1. Mentors Workshop Programming Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S. F For I Inspiration and R Recognition of S Science and T Technology

2. Objectives  FIRST Rules & Restrictions  Basics/Components  Design Notes  Potential Problems  Keeping Students Busy  Typical Schedule

3. FIRST Rules & Restrictions  Must use IFI supplied libraries  Cannot attempt to bypass IFI code -- does not apply to any of the default source code provided, just the object libraries and link map protected areas

4. Official Suppliers  Official Suppliers  www.innovationfirst.com/ www.innovationfirst.com/  www.ifirobotics.com  Microchip C compiler license in FIRST Robovation kit  Default code provided for basic operation  2005  V2.2 – Basic driving functionality  V2.4 – CMU camera support added  Navigation – autonomous mode scripting

5. Flow MPLAB IFI_Loader.hex file Robot Controller Operator Interface

6. Basics/Components  Default code  C or Microchip PIC assembly  PIC limitations (~31K, 1.3K, nested calls, 256/120)  Mechanics of compiling & downloading  Editor-MPLAB  Installation options  Short path names  Creating a new project  Compiler-mcc18  Loader-IFI_Loader (download to the robot)  Disabled, Autonomous and Driver modes  Sensors (analog, digital)  External circuits

7. Notes  Typically will not have a robot to test programming on until the end of build, use Robovation  Sensors must be allowed time to power-up before inputs are to be believed  Custom circuits may use TTL, analog, digital I/O ports  Team will require a laptop for competition (can lug a desktop along). You will have to program.  RoboEmu2 – a FIRST C program emulator http://www.robbayer.com/re2.shtml http://www.robbayer.com/re2.shtml  Act on momentary switches when depressed vs released

8. Potential Problems  MPLAB & IFI_Loader errors  printf limitations  Lack of configuration management  Lack of robot test/debug time  Mishandled transitions between modes – Disabled, Autonomous, Driver  Over-dependence on sensors (fault tolerant)  Which side is the “front” of the robot?  Motors wired in reverse  Remember to debounce switches

9. Keeping Students Busy  “Hello World”  Autonomous  Integrate switches  Tune driver joystick control  Debugging practice  Custom circuit design and test  Sensor testbeds  Robovation test robot  Design Operator Interface controls and switches

10. Typical Electronics Schedule  September thru December  Develop basic skills  January thru March  Six week build period  Robot design -- what control over basic operations is required  Designing and testing solutions  Integrating solutions with other sub-systems  Test before robot goes into shipping crate  Code development can continue after shipping  Regional event (debug and test during rounds)

11. Workshop Materials  Robovation robot – ready-to-go  Robovation battery  Programming cable  Laptop w/MPLAB & IFI_Loader  Full-size Robot Controller & OI w/tether