Transcript FIRST Mentor Workshop

For
Inspiration and
Recognition of
Science and
Technology
Mentors Workshop
Programming
Sub-System
Mark McLeod
Team 358
Festo/Hauppauge H.S.
Objectives

FIRST Rules & Restrictions
 Basics/Components
 Design Notes
 Potential Problems
 Keeping Students Busy
 Typical Schedule
FIRST Rules & Restrictions
 Must
use IFI supplied libraries
 Cannot attempt to bypass IFI code -does not apply to any of the default
source code provided, just the object
libraries and link map protected areas
Official Suppliers

Official Suppliers
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www.innovationfirst.com/
www.ifirobotics.com
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Microchip C compiler license in FIRST
Robovation kit
 Default code provided for basic operation

2005
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V2.2 – Basic driving functionality
V2.4 – CMU camera support added
Navigation – autonomous mode scripting
Flow
IFI_Loader
MPLAB
.hex file
Robot Controller
Operator Interface
Basics/Components

Default code
 C or Microchip PIC assembly
 PIC limitations (~31K, 1.3K, nested calls,
256/120)
 Mechanics of compiling & downloading

Editor-MPLAB
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Installation options
Short path names
Creating a new project
Compiler-mcc18
Loader-IFI_Loader (download to the robot)
Disabled, Autonomous and Driver modes
 Sensors (analog, digital)
 External circuits
Notes

Typically will not have a robot to test
programming on until the end of build, use
Robovation
 Sensors must be allowed time to power-up
before inputs are to be believed
 Custom circuits may use TTL, analog, digital
I/O ports
 Team will require a laptop for competition (can
lug a desktop along). You will have to program.
 RoboEmu2 – a FIRST C program emulator
http://www.robbayer.com/re2.shtml
 Act on momentary switches when depressed
vs released
Potential Problems

MPLAB & IFI_Loader errors
 printf limitations
 Lack of configuration management
 Lack of robot test/debug time
 Mishandled transitions between modes –
Disabled, Autonomous, Driver
 Over-dependence on sensors (fault tolerant)
 Which side is the “front” of the robot?
 Motors wired in reverse
 Remember to debounce switches
Keeping Students Busy
“Hello World”
 Autonomous
 Integrate switches
 Tune driver joystick control
 Debugging practice
 Custom circuit design and test
 Sensor testbeds
 Robovation test robot
 Design Operator Interface controls and
switches

Typical Electronics Schedule
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September thru December
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Develop basic skills
January thru March
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Six week build period
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Robot design -- what control over basic operations is
required
Designing and testing solutions
Integrating solutions with other sub-systems
Test before robot goes into shipping crate
Code development can continue after shipping
Regional event (debug and test during rounds)