Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

Samantha Components Samantha Module A Wi-Fi device that allows a team to control its robot remotely Attaches to NXT using USB cable Receives commands from game controllers connected to the Field Control System Samantha Field Control System (FCS) Software and hardware setup that allows FTC robots to engage in competition Consists of: Laptop w/Samantha FCS Software Wi-Fi router USB cables and hubs Logitech Game Controllers External monitor for timer display

FCS Configuration Overview Configure Samantha Field Control System software and hardware Download and install FCS software Connect and configure FCS router Connect remaining hardware to laptop Configure Samantha module Prepare FCS flash drive with network configuration and firmware Flash Samantha module Prepare NXT Name, Tele-Op program, required programs Run FCS software Connect robot via Samantha module Resources Read: FCS User's Guide for teams Watch: FTC Video Tutorial - Setting Up the Field Control System

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

FCS Software Download latest Samantha Field Control System software http://www.usfirst.org/roboticsprograms/ftc/fcs Install it on the FCS Laptop

FCS Router Connect an Ethernet cable between router Port 1 and FCS laptop Manually configure the router DHCP enabled Network Mode: Wireless B Only SSID: <e.g., FTC_FIELD> Channel: choose quietest channel inSSIDer http://www.metageek.net/products/inssider Wireless Security Security Mode: WPA2 Personal Passphrase: <a strong password – remember for later use> Resources Read: Router Configuration Guide for Teams

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

Configure Wi-Fi Settings Required USB flash drive 2 GB maximum (FAT file system) Network information SSID (same as on FCS router) Network Authentication: WPA2-PSK Encryption: AES Network Key (same as on FCS router) Samantha Competition Network Config “FTC_FIELD” Wireless Network Settings Settings in FTCNTKY folder on flash drive SamoCfg.exe /Primary Samantha Network Config “FTC_PIT” Wireless Network Settings Settings in SMRTNTKY folder on flash drive SamoCfg.exe

Samantha Firmware Samantha Firmware Samantha.hex C:\Program Files (x86)\Samantha Field Control System\Samantha Use version that came with FCS Copy Samantha.hex to FCS flash drive

Flash Samantha Module Flash the Samantha module with firmware and network settings Power off Samantha module Remove USB cable from Samantha module Insert FCS flash drive Press and hold red button Power on the Samantha module Wait for Red LED, then release button Wait for LED sequence Red, White, Blue, White, Red to occur twice One sequence is for firmware The other is for network information Wait for Red LED Power off Samantha module Remove flash drive Reconnect the USB cable Power on Samantha module White LED illuminates when your network recognized Resources Watch: FTC Video Tutorial - How to update Samantha's Firmware Wait for LED sequence Red, White, Blue, White, Red to occur twice

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

Prepare NXT Name your NXT Install programs required at Tournaments Use your FTC Team number Append hyphen and letter on additional NXTs (e.g. 0010-A, 0010-B) Install programs required at Tournaments Program Chooser Samostat Define the default Tele-op program FTCConfig.txt Configuration file on NXT Used by FCS to start the named program at the beginning of the Tele-op period Setting Run Program Chooser Define within programming environment Help the FCS Operator and the FTA help you! Use meaningful names for autonomous and Tele-op programs

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

Start Samantha FCS Software Start Samantha Field Control System software Assign Controllers window opens first Connect USB Logitech controllers to corresponding team and position Red 1/Driver 1, Red 1/Driver 2, Red 2/Driver 1, etc. “Rescan” will search for new Logitech controllers “Reset All” will clear all assigned Logitech controllers

Select Teams Choose button shows list of available robots The first time Samantha module is connected to FCS, press Red button on Samantha module to pair Additional Red, Yellow, Green messages indicate Batteries strength Autonomous program status Tele-op program status Various connection statuses Resources Read: http://www.usfirst.org/sites/default/files/docs/Samantha_FCS_Readme/Samantha_FCS_Readme.html

Agenda Overview Configure Field Control System Configure Samantha Module Prepare NXT Field Control System Software Additional Information

Program Chooser Required to be installed on NXT at Tournaments Creates a configuration file (FTCConfig.txt) on NXT that tells the FCS the program to start at the beginning of the Tele-op period Required to be installed on NXT at Tournaments Compile and install on NXT RobotC No longer installed by default Sample Programs> Try Me Program Source\Program Chooser.c LabVIEW FTC 2012-2013 Toolkit

Samostat Wi-Fi status and network verification Required to be installed on NXT at Tournaments Samantha FCS folder RobotC: samostat.c LabVIEW: samostat.vi Also in RobotC Sample Programs Displays Firmware version IP address of Samantha Connection counters Detected Wi-Fi networks Left most character blank: not connected to network asterisk (*): connected to network Second left most character blank: infrastructure network ampersand (@): ad hoc network

Mounting Best Practices Mount Samantha module as high as possible Do not bury Samantha module behind a mass of metal Use as short a USB cable as possible, usually 12” Ensure good strain relief for USB cable The ½” gear hub the right size is a good choice to use as a spacer Samantha Mounting Best Practices Report Mounting Samantha module laterally results in the best overall signal strength

Power Connections Robot Power Management Using Anderson Powerpole® Connectors http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FTC/FTC_Documents/Anderson-Powerpole-Guide.pdf Thanks to Purple Gears / FTC Team 2901 Wire directly to switch and battery Samantha Mounting Best Practices Check for an expanded female connector

Samantha Light Codes The LEDs are: The Red LED used as an indicator for the power connection The White LED used as an indicator for the Wi-Fi connection The Blue LED used as an indicator for the NXT connection Status Monitoring and Troubleshooting The LEDs are also used for status monitoring and troubleshooting The LEDs 'blink' individually or in sequences or patterns that signify the conditions of operation or faults Resources Read: Watch: FTC Video Tutorial - Samantha Troubleshooting http://www.usfirst.org/sites/default/files/docs/Samantha_Module_Readme/Samantha_Module_Readme.html

SAMANTHA Debug Log Stores communications between the FCS and Samantha modules Automatically created My Documents\Samantha FCS\Debug Log New log file each time FCS started

Samantha Information Web Page Connect to Samantha module via web browser On FCS, press Details button then click on IP Address May assist with troubleshooting issues (FCS vs. NXT) Details Button Details Window Web Page Information