Transcript Slide 1
US First Kickoff 2011
Software Programming
(And Control System)
Daniel Kohn
University of Memphis
What will be presented……
For Everyone
•Classmate Updates / Install
Rookie Teams
• General intro
programming options
Veteran Teams
• Changes from Last
Year
Classmate PC
• Rookie Teams
There will be NO Software loaded on the
Classmate when you get it.
• Veteran Teams
Classmates (driver station NetBook) will be reimaged.
– BACKUP FIRST!
Classmate PC
• See handout “Updating the CTL Classmate
PC” for how to load up the software from the
USB Thumb Drive provided in the KOP
• Note: Images for rookie and veteran teams
are different!
ROOKIE TEAMS
Programming Options
• LabVIEW
• C/C++
• Java
LabVIEW - Advantages
• Made By National Instruments (NI)
Makers of the cRIO Control system
• Graphical Programming Language
• Lots of support on line in forums and from NI
NI is a huge supporter of FRC and FIRST
• Lots of build in documentation (help on every
VI)
LabVIEW - Disadvantages
• Many windows need to be opened to do
anything (hard to do on the Classmate)
• Hard to find things the first time you need
them
• Programmers (those who know standard
programming languages) have a hard time
with the graphical nature of LabVIEW
Sample LabVIEW Code
C/C++ Advantages
• Common programming language
Mentors and students might be more
comfortable with C/C++ if they programmed in C
before
• Many books on C/C++ (but NOT the
specifics for FRC teams)
• Mentors and students who know C/C++ will
have a shorter learning curve
C/C++ Disadvantages
• Licensing issues!
Sample C/C++ Code
Java Advantages
• Uses NetBeans (commonly used by
programmers)
• Mentors and students who know Java
already will have a very short learning curve.
• All public domain – no licensing issues in off
season and no registration required.
Java Disadvantages
• Newest Language (only the 2nd year offered)
• Least amount of help/info available
Sample Java Code
Where to Start
• Basic code
Each language has basic robot code or
templates available
Don’t be afraid to search the internet, some
teams post code from previous years!
• HINT: the basic code usually uses the standard
wiring (don’t deviate from the standard wiring or
code will not work)
Keep Current
• A common rookie mistake is not to keep the
software up to date.
• Check the 2011 software update website
often:
http://www.usfirst.org/roboticsprograms/frc/co
ntent.aspx?id=18758
Other Comments
• If you are NOT using LabVIEW, you still
need many of the files that are installed with
LabVIEW (so you will need to install
LabVIEW anyway)
• You will probably want to do your
programming on a computer with a bigger
screen (laptop)
VETERAN TEAMS
Major Changes This Year
• Hardware and Software support for Jaguar
CAN interface
• “Watchdog” replaced with “Motor Safety” VI’s
or routines
New with LabView in
2011
Safety VI’s
• Instead of the watchdog function that would
shut down the entire robot, safety VI’s now
monitor each motor separately.
Drive VI’s
• Drive motors now have their own VI’s, with
pre-existing Arcade and Tank Drive VI’s.
Motor Set Output
• Motor Set Speed VI has been replaced with
Motor Set Output VI, which is basically the
same thing.
CAN Libraries
• LabView now has VI’s made specifically for
teams who wish to use CAN.
Other Changes
• Improved Error Reporting- Because of the
safety vi’s, errors in the diagnostics tab are
more specific.
• Faster build and deployment times.
• Robot Framework- You can choose a
framework that comes with some gamespecific code.
New Features for 2011
C++ Beta Testing
New Motor Safety Class
class MotorSafety
{
public:
virtual void SetExpiration(float timeout) = 0;
virtual float GetExpiration() = 0;
virtual bool IsAlive() = 0;
virtual void StopMotor() = 0;
virtual void SetSafetyEnabled(bool enabled) = 0;
virtual bool IsSafetyEnabled() = 0;
};
Motor Based Classes
Any class with motion involved is now derived from MotorSafety
and implements its virtual functions.
class RobotDrive: public MotorSafety
{
<original declarations>
void SetExpiration(float timeout);
float GetExpiration();
bool IsAlive();
void StopMotor();
bool IsSafetyEnabled();
void SetSafetyEnabled(bool enabled);
<etc>
};
Usage
• Much like the existing watchdog.
• Watchdog still available, but there is no need to use both.
• Motor(s) will stop if the Motor Safety feature times out.
• No dedicated “Feed” function
• Timeout occurs if the motor speed is not set within the expiration
time
• Depending on situation, can use Set(), Drive(), TankDrive() etc.
Example: Autonomous
Mode
Old Way
New Way
void Autonomous()
{
// drive forward half speed
myRobot.Drive(0.5, 0.0);
void Autonomous()
{
Timer
driveTime;
driveTime.Start();
do {
myRobot.Drive(0.5, 0.0);
// Wait for 2 seconds
Wait(2.0);
// Stop
myRobot.Drive(0.0, 0.0);
// Wait 1 motor update time
Wait(0.005); // 5 ms
} while (driveTime.Get() < 2.0);
}
myRobot.Drive(0.0, 0.0);
}
Example: Teleop Mode
Old Way
New Way
double rollerSpeed = 0.0;
while ( IsOperatorControl() )
{
myRobot.ArcadeDrive(stick);
while ( IsOperatorControl() )
{
myRobot.ArcadeDrive(stick);
if ( stick.GetRawButton(5) )
roller.Set(0.5);
else if ( stick.GetRawButton(6) )
roller.Set(1.0);
else if ( stick.GetRawButton(4) )
roller.Set(0.0);
if ( stick.GetRawButton(5) )
rollerSpeed = 0.5;
else if ( stick.GetRawButton(6) )
rollerSpeed = 1.0;
else if ( stick.GetRawButton(4) )
rollerSpeed = 0.0;
// wait for a motor update time
Wait(0.005);
roller.Set( rollerSpeed );
}
Wait(0.005); // motor update time
}
New Imaging Tool
• now looks for images in ADE specific locations
• now allows you to image when multiple network interfaces are
enabled and connected
• will warn you if your PC subnet will not work with the cRIO
address
• will allow you to turn on NetConsole
• has more verbose progress feedback
• allows you to rescan for cRIO devices
C/C++ WPILIB
• Safety function
o Take place of watchdog
o Works on per-actuator basis
o Implemented in all PWM classes
Java Updates
• Updated along with C/C++ and LabVIEW
CAN
Watchdog Replaced
Etc….
Thanks to…..
• Chop Shop )Team 166)
http://www.chopshop166.com/cms/
• The Fighting PI (Team 1718)
http://www.fightingpi.org/first-roboticscompetition/
• The Green Machine (Team 1816)
http://www.edinarobotics.com/
Thanks to…..
• Bill’s Blog
http://frcdirector.blogspot.com/
• FRC Website
http://www.usfirst.org/Default.aspx