2010 KOP Control System Workshop January 16, 2010 Hauppauge High School SPBLI – LI FIRST Mark McLeod Hauppauge Team 358 Northrop Grumman Corp.

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

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

Control System Overview Driver Station (new) 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 Robot (unchanged) Robot (unchanged) –Wireless Bridge, cRIO, cRIO Modules, Module Breakouts (Analog, Solenoid, Digital Sidecar)

Installation Overview 1. Getting Started Document 2. Apply Classmate Updates (LabVIEW, Driver Station, Java, Windriver) 3. Install SW on Optional PC 4. Configure Tools (Team #, etc.) 5. Re-image cRIO (FRC_2010_v19.zip) 6. Configure Optional DS External IO Board

2010 Driver Station

New Parts Driver Station Driver Station –Classmate Netbook –4GB Memory Stick (System Restore-Chapter 1.5.5) –FirstTouch IO Breakout w/ Breadboard w/ Breadboard –E-Stop (Robot must be rebooted after use) –USB Hub –(2) Magnetic Encoders w/Magnets –Pink Crossover Cable

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

Classmate SW Details Windows XP Windows XP FRC LabVIEW 8.6 FRC LabVIEW 8.6 NetBeans/Java NetBeans/Java OpenOffice OpenOffice IE & Firefox Browsers IE & Firefox Browsers AVG Anti-virus (Update Regularly) AVG Anti-virus (Update Regularly) PDF Reader PDF Reader

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

Classmate Getting Started 1 st Startup the OS initializes (takes long time) 1 st Startup the OS initializes (takes long time) –Normal Boot & Driver Station Startup takes ~2 minutes See Chapter 2 (2.5 for DS setup) See Chapter 2 (2.5 for DS setup) Two User Accounts – Driver & Developer Two User Accounts – Driver & Developer –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 LabVIEW UPDATE First Install LabVIEW UPDATE First Install Driver Station UPDATE Install Driver Station UPDATE

Normal Operation Connectivity Connectivity –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 Tethered –Classmate connects directly to cRIO port 1 –Must use special Crossover cable (KOP Orange) –Will not operate without E-stop connected You can bypass the E-Stop button on the diagnostics tab by double clicking on the right E-Stop button LED You can bypass the E-Stop button on the diagnostics tab by double clicking on the right E-Stop button LED Parades Parades –Can Use PC Wireless by Putting Router on Robot

Driver Station Displays LabVIEW Based LabVIEW Based Operation Operation –User Messages –Teleop/Autonomous/Practice Match Diagnostics Diagnostics –Reboot Robot –Communications & Device Check –Software Error Messages –DS & cRIO Versions Setup Setup –Team # –Simulated Practice Round –Joystick Order Rearranging I/O I/O –Simulate FirstTouch I/O

Driver Station Software Any PC Can Be a Driver Station Any PC Can Be a Driver Station –Just Install DS Update –Win 2000/XP/Vista Interchangable with 2009 DS Interchangable with 2009 DS Update Update – –Issue with Missing.dll Avoid by Installing LabVIEW Update First Avoid by Installing LabVIEW Update First Or.dll is Available at the Above Site Or.dll is Available at the Above Site

Driver Station & Dashboard Combined on a Single Display Combined on a Single Display –But Separate Applications Driver Station Driver Station –Space Bar Disable – F1 Enable –E-stop like the real field-must reboot robot Dashboard Dashboard –User Customizable or Completely Replaceable C:\Program Files\FRC Dashboard\Dashboard.exe C:\Program Files\FRC Dashboard\Dashboard.exe Or Set Path to Optional User Dashboard.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 Be VERY Careful of Static Electricity. Ground Yourself! Be VERY Careful of Static Electricity. Ground Yourself! General Notes General Notes –500 ma limit –Default: 4 Analog Inputs (3.3v reference), 8 Digital Inputs, 8 Digital Outputs –Advanced: 16 Pins Configurable from Driver Station IO Tab Quadrature Encoder, PWM devices, Accelerometer, Touch Slider Quadrature Encoder, PWM devices, Accelerometer, Touch Slider Breadboard Mount Must Be Used (By Game Rules) Breadboard Mount Must Be Used (By Game Rules) Setup Setup –Control System Manual 2.11 –Uninstall & Install Cypress SW on DS Update (flaw in installation) –All Users/Documents/FRC_IO.v2.hex –Driver Station verification (IO or Setup tabs) –9v battery is not required – powered by USB cable

Cypress First Touch Starter Kit 3

IO Pinout (J2) VDDIO +3.3v P0_0 - Analog input 1 P0_2 - Analog input 3 P0_4 - Analog input 5 P0_6 - Analog input 7 P4_4 - Digital input 1 P4_6 - Digital input 3 P6_0 - Digital input 5 P6_2 - Digital input 7 P6_4 - Digital output 1 P6_6 - Digital output 3 P12_2-Digital output 5 P2_6 - Digital output 7 Gnd (J3) VDDIO +3.3v P0_1 - Analog input 2 P0_3 - Analog input 4 P0_5 - Analog input 6 P0_7 - Analog input 8 P4_5 - Digital input 2 P4_7 - Digital input 4 P6_1 - Digital input 6 P6_3 - Digital input 8 P6_5 - Digital output 2 P6_7 - Digital output 4 P12_3-Digital output 6 P2_7 - Digital output 8 Gnd

LabVIEW Very Similar to Last Year Very Similar to Last Year –Robot Project Template –Dashboard Project Template –Errors Displayed to Driver Station –Simplified Device References Recommend Uninstalling 2009 Version First Recommend Uninstalling 2009 Version First 2009 Code Must Be Recompiled 2009 Code Must Be Recompiled Camera Tracking in Default Project Camera Tracking in Default Project Update Update – –Activation: L13R00000 or Serial# w/FRC DVDs –Can be Installed Without Internet –License Requires Internet –Install Before Driver Station Update

LabVIEW Examples Have Wiring Diagrams

C++ Windriver IDE Windriver IDE Similar to Last Year Similar to Last Year 2009 Code Must Be Recompiled 2009 Code Must Be Recompiled Guide Document Guide Document rtedWithC.pdf rtedWithC.pdf rtedWithC.pdf rtedWithC.pdf Updates Updates –

Java NetBeans IDE NetBeans IDE For Update Notifications Set the NetBeans Update Site to: – – Guide Document Guide Document – va_for_FRC.pdf va_for_FRC.pdfhttp://first.wpi.edu/Images/CMS/First/Getting_Started_with_Ja va_for_FRC.pdf Updates Updates – BuiltInDefaultCode Project BuiltInDefaultCode Project

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

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

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

Issues Updates Are Necessary out-of-the-box Updates Are Necessary out-of-the-box –Default Camera Tracking is in the Updates –Will Probably Be Other Required Updates Later Must Re-image cRIO to Update Must Re-image cRIO to Update –FRC_2010_v19.zip –Choose Your Language (LabVIEW, C++, Java) –Try Again if Re-imaging Fails Classmate Failure Classmate Failure –(Smithtown) "Windows has recovered from an error” needed to restore the Classmate from the memory stick to correct System Watchdog msg - ignore System Watchdog msg - ignore Many of the Installers Have Issues Many of the Installers Have Issues –Missing.dll if LabVIEW 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 2010 Control System Manuals & Updates 2010 Control System Manuals & Updates – Note: Chapter 3 is still Encrypted (Breakaway4FRC!) & Won’t Print – – Classmate Classmate – Black Jaguar Black Jaguar – – on.aspx on.aspxhttp://ordering.digikey.com/Promotions/FirstRoboticsCompetiti on.aspx 2CAN Device 2CAN Device – FirstTouch IO Board FirstTouch IO Board –

Contacts Presentation slides at: Presentation slides at:Team358.org Questions/Help please us. Questions/Help please