Become a Control System Detective Troubleshooting at the

Become a Control System Detective Troubleshooting at the Boundary Between Electronics and Programming WRRF Workshop August 2013 Laura Rhodes, mentor, FRC Team 100

FRC Control System (on Robot)

Driver Station (Windows PC)

Hey Robot. Here’s what you’re supposed to do: • Enable/disable Mode • Operating Mode • Joystick commands Every 20 ms OK Driver Station. I’m ALIVE!! Here’s my battery voltage and other data

Tethered (Ethernet Cable)

Wireless (Wi. Fi)

FMS AP Field Management System (Wired to FMS to Wi. Fi)

c. RIO (Robot Brain)

Power Distribution Board (PDB)

Digital Sidecar

Speed Controllers (control voltage to motors)

PWM vs. PWM The 2 different ways Pulse Width Modulation is used SIGNALLING – telling the speed controller what to do POWER – controlling voltage and motor direction H-Bridge None – Motor free runs S 1 and S 4 – Motor moves CW S 2 and S 3 – Motor moves CCW S 2 and S 4 – Motor brakes Changing the duty cycle of switches controls the average VOLTAGE to the motors.

Wireless Bridge (Robot Radio)

Motors

Passing Inspection

Power Distribution

Data Connectivity

Document your I/O

Robot. Builder

I dunno- everything stopped working The drive train controls were responding correctly. Then I tried raising the arm. After that the arm controls responded but the drive train no longer responded to joystick commands. Drive Team Feedback

Troubleshooting on the Robot • Lights, lights • Dangling or connectors • Metal Shavings in Electronics( !!!)

Multi-Meter Know How to Use One • Ω – Ohms –Resistance (measure with battery disconnected) • V DC - Volts

Know your Lights

Robot Signal Light • Fast Blink = c. RIO not communicating with Driver Station • Slow Blink = disabled • Short on/long-off Blink = either low battery or no code & disabled • Long on/short off blink = Teleop mode • Solid on = Autonomous mode

Jaguar Speed Controller Solid Yellow = Neutral (zero speed) Fast Flashing Green = Forward Fast Flashing Red = Reverse Solid Green = Full speed forward Solid Red = Full speed reverse Slow Flashing Yellow = Loss of CAN or servo link or Disabled • Slow Flashing Red = Fault • No light = no power (check power connection) • • •

Victor Speed Controller • • • Solid Green = Full forward Solid Orange = Neutral/Brake Solid Red = Full Reverse Flashing Orange = No PWM signal Flashing Red = Failed Calibration No light = no power OR partial throttle

Talon Speed Controller Solid Green = Full Forward Flashing Green = Forward Solid Red = Full Reverse Flashing Red = Reverse Solid Orange = Enabled within deadband • Flashing Orange = No PWM signal or robot is disabled. • • •

Troubleshooting on the PC

Driver Station Operation Diagnostics Setup

Driver Station (cont. ) I/O Charts

Practice Mode & Test Mode

IP Configuration

ping c. RIO – Are you there? ? ping 10. xx. yy. 02

Dashboard Lab. VIEW Dashboard (default) Smart. Dashboard (C++ and Java)

Driver Station Log Viewer C: Program FilesFRC Driver Station Driver Station Log File Viewer. exe

c. RIO Imaging Tool

Programming Environment Lab. VIEW C++ (Wind River) Java (Net. Beans)

Axis Camera Configuration

Measuring Bandwidth Usage Keep wireless network traffic within 7 Mb/s limit • perfmon. exe - Perfomance Monitor (Win 7 only) • Wireshark – 3 rd party Ethernet packet sniffer See Screen. Steps documentation for how to do this. http: //wpilib. screenstepslive. com/s/3120/m/8559/l/95886 measuring-bandwidth-usage

FRC Bridge Configuration Utility