1. 2010 LabVIEW Intermediate Workshop
October 9, 2010
Hauppauge High School
SPBLI – LI FIRST
Mark McLeod
Hauppauge Team 358
Northrop Grumman Corp.

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

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

4. 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

5. 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

6. Practice Code This Tune It Flywheel Tachometer Example
WPI Robotics Library->DriverStation->Joystick
WPI Robotics Library->Actuators->MotorControl
PID
Programming->Timing

7. Links Workshop slides and code http://www.team358.org/files/workshops/
LabVIEW Examples:

8. Contacts Presentation slides Under Workshops at: Team358.org
Questions/Help please

9. Further Topics

10. 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

11. Odds & Ends