US First Kickoff 2013 Software Programming (And Control System) Daniel Kohn University of Memphis

What will be presented…… Veteran Teams Changes from Last year Rookie Teams General intro  programming options For Everyone Classmate Updates / Install This is NOT intended to TEACH you how to program, just give you an overview of the control system and programming changes from last year and to show the various programming options teams have.

Classmate PC Rookie Teams  There will probably be NO Software loaded on the Classmate when you get it. Veteran Teams  Classmates (driver station NetBook) will be re- imaged. –BACKUP FIRST!

Classmate PC (Rookie Teams) See handout, but start at the section “Applying the Image” on page 9 for how to load up the software from the USB Thumb Drive provided in the KOP.

Classmate PC (Veteran Teams) You will have to follow the Handout from Page 1. It steps you though:  Downloading 7zip and RMprepUSB (software you need to create the image)  Selecting and downloading the image  Creating the USB Thumb drive to install from  The installation process you need a 8Gbyte USB Thumb Drive or larger

VETERAN TEAMS

New with LabVIEW in 2013

LabVIEW Still LabVIEW 2011 New Features  More options when starting a new robot project –Arcade drive, Mecanum Drive, Arcade Drive with Arm –Simulation Available (BUT….) –[DEMO]  Easier to add information to Driver Station Dashboard –New “Dashboard” Library

LabVIEW New Features  Debugging –Project Performance Measure >TOOLS | Profiles | Profile Performance and Memory –Log Viewer Installed to startup menu (hidden last year) –Elapsed Times VI (help debug timing issues) >Place anywhere to measure time to run code. >Use control space shortcut then look for “Elapsed Times.VI” NOT “Elapsed Time” –Drive Safety can be disabled (and also adjust timeout)

LabVIEW Help | Explain Error  Lets you type in an error code and get more info

LabVIEW Seminar NI is sending out trainers to Quick Builds to do LabVIEW for FRC Training NI is coming to the Memphis Quick Build next week (Jan 12). All teams are welcome to attend the seminar.

Java and C++ Biggest change is Robot BUILDER (Java or C)  Wizard that lets you define robot systems and builds system code for you.  overview-of-robotbuilder overview-of-robotbuilder  Generates I/O Wiring table for you  Will keep your code intact even if changes are made via Robot Builder –so long is code is placed outside of comments “Begin Autogenerated Code” and “End Audogenerated Code”  Smart Dashboard – lets you test sub systems (great for in PIT testing)

C/C++Install Unlike Java who’s install is straight forward, C/C++ has issues  Make sure to read the instructions carefully when installing.  2 Disk install – if you answer questions incorrectly during the install of the first disk, C will not function properly and you will have to uninstall and start again!

Hardware Radio  All teams getting a D-Link DAP 1522 Rev B  WARNING – This looks very similar to the old radio used last year, but you MUST USE THIS RADIO  12v to 5v Power Converter STILL NEEDED

Hardware Talon Motor ControllerVictor 888 Victor 884 still legal

ROOKIE TEAMS

Programming Options LabVIEW C/C++ Java

LabVIEW - Advantages Made By National Instruments (NI)  Makers of the cRIO Control system Graphical Programming Language Lots of support on line in forums and from NI  NI is a huge supporter of FRC and FIRST Lots of built in documentation (help on every VI, examples for every sensor/system) Now includes a robot simulation tool for off robot testing

LabVIEW - Disadvantages Many windows need to be opened to do anything (hard to do on the Classmate) Hard to find things the first time you need them. Programmers (those who know standard programming languages) have a hard time with the graphical nature of LabVIEW

Sample LabVIEW Code

C/C++ Advantages Common programming language  Mentors and students might be more comfortable with C/C++ if they programmed in C before Many books on C/C++ (but NOT the specifics for FRC teams) Mentors and students who know C/C++ will have a shorter learning curve

C/C++ Disadvantages Licensing issues! Installation issues (discussed previously) Rumor has it C/C++ support might end in 2015

Sample C/C++ Code

Java Advantages Uses NetBeans (commonly used by programmers) Mentors and students who know Java already will have a very short learning curve. All public domain – no licensing issues in off season and no registration required.

Java Disadvantages Newest Language (only the 4 rd year offered)

Sample Java Code

Robot Builder With the introduction of Robot Builder, Java and C/C++ will be easier to use for teams who have programming mentors who know those languages (in the past many mentors could not get over the issues of defining robot hardware, this is now done in Robot Builder)

Where to Start Basic code  Each language has basic robot code or templates available  Don’t be afraid to search the internet, some teams post code from previous years! HINT: the basic code usually uses the standard wiring (don’t deviate from the standard wiring or code will not work)

Keep Current A common rookie mistake is not to keep the software up to date. Check the 2013 software update website often.

Other Comments If you are NOT using LabVIEW, you will need some of the files included with the LabVIEW Install You will probably want to do your programming on a computer with a bigger screen (laptop) If you plan to use the Robot Simulator in LabVIEW, you will need a Laptop with higher specifications

Thanks to….. FRC Blog  FRC Website  National Instruments  WPI 

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