2010 LabVIEW Intermediate Workshop October 9, 2010 Hauppauge High School SPBLI – LI FIRST Mark McLeod Hauppauge Team 358 Northrop Grumman Corp. Mark.McLeod@ngc.com

Agenda Programming Topics Lab on Tuning PID PID State Machines Saving Data For Later Lab on Tuning PID

PID Proportional (current error) Integral (total error) Steering Example Proportional (current error) Integral (total error) Derivative (current change in error)

State Machine Kicker Example Draw back kicker Latch Release WPI Robotics Library->DriverStation->Joystick Programming->Structures Programming->Comparison Programming->Numeric Kicker Example Draw back kicker Latch Release Follow through

Save Data For Later 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 Code This Tune It Flywheel Tachometer Example WPI Robotics Library->DriverStation->Joystick WPI Robotics Library->Actuators->MotorControl PID Programming->Timing

Links 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 Mark.McLeod@ngc.com

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