2010 Control System Workshop
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Transcript 2010 Control System Workshop
2012 KOP Workshop
January 14, 2012
Hauppauge High School
SPBLI – LI FIRST
Mark McLeod
team358.org
Northrop Grumman Corp.
[email protected]
Before We Start
Anyone with these issues please speak up before
we get started:
– Classmate Restore Stick Issues
– Software Installation Issues
– Anything else that we can set the computers to now
and let them do their thing during the KOP
discussion
Agenda
KOP
1st Week Issues
New in 2012
New Components
Changes from 2012
Software Installation
Documents
Presentation (and the links it contains) is located at:
http://www.team358.org/files/workshops/
KOP
Rookie vs. Vet Kits
KOP consists of:
– Physical KOP bins/boxes
– Vouchers from:
Automotive Recyclers (voucher in KOP)
Banebots (code in TIMS)
Digikey (voucher in KOP)
Inventables (voucher in KOP)
Bimba (http://www.bimba.com/en/FIRST-Form/)
– FIRST Choice -
http://www.andymark.com/login.asp
1st Week Issues
Bad Ribbon Cable
– Test by plugging into itself
Simple loop = good
Mobius loop = bad
http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Sea
son__Info/2012_Assets/DB37%20Ribbon%20Cable%20Assembly%20%20Rework%20Instructions.pdf
Camera Setup Utility
– Doesn’t work properly with old Axis 206 model
– Create FRC/FRC admin acct., set IP 10.xx.yy.11
Trouble Imaging cRIO
Jaguar Firmware 101 (CAN-only)
http://www.ti.com/jaguar
1st Week Issues
Some Incorrect Restore Sticks Distributed
2011/12 Classmate
2010 Classmate
Team # 3450
& higher
Teams 1 to 3449
& lower
Bad 2010 Classmate E09 Image Sticks
http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season_
_Info/2012_Assets/Creating_a_USB_drive_for_2012_Classmate_Image_Restoration_Rev0.pdf
1st Week Issues
Software Installation Issues
– Lots of pieces this year
– Wind River installer issue - Update v2993
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_update_for_c
– Java Plugins - delete sunspotsdk folder &
reinstall, upgrade to latest JavaBeans
New in 2012
cRIO FRC II
Motors – lots more
Electric Solenoid – push or pull devices, no greater than
1 in. stroke and no greater than 10 watts continuous
duty at 12v
Catalyst Simulator - PC/web based - play the 2012 game
– http://dbsgames.net/games_temp.php?p=1
New Components
cRIO
– Old modules in Old cRIOs must be relocated!
– FRC II
4.4” shorter
.63 lbs lighter
2x memory & storage
Kinect
MaxBotix Sonar
Software
cRIO Module Positions
Old 8-slot cRIO
1-analog
2-digital
3-solenoid
4-unused
5-analog
6-digital
7-solenoid
8-unused
New 4-slot cRIO
1-analog
2-digital
3-solenoid
4-any
cRIO FRC II
CAN
optional
Pit tethering
Optional
FRC I
CAN optional
FRC II
Both
CRIO FRC II
• The cRIO FRC II adds a protective
conformal coating to the electronics
helping to guard against metal dust
and fragments that work their way
into the case from shorting out the
circuits.
• The original cRIO FRC had user
installable gaskets that many teams
never used or even knew what they
were for.
Kinect
Windows 7 Only
Installation
E09/E11 Classmate OS image stick (optional)
Microsoft SDK (32 or 64-bit)
.NET Framework 4.0
FRC Kinect Server
– Plug in the Kinect
– Start the Driver Station
For Testing At Home Only
The field will supply it’s own dedicated one
Kinect Operation
Kinect SDK
Dashboard
Playing Field
Kiosk
10.0.100.15
10.0.100.16
FRC
Kinect Server
Driver Station
Kinect Programming
Java
Labview
KinectStick leftArm;
KinectStick rightArm;
…
leftArm = new KinectStick(1);
rightArm = new KinectStick(2);
…
leftArm.getY()
leftArm.getRawButton(#)
C++
KinectStick leftArm(1);
KinectStick rightArm(2);
leftArm.getY()
leftArm.getRawButton(#)
Kinect
Good Skeletal Recognition
Laggy Response - Be Real Careful w/Robot
Default Motions Map to 2-Joystick Buttons and
Axes
– Kinect Enable = both arms in plane & range
–
–
–
–
–
Button 1/2 = head to the right/left
Button 3/4 = right/left leg out to side
Button 5/6 = right leg forward/back
Button 7/8 = left leg forward/back
Axis y = arm up/down (left arm = Kinect 1, right arm = Kinect 2)
wrist-to-shoulder angle
LV-MaxSonar-EZ1
Wiring
– Standard PWM cable
– Connects to Analog Breakout (alternates not easily FRC
supported)
– Needs a protected mounting
Very Accurate Distance
Report the closest object it sees if it’s in the way
• 1/4 inch object up to 4 ft
• 1 inch object up to
• 11 inch object up to 20 ft
Changes from 2011
Driver Station
Dashboard
– Default Has Kinect Skeleton
Motors
Programming
– cRIO Imaging Tool - cRIO diagram, hover mouse over any slot in red or empty
and it will tell you the problem or what can go in there
– Battery voltage readily available
– Kinect data input
– LV Compressor & Camera changes
Camera Default (10.xx.yy.11)
–
–
–
–
Use Camera setup tool
Camera default connection is to the robot bridge
Serve images to both the Driver Station and the cRIO at the same time
Displays on the default Dashboard and is available to the cRIO
Driver Station
No Separate Estop Button
“Driver” User Account Not Required
Any Win7/XP Laptop (Windows 7 Required for Kinect)
Competition power still for Classmates ONLY
(19v, 2a barrel connector)
Data Logs
– battery, packet loss, cpu usage etc. every 20ms.
– Files stored: C://Users/public/Documents/FRC/Log Files
– Viewer: C://Program Files (x86)/FRC Driver Station/Driver Station Log File
Viewer
Spacebar = E-Stop, Enter=Disable, F1=Enable
Minimum Software Installation
Driver Station
Kinect Status
0, 1, or 2 people
Kinect
Versions
Battery
CPU %
Lost packets
Packet delay
DS Tutorial: https://decibel.ni.com/content/docs/DOC-14705
Motors
Up to 22 Motors Allowed <R48>
up to 4 CIM motors (part #FR801-001, M4-R0062-12, AM802-001A, 217-200 or
PMR25R-45F-1003)
up to 4, in any combination, of the BaneBots motors provided in the KOP (acceptable
part numbers are
M7-RS775-12, M7-RS775-18, M5-RS550-12, M5-RS550-12-B, and M3-RS395-12)
up to 2 window motors (acceptable part #s are 262100-3030 and 262100-3040)
up to 2 FisherPrice motors (acceptable part #s are 00968-9013, 00801-0673, and
00968-9015)
up to 2 AndyMark motors (acceptable part # is am-0912)
up to 2 AndyMark gearmotors (acceptable part # is am-0914)
up to 2 Denso throttle control motors (acceptable part # AE2351000)
up to 2 VEX motors (acceptable part # 276-2177)
up to 2 window lift, seat, windshield wiper or door motors obtained through either
the FIRST-Automotive Recyclers Association partnership or from a prior years’ KOP.
Programming Changes
All Use Module # Instead of Slot #
Modules Must Be in Different Slots Than Last Year
LabVIEW 2011
– Compressor & Camera
– Vision Palette Additions
– Gyro Calibration Configuration
C++/Java
–
–
–
–
Command Class
Network Tables
Smart Dashboard
Vision code (NI c code or OpenCV)
Interesting Whitepapers
http://decibel.ni.com/content/community/first/frc?view=d
ocuments
E.g.,
Vision Target Tutorial
Driver Station
Robot Framework Tutorial
Basic Kinect Tutorial
Software Installation
Read the Directions
– Backup old projects
– Remove Old Applications
– Basic Install - in the following order:
LabVIEW or LabVIEW Tools (from the KOP stick)
LabVIEW FRC Update (only if using LabVIEW) (online)
Utilities Update (online)
Driver Station Update (online)
– Kinect
Microsoft SDK (online)
.Net Framework 4.0 (online)
FRC Kinect Server (online)
– Windriver DVD - 2nd DVD for 64-bit PCs (from the KOP DVD)
C++ Update (online)
– Java (online)
NetBeans http://www.netbeans.org
Java Update http://firstforge.wpi.edu/sf/projects/wpilib & go to documents
Watch For Future
Software Updates
2012 Robot Control System Information
http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system
Current Updates:
LabVIEW FRC Update
http://joule.ni.com/nidu/cds/view/p/id/2261
Utilities Update
http://joule.ni.com/nidu/cds/view/p/id/2262
Driver Station Update
http://joule.ni.com/nidu/cds/view/p/id/2263
C++ Update
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_update_for_c
Java Update
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_java_update_for_frc
Other Software Updates
FIRST
– Kinect Server
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_frc_kinect_server
– Kinect Kiosk
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_frc_kinect_kiosk
Commercial Software
– Microsoft SDK
http://kinectforwindows.org/
– .NET Framework 4.0 (already installed on E09/E11 sticks)
http://www.microsoft.com/download/en/details.aspx?id=17851
Flood of Documents
FIRST KOP site
http://www.usfirst.org/roboticsprograms/frc/2012-frc-kit-of-parts
Getting Started with the 2012 FRC Control System
http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_S
eason__Info/2012_Assets/Getting%20Started%20with%20the%202012%20FRC%20Contr
ol%20System_2.pdf
Links
ChiefDelphi Community:
– http://www.chiefdelphi.com
Game Manual:
–
FRC Software Updates:
–
http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system
Technical Manuals on FRC KOP Website
–
http://www.usfirst.org/roboticsprograms/frc/competition-manual-and-related-documents
http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system
Black Jaguar RMA Procedure:
–
http://forums.usfirst.org/showthread.php?p=44255#post44255