Transcript Autonomous Navigation Workshop

2009 Control System
Workshop
January 10, 2009
Farmingdale State College
SPBLI - FIRST
Mark McLeod
Advisor
Hauppauge Team 358
Northrop Grumman Corp.
[email protected]
Agenda
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FIRST Control System Overview
Team Assembly
Benchtest
Firmware Updates
Wireless Setup
Re-Benchtest
Download Programs & Test
FIRST Control System
Hardware
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Driver
Gather around demo robot
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Driver Station (DS)
Router (for non-competition use only)
Disable/Enable Competition Port switch
Joysticks (HID compatible only)
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cRIO
Bumpers (Analog, Pneumatic)
Digital Sidecar
Power Distribution Panel (PD)
Wireless Bridge
Jaguar (or Victor) Speed Controllers
Spike (primarily for compressor or other motors)
Robot
cRIO
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400mHz,
64MB/128MB
Fixed positions for:
– (2) Analog modules
– (2) Digital Modules
– (1) Pneumatic Module
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(2) Ethernet ports
(1) serial port
(console)
24v power
Driver Station (DS)
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50Hz update rate
(4) USB ports-joysticks
(2) Ethernet ports
(1) Competition Port
(8) Digital Inputs
(4) Analog Inputs
(8) Digital Outputs
Auto/Teleop toggle
No hot-swapping joysticks
Joysticks must be centered
at bootup
Will run off 9v batteries
Dongle
 MUST be attached
for DS to run
 Connects pin 8 to 9
Power Distribution Panel
(PD)
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(8) 40A connectors
(12) 20/30A connectors
(2) Power-Safe Connections
– 24V output for cRIO
– 12V for WiFi
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5V for camera
Power input uses metric M6
nuts-don’t over torque
LEDs for 3 special
connectors
Digital Sidecar
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12V via Wago connector
DB-37 cable to cRIO
(10) PWM outputs
– Jumper for servo use
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(14) Digital IO (GPIO)
(8) Relays
I2C Interface (connector &
pins)
2-pin status light output
Power status LEDs 5v, 6v,
12v
Need to add cable nuts
Analog Bumper/Breakout
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(7) Inputs
(1) Special Input
Jumper controlled
– Battery voltage
– Standard Input
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12V Wago power
Green power LED
CANNOT survive
reversed polarity
Pneumatic
Bumper/Breakout
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(8) Outputs
12V Wago power
Green power LED
ONLY board with
reverse power
polarity protection
– Test white Wago
connectors for other
devices/boards here
Axis Ethernet Camera
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Ethernet Web-ready camera
Connects to cRIO port 2
Requires special crossover
cable (orange)
Black lens turns to focus
Reset button on back
Use “Setup Axis Camera” on
PC to configure it for FRC
competition use
Wireless Bridge/Wireless
Router
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Bridge
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On robot
12V power from PD
Ethernet to cRIO port 1
Disconnect to tether in pits
Router
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For DS and PC
NOT for competition
AC power
Ethernet to DS ETH1 port
Jaguar Speed Controller
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20kHz PWM frequency & 5ms
update rate (Victors are 17ms)
Limit switch inputs
(forward/reverse)
Coast/Brake (jumper or DIO)
PWM cable retention clips
Slow flashing Yellow LED
indicates no valid pwm signal
Slow flashing Red LED
indicates limit switch, over
temp/current, or under voltage
<6V
Over-current protection can
cause motors to cut out in
pushing matches
Fan runs only when needed
What We’ll Do Today
Follow step-by-step directions in the 2009 Control
System manual at: usfirst.org/frccontrolsystem
 Connect everything
 Bench test
 Update the firmware (DS & cRIO)
 Bench test
 Setup wireless networking
 Bench test
 Download LabVIEW & Wind River programs
Wiring-Power
Wiring-Data
Assembly Steps
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Wiring
– Battery w/ Anderson Connector (6 awg)
– 120amp breaker w/ Anderson Connector w/ Power Distribution
(PD) Board (6 awg)
– cRIO to PD (18 awg)
– Digital Sidecar
 DB37 cable to cRIO (attach cable nuts to Sidecar first)
 White Wago connector to PD (18 awg)
 Attach test servo to Digital Sidecar & add power jumper
– Analog & Solenoid Bumpers
 Directly attach to cRIO
 White Wago connector to PD (18 awg)
– Wireless Bridge (requires cutting the cord off the adaptor)
– Camera power (requires cutting the cord off the extra adaptor)
– Wire Jaguars/Victors to PD
Assembly Steps
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Triple check wiring polarity
– Unplug Analog Bumpers to test in Solenoid Bumper first
– Add circuit breakers
– Add jumpers to Analog Bumpers (battery feedback vs normal)
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Power it up
– One at a time plug the wago connectors into the Solenoid
Bumper (a green light means is wired correctly)
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(2) for the Analog bumpers
(2) for the Digital Sidecars
(1) for the Solenoid
– Connect the verified power lines to the Sidecars & bumpers
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All lights should be green (or Jaguars blinking yellow)
Connect Servos to Digital Sidecar – add jumpers
Driver Station (DS)
Connections
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Connect joysticks to USB1 & 2
Connect ETH1 port to cRIO port 1
Attach Disable/Enable switch
Plug in power
Bench Test I
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Verify green power status LEDs on PD,
Bumpers and Digital Sidecar
Basic objective is to move a joystick at
the DS end and have a motor respond
at the cRIO end
Default is Arcade (1 joystick) while a
top button is pushed
DS Firmware Update
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Both DS & cRIO must be updated together
Driver Station (DS) (Manual 5.1.1)
– USB memory stick (some do not work)
– Firmware update & detailed directions at
http://www.usfirst.org/frccontrolsystem
– Rename update file to: “dsud_pkg.bin” (make sure file
extensions are not hidden on your PC)
– Copy to top level of USB memory stick
– Plug USB stick into DS
– Hold both up & down arrow buttons for ~8sec
– Follow further directions on DS LCD screen quickly – if the DS
screen goes back to normal then you’ve either been too slow or
your memory stick/update file was rejected.
– Do NOT interrupt the loading process once it puts up the big
warning
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Set team number (Manual 5.3.2)
cRIO Firmware Update
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Confirm PC LabVIEW update
Manual 5.1.2
Watch for laptop issues
Power up the cRIO and connect your PC through the DS
ETH2 port
Firmware update at
http://www.usfirst.org/frccontrolsystem as part of the
LabVIEW FRC software update
Start the “FRC cRIO Imaging Tool”
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Choose Development Environment
Click “Format Controller”
Select Image: FRC_2009_v7.zip
Device Name: FRC-cRIO-team#
Team ID: team#
Bench Test II
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With new firmware behavior will differ
USB1 joystick throttle selects arcade or
tank drive
Wireless Setup
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Bridge (Manual 5.6.1)
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Connect PC to Bridge via Ethernet
Set laptop IP to DHCP
Browse to 192.168.1.250 (admin/admin)
Basic -> Wireless
Basic -> Network Settings
Connect to cRIO port 1 (disconnect DS Ethernet cable)
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Set laptop IP to DHCP
Connect PC to Router via Ethernet
Browse to 192.168.1.1 (blank/admin)
Wireless -> Manual
Setup -> Basic Setup
Set laptop IP to 10.XX.YY.6, Mask: 255.0.0.0, Gateway: 10.XX.YY.4
Connect to DS ETH1 port
Connect PC to DS ETH2 port
Router (Manual 5.6.2)
Bench Test III
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Same behavior as Bench test II
Start LabVIEW Dashboard project
Cautions
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The cRIO and camera cases must be electrically isolated. Don’t
mount on metal.
The DS must NOT lose power or be interrupted while the firmware
is being updated
Don’t reverse polarity anywhere! Triple Check!
Don’t mixup the voltage (24v,12v,5v) requirements
Test all 12v white Wago power cables on the pneumatic bumper
first. It alone has reverse power protection and a green light
means your cable is good.
Don’t over-torque the Power Distribution M6 nuts (10mm wrench)
Don’t confuse the (2) Analog bumpers with the (1) Solenoid
Bumper
The robot WiFi MUST be powered by the special connector on the
PD. That connector is protected against sudden power drops while
the regular 12v connections will be shutdown momentarily to
conserve power.
The cRIO modules and bumper power connectors can be shaken
loose
Notes
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The DS inputs have a value if nothing is attached
The orange Ethernet cable is a special crossover cable
for use with the camera.
Servos require a jumper on the Digital Sidecar
The system takes a long time to startup.
The cRIO and WiFi will operate at 4.5V and survive
transients down to ~3.5V
The Digital Sidecar will shutdown the PWMs when
battery voltage hits ~5V, so they’d start dropping out as
the voltage dips below 5V
Joysticks must be centered when the DS is powered up.
Similar to N64 or Gamecube.
Oddities
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The DS LCD can blank out from a static
discharge, but the DS keeps working fine.
Some Power Distribution 5v LEDs don’t
work, but the power is fine.
The PD will squeal at times from the 12 &
24V boost supplies cycling
Some redundant loose parts found in PD
and Digital Sidecar should be removed.
Links to Further
Information
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Firmware Updates & Control System
Manuals:
http://www.usfirst.org/frccontrolsystem
Jaguar Getting Started:
http://www.luminarymicro.com/index.ph
p?option=com_remository&func=downlo
ad&id=1127&chk=ed03ce56ed47704071
431b33a1fe7e20&Itemid=591
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Presentation slides at:
Team358.org
Questions/Help please email
[email protected]