1. 2015 Beta Control System Brunswick Eruption November 8, 2014
Mark McLeod
FRC team 358
team358.org

2. Agenda Layout New Components Old vs New Networking Programming
Support Tools
Hands on (try Weidmuller connectors)
Presentation is located at:

3. Parts is Parts roboRIO w/ MyRIO Expansion Port (MXP)
Pneumatics Control Module (PCM)
Power Distribution Panel (PDP)
Voltage Regulator Module (VRM)
Victor SP
Talon SRX

4. New vs Old Overall 1/3 smaller footprint, 1/2 vertical clearance
roboRIO
Old: cRIO/modules/Digital Sidecar(DSC)/Analog Breakout
PCM
Old: Solenoid Breakout & DSC Compressor relay/pressure DIO
PDP
Old: Power Distribution Board (PDB)
VRM
Old: PDB 12v output + 12v/5v converter
Old: 5v power for camera
Victor SP
Old: Victor 888/Talon SR/Jaguar(PWM)
Talon SRX
Old: Jaguar (CAN)

5. Layout

6. roboRIO PWM (10) + up to (10) on MXP DIO (10) + up to (16) on MXP
(4) Relay
Analog Input (4) + (4) on MXP
(2) Analog Output on MXP
Communications
(2) SPI ports 1x4 & 1x1
(2) I2C ports
UART (1) RS (1) TTL
(2) USB host ports
(1) USB device port
(1) Ethernet
(1) CAN
Power pins for 6v(2.2a), 5v(1a), 3.3v(1.5a)
Note 6v measures low if not loaded
DIO/I2C/SPI are 3.3v but handle 5v
Short circuit protection
Specs:

7. PDP Direct replacement of old PDB Minuses:
(4) fewer 20/30a Wago connections
No warning LEDs for blown or missing breakers
Pluses:
Per channel current monitoring (25ms update rate)
Per channel short circuit sticky fault
Input battery under voltage sticky fault
CAN communications
Other Notes:
Battery power lugs must fit within protective cover (.44” wide)
Special roboRIO/PCM/VRM outputs aren’t special. If more PCM/VRM devices are needed just use regular wago power.

8. PCM
Replaces old Solenoid Breakout, Compressor Relay, Pressure Switch DIO
Automatic control of compressor operation- no direct user code involvement
Supports either 12v or 24v solenoids, pick one
The 24v for solenoids is guaranteed. The 12v just follows battery voltage.
(8) solenoid outputs - that’s (8) single or (4) double or a mixture
Additional PCMs can be powered directly from a PDP Wago connection
CAN communication
Smart monitoring for faults
Compressor/solenoid over voltage or short circuit
Compressor current
Solenoid on/off
Solenoid jumper setting 12v or 24v
25ms update rate
No Relay Spike for the compressor
Short circuit protection

9. VRM
Replaces 12v protected supply from the old PDB and the 12v/5v converter
Good down to 3.5v (long after everything else blacks out)
Short circuit protection
12v rail and 5v rail are separate, but each rail’s outputs are joint
All outputs on a rail share the same overall constraints
1.5a total continuous current across all rail outputs
500ma current limited outputs piggy-back off the 2a Max outputs
2a Max momentary current
matches the combined peak for a Dlink & AXIS camera (725ma+1.3a=2.025a).
Normal continuous current draw for these two is about 500ma
Additional VRMs can be powered directly from PDP Wago outputs

10. Victor SP/Talon SRX Victor SP Talon SRX PWM only Sealed enclosure
60a continuous/100a surge
Much smaller footprint (2.5" x 1.125" x 0.875"tall)
Much lighter weight (.2 lbs)
LED indicators blink proportionately to output speed and in various colors (yellow blink=Disabled, green=forward, red=backwards)
$60
Talon SRX
CAN or PWM
Slightly larger
$80

11. Networking PC talks to roboRIO over USB or Ethernet connection
DLink Rev B still being used
CAN for roboRIO/PCM/PDP/speed controller communications
CAN IDs are by device type, so the default is PDP id=0 and also PCM id=0
17 devices (15 Jags using %v+PCM+PDP) takes up 20% of bus bandwidth
Multicast Domain Name System (mDNS)
E.g., roboRIO-358.local
Static IP vs DHCP
Static 10.TE.AM.1 for robot DLink/default gateway
set aside for the user to assign, e.g., IP cameras, secondary processors
assigned via DHCP (Field Router or DLink at home)
roboRIO
Driver Station
Development laptops
The NI FRC Update installs a mDNS resolver, Mac OS and iTunes come with Bonjour. Linux distros have it or can install avahi, zeroconf, or mdns.

12. Considerations/Differences
Self-protect Brownout 7v
@7v PWM output is cut
@6.5v the 6v rail shuts down
@6.2v the 3.3v rail shuts down
@5v PDP looses CAN
@3.8v roboRIO reboots
@3.4v VRM drops out
PWM connection Security, snug but potential for rattling loose
Metal frag & pinout cups
Weimuller connections
Wire whiskers bunch up
Wire size (smaller gauge is easier to insert)
USB thumb drives work on roboRIO (mount as U & V on root directory)
Encoders: currently up to 12 quadrature encoders are supported
(4) 4x dedicated encoders
(8) 1x/2x Counters
Dual purpose MXP pins
Any Digital Output pins shareable with PWM will be Disabled with the robot
Windows 7/8 to run Driver Station & if using LabVIEW environment

13. Programming
Mostly the same programming API’s as last year for all three languages
Some function name changes
roboRIO will automatically run whichever language program was loaded last
New
Power API’s
Battery voltage, PDP current monitoring, Over current/short circuit faults PCM & PDP, Sticky faults
Indexing starts at 0 rather than 1
Joysticks, PWM, DIO, Analog I/O, Relay
Compressor no longer under user code control other than stop/start
Built-in 3-axis accelerometer w/selectable sensitivity of +/-2,4,or 8g
Missing
Cypress board support by the Driver Station discontinued
Driver Station user message display
Kinect support on Driver Station
Backward compatibility for LabVIEW w/ 4-slot cRIO only
Windows, Linux, OSX for Java, C++ development
Eclipse for Java & C++
JRE 8 SE Embedded (standard Java release)

14. Joystick Handling POV as degrees Indexing from 0
Some Relocation of Controls
Plans are for Rumble

15. LabVIEW Minor Palette Rearrangement Joystick functions revised
Legacy vi’s, e.g., Joystick Get, will partially work - removed from palette
Joystick Get Values replacement uses a generalized indexing scheme
Modified Behavior
Compressor Open not required, a Solenoid Open will activate the compressor
Index from 0, e.g., USB 0, Button 0, Axis 0, PWM 0
Power palette
roboRIO
Input voltage, current, brownout
3.3v/5v/6v rail faults
6v rail voltage & current
Disable 3.3v/5v/6v rails
PCM
Compressor current
Compressor & Solenoid see & clear faults
Input voltage
Solenoid voltage
PDP
Battery input voltage
(16) Wago channel currents
PDP Energy & Power usage
Outputs Enabled (DS Disabled, comms loss, overvoltage or brownout Disables)
Potentiometer & Limit Switch palettes
Read User Button

16. Support Apps, Tools, & Utilities
No automatic shortcuts on desktop or Start menu (user has to add if wanted)
Driver Station
Dashboards
WebDASH
roboRIO Imaging Tool 2015
Setup AXIS Camera Tool
Bridge Configuration Utility
BCD Comm (new Jaguar firmware)
3rd Party Tools
PuTTY for ssh
ftp
LV cRIO Backward Compatibility
cRIO Imaging Tool 2015
Net Console for cRIO

17. Driver Station

18. WebDASH View and Modify roboRIO settings Versions Update firmware
Force Safe Mode
Disable RT Startup App
System Resources Available/Used
Set Static/DHCP IP
CAN Bus Devices
Set CAN Ids for PCM, PDP, speed controllers
See PDP & PCM monitoring/clear sticky faults

19. Links NI Specs Team 358 Beta Other Beta Teams ChiefDelphi Community:
Team 358 Beta
Other Beta Teams
Team 11:
Team 1718:
ChiefDelphi Community: