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

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

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

4. 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

5. 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

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

7. FCS Software Download latest Samantha Field Control System software
Install it on the FCS Laptop

8. 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
Wireless Security
Security Mode: WPA2 Personal
Passphrase: <a strong password – remember for later use>
Resources
Read: Router Configuration Guide for Teams

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

10. 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

11. 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

12. 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

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

14. Prepare NXT Name your NXT Install programs required at Tournaments
Use your FTC Team number
Append hyphen and letter on additional NXTs (e.g 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

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

16. 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

17. 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:

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

19. 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 Toolkit

20. 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

21. 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

22. Power Connections
Robot Power Management Using Anderson Powerpole® Connectors
Thanks to Purple Gears / FTC Team 2901
Wire directly to switch and battery
Samantha Mounting Best Practices
Check for an expanded female connector

23. 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

24. 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

25. 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