2010 KOP Control System Workshop

mongooseriverSoftware and s/w Development

Jun 7, 2012 (5 years and 11 days ago)

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2010 KOP Control System

Workshop

January 16, 2010

Hauppauge High School

SPBLI


LI FIRST

Mark McLeod

Hauppauge Team 358

Northrop Grumman Corp.

Mark.McLeod@ngc.com


Agenda


2010 FIRST
Control
System Changes


Control System Overview


Driver Station


Classmate


Programming Changes:
LabVIEW
, C++, Java


So, What Else Is New?


Known Issues


Links & Contacts


Open Discussion

Changes


New Driver Station


Any PC
-
based System


Opens Up Joystick Possibilities


Improved Electrical Components


Analog Bumper


Power Distribution Panel


Jaguar Speed Controllers I/O


Control System Overview


Driver Station (new)


Classmate, E
-
stop, IO Breakout, USB Hub,
Joystick(s), Optional Switches


Wireless Router (not at competition)


Can use any PC in place of Classmate



Robot (unchanged)


Wireless Bridge, cRIO, cRIO Modules, Module
Breakouts (Analog, Solenoid, Digital Sidecar)

Installation Overview

1.
Getting Started Document

2.
Apply Classmate Updates (
LabVIEW
,
Driver Station,
Java,
Windriver
)

3.
Install SW on Optional PC

4.
Configure Tools (Team #, etc.)

5.
Re
-
image
cRIO

(FRC_2010_v19.zip)

6.
Configure Optional DS External IO Board




2010 Driver Station

New Parts


Driver Station


Classmate Netbook


4GB Memory Stick (System Restore
-
Chapter 1.5.5)


FirstTouch IO Breakout


w/ Breadboard


E
-
Stop (Robot must be rebooted after use)


USB Hub


(2) Magnetic Encoders w/Magnets


Pink Crossover Cable

What’s Missing?


Veterans Do Not Get


cRIO


Solenoid Breakout


Camera & Mount


Compressor


(1) Battery


Joysticks


DS Router & Robot Wireless Bridge


(3) Speed Controllers


Servos

QuickTime™ and a
TIFF (Uncompressed) decompressor
are needed to see this picture.
QuickTime™ and a
TIFF (Uncompressed) decompressor
are needed to see this picture.
Classmate SW Details


Windows XP


FRC LabVIEW 8.6


NetBeans/Java


OpenOffice


IE & Firefox Browsers


AVG Anti
-
virus (Update Regularly)


PDF Reader

Classmate HW Details


15GB Disk


Initially 6GB are free


1GB Memory


(2) USB ports


(1) Ethernet port


(1) SD/MMC Card Reader


Wireless 802.11 b/g (not n)


New Battery life ~ 5hrs


http://ctl.helpserve.com

for help with
hardware issues

Classmate Getting
Started


1
st

Startup the OS initializes (takes long time)


Normal Boot & Driver Station Startup takes ~2 minutes


See Chapter 2 (2.5 for DS setup)


Two User Accounts


Driver & Developer


Subsequent Start Defaults to Driver Station Account


Automatic
login is bypassed by holding shift while
booting


Windows Key + L to switch to Developer account


EXIT on Driver Station Setup screen (after UPDATE)


Install
LabVIEW

UPDATE First


Install Driver Station UPDATE

Normal Operation


Connectivity


Joystick(s)
-
> USB Hub
-
> PC


E
-
stop
-
> PC


Optional I/O board


PC to wireless router only at home (via wireless or Ethernet cable)
Note: No power on the playing field


Tethered


Classmate connects directly to cRIO port 1


Must use special Crossover cable (KOP Orange)


Will not operate without E
-
stop connected


You can bypass the E
-
Stop button on the diagnostics tab by double clicking on the
right E
-
Stop button LED


Parades


Can Use PC Wireless by Putting Router on Robot

Driver Station Displays


LabVIEW Based


Operation


User Messages


Teleop/Autonomous/Practice Match


Diagnostics


Reboot Robot


Communications & Device Check


Software Error Messages


DS & cRIO Versions


Setup


Team #


Simulated Practice Round


Joystick Order Rearranging


I/O

– Simulate FirstTouch I/O
Driver Station Software


Any PC Can Be a Driver Station


Just Install DS Update


Win 2000/XP/Vista


Interchangable

with 2009 DS


Update


http://usfirst.org/roboticsprograms/frc/content.aspx?id=10934


Issue with Missing .
dll


Avoid by Installing
LabVIEW

Update First


Or .
dll

is Available at the Above Site

Driver Station & Dashboard


Combined on a Single Display


But Separate Applications


Driver Station


Space Bar Disable


F1 Enable


E
-
stop like the real field
-
must reboot robot


Dashboard


User Customizable or Completely Replaceable


C:
\
Program Files
\
FRC Dashboard
\
Dashboard.exe


Or Set Path to Optional User Dashboard.exe


My Computer
-
> Local Disk
-
> Documents & Settings
-
> All Users
-
> Shared Documents
-
>
FRC DS Data Storage.ini


Can Use Separate PC via Setup

Driver Station I/O Board


Be VERY Careful of Static Electricity. Ground Yourself!


General Notes


500 ma limit


Default: 4 Analog Inputs (3.3v reference), 8 Digital Inputs, 8 Digital
Outputs


Advanced: 16 Pins Configurable from Driver Station IO Tab


Quadrature

Encoder, PWM devices, Accelerometer, Touch Slider


Breadboard Mount Must Be Used (By Game Rules)


Setup


Control System Manual 2.11


Uninstall & Install Cypress SW on DS Update (flaw in installation)


All Users/Documents/FRC_IO.v2.hex


Driver Station verification (IO or Setup tabs)


9v battery is not required


powered by USB cable

Cypress First Touch
Starter Kit 3

IO Pinout

(J2)

VDDIO +3.3v

P0_0
-

Analog input 1

P0_2
-

Analog input 3

P0_4
-

Analog input 5

P0_6
-

Analog input 7

P4_4
-

Digital input 1

P4_6
-

Digital input 3

P6_0
-

Digital input 5

P6_2
-

Digital input 7

P6_4
-

Digital output 1

P6_6
-

Digital output 3

P12_2
-
Digital output 5

P2_6
-

Digital output 7

Gnd

(J3)

VDDIO +3.3v

P0_1
-

Analog input 2

P0_3
-

Analog input 4

P0_5
-

Analog input 6

P0_7
-

Analog input 8

P4_5
-

Digital input 2

P4_7
-

Digital input 4

P6_1
-

Digital input 6

P6_3
-

Digital input 8

P6_5
-

Digital output 2

P6_7
-

Digital output 4

P12_3
-
Digital output 6

P2_7
-

Digital output 8

Gnd

LabVIEW


Very Similar to Last Year


Robot Project Template


Dashboard Project Template


Errors Displayed to Driver Station


Simplified Device References


Recommend Uninstalling 2009 Version First


2009 Code Must Be Recompiled


Camera Tracking in Default Project


Update


http://usfirst.org/roboticsprograms/frc/content.aspx?id=10934


Activation: L13R00000 or Serial# w/FRC DVDs


Can be Installed Without Internet


License Requires Internet


Install Before Driver Station Update


LabVIEW

Examples Have
Wiring Diagrams

C++


Windriver

IDE


Similar to Last Year


2009 Code Must Be Recompiled


Guide Document


http://first.wpi.edu/Images/CMS/First/GettingSta
rtedWithC.pdf


Updates


http://first.wpi.edu/FRC/frccupdates.html


Java


NetBeans

IDE


For Update Notifications Set the
NetBeans

Update Site
to:


http://first.wpi.edu/FRC/java/netbeans/update/updates.xml


Guide Document


http://first.wpi.edu/Images/CMS/First/Getting_Started_with_Ja
va_for_FRC.pdf


Updates


http://first.wpi.edu/FRC/frcjava.html


BuiltInDefaultCode

Project


So, What Else Is New?


Power Distribution Board


LEDs indicate missing or blown breakers


Breaker protection on 5v output (camera)


Analog Breakout


1600Hz filters for cleaner/better response


Reverse power protection


Burst to 1 amp, steady
-
state .25 amp (use 2009
Analog bumper for 1 amp steady
-
state)


24v Solenoids


Extra Solenoid Slot Available in the cRIO

Jaguar Speed Controllers

New Options


Feedback & Limit Switches


CAN interface


Requires Firmware Update


Black Jaguar


connects to cRIO serial port (serial
interface is slower, 1/5, than CAN)


Gray Jaguar is required to string many together


2CAN device


connects to cRIO Ethernet port 2


Make Your Own Cables

Odds & Ends


New Robot Status Light Blink


Solid = Autonomous
-
enabled


Blink (long
-
on, short
-
off) = Teleop
-
enabled


Blink (on,off) = Disabled


Issues


Updates Are Necessary out
-
of
-
the
-
box


Default Camera Tracking is in the Updates


Will Probably Be Other Required Updates Later


Must Re
-
image cRIO to Update


FRC_2010_v19.zip


Choose Your Language (LabVIEW, C++, Java)


Try Again if Re
-
imaging Fails


Classmate Failure


(Smithtown) "Windows has recovered from an error” needed to restore the
Classmate from the memory stick to correct


System Watchdog msg
-

ignore


Many of the Installers Have Issues


Missing .dll if LabVIEW Update is Applied After Driver Station Update


Driver Station Update May Need to be Uninstalled and Re
-
installed to Get the
Camera Displaying on the Dashboard

Links


2010 Control System Manuals & Updates


http://usfirst.org/roboticsprograms/frc/content.aspx?id=10934

Note: Chapter 3 is still Encrypted (Breakaway4FRC!) & Won’t Print


http://decibel.ni.com/content/docs/DOC
-
8923


Classmate


http://www.2gopc.com/


Black Jaguar


http://www.luminarymicro.com/jaguar


http://ordering.digikey.com/Promotions/FirstRoboticsCompetiti
on.aspx


2CAN Device


http://www.crosstheroadelectronics.com/2CAN.htm


FirstTouch IO Board


http://www.cypress.com/?rID=38235

Contacts


Presentation slides at:


Team358.org




Questions/Help please email us.



Mark.McLeod@ngc.com