
  • Envelopes/keepouts defined
  • Power/breaker and CAN ID plan
  • Mass/torque/speed targets per subsystem
  • Packaging sketch with service paths

Recommended tools

  • Diagramming tool (Excalidraw/draw.io), spreadsheet for power/mass budgets, vendor data sheets for current draw.

Sample log (template)

  • Date:
  • Changes to interfaces:
  • Power/data updates:
  • Risks identified:
  • Decisions:

Photos/diagrams

  • [Placeholder: system block diagram and packaging sketch]

Resources

  • Drivetrain patterns: github.com/Mechanical-Advantage/RobotBuilder