2010 KOP Control System Workshop January 16 2010

2010 KOP Control System Workshop January 16, 2010 Hauppauge High School SPBLI – LI FIRST Mark Mc. Leod Hauppauge Team 358 Northrop Grumman Corp. Mark. Mc. Leod@ngc. com

Agenda n n n n 2010 FIRST Control System Changes Control System Overview Driver Station – Classmate Programming Changes: Lab. VIEW, C++, Java So, What Else Is New? Known Issues Links & Contacts Open Discussion

Changes n New Driver Station – Any PC-based System – Opens Up Joystick Possibilities n Improved Electrical Components – Analog Bumper – Power Distribution Panel n Jaguar Speed Controllers I/O

Control System Overview n 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 n Robot (unchanged) – Wireless Bridge, c. RIO Modules, Module Breakouts (Analog, Solenoid, Digital Sidecar)

Installation Overview 1. 2. 3. 4. 5. 6. Getting Started Document Apply Classmate Updates (Lab. VIEW, Driver Station, Java, Windriver) Install SW on Optional PC Configure Tools (Team #, etc. ) Re-image c. RIO (FRC_2010_v 19. zip) Configure Optional DS External IO Board

2010 Driver Station

New Parts n Driver Station – – – Classmate Netbook 4 GB Memory Stick (System Restore-Chapter 1. 5. 5) First. Touch IO Breakout n – – w/ Breadboard E-Stop (Robot must be rebooted after use) USB Hub (2) Magnetic Encoders w/Magnets Pink Crossover Cable

What’s Missing? n Veterans Do Not Get – – – – – c. RIO Solenoid Breakout Camera & Mount Compressor (1) Battery Joysticks DS Router & Robot Wireless Bridge (3) Speed Controllers Servos

Classmate SW Details n n n n Windows XP FRC Lab. VIEW 8. 6 Net. Beans/Java Open. Office IE & Firefox Browsers AVG Anti-virus (Update Regularly) PDF Reader

Classmate HW Details n n n n 15 GB Disk – Initially 6 GB are free 1 GB Memory (2) USB ports (1) Ethernet port (1) SD/MMC Card Reader Wireless 802. 11 b/g (not n) New Battery life ~ 5 hrs http: //ctl. helpserve. com for help with hardware issues

Classmate Getting Started n 1 st Startup the OS initializes (takes long time) – Normal Boot & Driver Station Startup takes ~2 minutes n n See Chapter 2 (2. 5 for DS setup) Two User Accounts – Driver & Developer – – n n 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 Lab. VIEW UPDATE First Install Driver Station UPDATE

Normal Operation n Connectivity – – n 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 c. RIO port 1 – Must use special Crossover cable (KOP Orange) – Will not operate without E-stop connected n n 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 n n n Lab. VIEW Based Operation – User Messages – Teleop/Autonomous/Practice Match Diagnostics – Reboot Robot – Communications & Device Check – Software Error Messages – DS & c. RIO Versions Setup – Team # – Simulated Practice Round – Joystick Order Rearranging I/O

Driver Station Software n Any PC Can Be a Driver Station – Just Install DS Update – Win 2000/XP/Vista n n Interchangable with 2009 DS Update – http: //usfirst. org/roboticsprograms/frc/content. aspx? id=10934 – Issue with Missing. dll n n Avoid by Installing Lab. VIEW Update First Or. dll is Available at the Above Site

Driver Station & Dashboard n Combined on a Single Display – But Separate Applications n Driver Station – Space Bar Disable – F 1 Enable – E-stop like the real field-must reboot robot n Dashboard – User Customizable or Completely Replaceable n n C: Program FilesFRC DashboardDashboard. 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 n n Be VERY Careful of Static Electricity. General Notes Ground Yourself! – 500 ma limit – Default: 4 Analog Inputs (3. 3 v reference), 8 Digital Inputs, 8 Digital Outputs – Advanced: 16 Pins Configurable from Driver Station IO Tab n n n 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. v 2. hex Driver Station verification (IO or Setup tabs) 9 v battery is not required – powered by USB cable

Cypress First Touch Starter Kit 3

IO Pinout (J 3) VDDIO +3. 3 v P 0_1 - Analog input 2 P 0_3 - Analog input 4 P 0_5 - Analog input 6 P 0_7 - Analog input 8 P 4_5 - Digital input 2 P 4_7 - Digital input 4 P 6_1 - Digital input 6 P 6_3 - Digital input 8 P 6_5 - Digital output 2 P 6_7 - Digital output 4 P 12_3 -Digital output 6 P 2_7 - Digital output 8 Gnd (J 2) VDDIO +3. 3 v P 0_0 - Analog input 1 P 0_2 - Analog input 3 P 0_4 - Analog input 5 P 0_6 - Analog input 7 P 4_4 - Digital input 1 P 4_6 - Digital input 3 P 6_0 - Digital input 5 P 6_2 - Digital input 7 P 6_4 - Digital output 1 P 6_6 - Digital output 3 P 12_2 -Digital output 5 P 2_6 - Digital output 7 Gnd

Lab. VIEW n Very Similar to Last Year – – n n 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: L 13 R 00000 or Serial# w/FRC DVDs Can be Installed Without Internet License Requires Internet Install Before Driver Station Update

Lab. VIEW Examples Have Wiring Diagrams

C++ n n Windriver IDE Similar to Last Year 2009 Code Must Be Recompiled Guide Document n http: //first. wpi. edu/Images/CMS/First/Getting. Sta rted. With. C. pdf n Updates – http: //first. wpi. edu/FRC/frccupdates. html

Java n n Net. Beans IDE For Update Notifications Set the Net. Beans Update Site to: – http: //first. wpi. edu/FRC/java/netbeans/updates. xml n Guide Document – http: //first. wpi. edu/Images/CMS/First/Getting_Started_with_Ja va_for_FRC. pdf n Updates – http: //first. wpi. edu/FRC/frcjava. html n Built. In. Default. Code Project

So, What Else Is New? n Power Distribution Board – LEDs indicate missing or blown breakers – Breaker protection on 5 v output (camera) n Analog Breakout – 1600 Hz 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) n n 24 v Solenoids Extra Solenoid Slot Available in the c. RIO

Jaguar Speed Controllers New Options n n Feedback & Limit Switches CAN interface – Requires Firmware Update – Black Jaguar – connects to c. RIO serial port (serial interface is slower, 1/5, than CAN) – Gray Jaguar is required to string many together – 2 CAN device – connects to c. RIO Ethernet port 2 – Make Your Own Cables

Odds & Ends n New Robot Status Light Blink – Solid = Autonomous-enabled – Blink (long-on, short-off) = Teleop-enabled – Blink (on, off) = Disabled

Issues n Updates Are Necessary out-of-the-box – Default Camera Tracking is in the Updates – Will Probably Be Other Required Updates Later n Must Re-image c. RIO to Update – – – n FRC_2010_v 19. zip Choose Your Language (Lab. VIEW, 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 n n System Watchdog msg - ignore Many of the Installers Have Issues – Missing. dll if Lab. VIEW 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 n 2010 Control System Manuals & Updates – http: //usfirst. org/roboticsprograms/frc/content. aspx? id=10934 Note: Chapter 3 is still Encrypted (Breakaway 4 FRC!) & Won’t Print – http: //decibel. ni. com/content/docs/DOC-8923 n n Classmate – http: //www. 2 gopc. com/ Black Jaguar – http: //www. luminarymicro. com/jaguar – http: //ordering. digikey. com/Promotions/First. Robotics. Competiti on. aspx 2 CAN Device – http: //www. crosstheroadelectronics. com/2 CAN. htm First. Touch IO Board – http: //www. cypress. com/? r. ID=38235

Contacts n Presentation slides at: Team 358. org n Questions/Help please email us. Mark. Mc. Leod@ngc. com