Transcript 2010 Control System Workshop

2010 LabVIEW
Intermediate Workshop
October 9, 2010
Hauppauge High School
SPBLI – LI FIRST
Mark McLeod
Hauppauge Team 358
Northrop Grumman Corp.
[email protected]
Agenda
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Programming Topics
– PID
– State Machines
– Saving Data For Later
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Lab on Tuning PID
PID
Steering Example
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Proportional (current error)
Integral (total error)
Derivative (current change in error)
State Machine
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Kicker Example
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–
–
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Draw back kicker
Latch
Release
Follow through
WPI Robotics Library->DriverStation->Joystick
Programming->Structures
Programming->Comparison
Programming->Numeric
Save Data For Later
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Probably best used on Classmate
ASCII, .ini, Binary or Spreadsheet formats
Try to make it reasonably readable
Example: Save battery voltage throughout a match
for later review
Programming->File I/O
Programming->File I/O->File Constants
Practice
1. Code This
2. Tune It
Flywheel Tachometer Example
WPI Robotics Library->DriverStation->Joystick
WPI Robotics Library->Actuators->MotorControl
PID
Programming->Timing
Links
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
Workshop slides and code
– http://www.team358.org/files/workshops/
LabVIEW Examples:
– http://team358.org/files/programming/ControlSystem2009/LabVIEW/
Contacts


Presentation slides Under Workshops at:
Team358.org
Questions/Help please email
[email protected]
Further Topics
Framework
The essential elements every
FRC robot program requires are:
•
•
•
•
Communications with the Driver Station
Recognizing and processing the different competition modes
Autonomous operations
Teleop driver controls
Odds & Ends