Transcript 2010 Control System Workshop
2010 KOP Control System Workshop
January 16, 2010 Hauppauge High School
SPBLI – LI FIRST
Mark McLeod Hauppauge Team 358 Northrop Grumman Corp.
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
3.
4.
5.
6.
1.
2.
Getting Started Document Apply Classmate Updates (LabVIEW, Driver Station,
Java, Windriver
) Install SW on Optional PC Configure Tools (Team #, etc.) Re-image cRIO (FRC_2010_v19.zip) 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 QuickTime™ and a TIFF (Uncompressed) decompressor are needed to see this picture.
QuickTime™ and a TIFF (Uncompressed) decompressor are needed to see this picture.
– Joysticks – DS Router & Robot Wireless Bridge – (3) Speed Controllers – Servos
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
hardware issues for help with
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
(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 (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
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