Control System Setup Driver Station and cRIO Assumes you have: • Setup and wired the robot electronics, • Power has been applied • LED check is complete (ref 2.0 Getting Started, “Confirmation of LED Status ….”)
Disclaimer This presentation was written BEFORE the official rules release. It is possible that some items in here may not apply
Classmate Setup
(Ref: Manual 2.0 Getting Started: 2.3 Driver Station Setup)
• Power up Classmate Laptop • Automatically installs => Windows Setup • Name: “Teamxxxx” Org: FIRST • AVG Setup – skip update for now … • Key: 8FIRST-N0T27-LEECS-8ZNAR-Y2ENL-8BFMA-PFYJ
• Reboot? Yes, Login to DRIVER account • Enter Team Number, click EXIT • Login to DEVELOPERS Account
Classmate Setup (pg2)
(Ref: Manual 2.0 Getting Started: 2.3 Driver Station Setup)
• Classmate includes: • XP Pro, NI Labview 8.6, Java, OpenOfice, Cypress Drivers, AVG, Foxit Pdf Reader
• Cautions: • Avoid adding software to the Classmate (except for Windriver tools) • Do: Add a password and limit access • Avoid using for development if possible – keep it CLEAN to ensure optimal performance at competition!
Driver Station QUICK TEST • Start Driver Station • Verify IO Module is responding
Classmate Laptop IO Module Port 1
E-Stop
USB Hub
2
3
Laptop Power
4 To Router (connect to cRIO for now)
IO Module
IO Module Notes • Wire Breadboard with jumpers (not today) • Digital Inputs (DI) are pulled up internally • Outputs at 0-3.3Vdc • You can test with DS • See pinout on next page To: Classmate
IO Module Pinout J2 (inside column) +3.3 V P0_0 = Analog Input 0 P0_2 = AI2 P0_4 = AI4 P0_6 = AI6 P4_4 = Digital Input 0 P4_6 = DI2 P6_0 = DI4 P6_2 = DI6 P6_4 = Digital Output 0 P6_6 = DO2 P12_2 = DO4 P2_6 = DO6 GND
J3 (outside column) +3.3V P0_1 = AI1 P0_3 = AI3 P0_5 = AI5 P0_7 = AI7 P4_5 = DI1 P4_7 = DI3 P6_1 = DI5 P6_3 = DI7 P6_5 = DO1 P6_7 = DO3 P12_3 = DO5 P2_7 = DO7 GND
cRIO Imaging
(Ref: Manual 2.0 Getting Started – “Configuring the cRIO”)
• • • •
cRIO does NOT come pre-loaded this year Connect to cRIO to Classmate Ethernet cable to port 1 on cRIO FRC Imaging Tool – re-format/image cRIO • • • •
DO NOT INTERRUPT IMAGING PROCESS! Use wired connection to ensure reliable image. Select: Labview, Format Controller, Enter Team ID (team #) Current Image: FRC_2010_v17.zip
•
(image is in: National Instruments>>Labview8.6>>project>>cRIO Tool>>FRC Images as a zip file)
Our First Program
(Ref: Manual 2.0 Getting Started – “LOAD PROGRAMMING”)
• ASSUMES you have labview running • If not – Instructor will download program for you • We will use DS today • In general try to avoid using DS for development to keep the DS clean and running optimally, if possible.
• • • •
Launch Labview on DS Click: FRC cRIO Robot Project Enter Project Name & Location IP address – 10.xx.yy.2, Click FINISH • (xxyy = your team number)
Our First Program (pg 2)
(Ref: Manual 2.0 Getting Started – “LOAD PROGRAMMING”)
• Double Click Robot Main.vi • Click Run Arrow • MAKE SURE ROBOT IS ON BLOCKS • Make sure nothing is going to move unexpectedly
• Try pushing JoyStick. • Wheel Motors should turn.
WIRELESS SETUP
Ref: Manual 2.0 Getting Started – “Configuration of Wireless Components” Also, Manual 5.0 Control System Configuration
• Optional for today (time permitting) • Refer to “Configuration of Wireless Adapter” and “Configuration of Wireless Bridge” in Getting Started manual • Also in 5.0 Control System Configuration Manual
DRIVER STATION OVERVIEW Classmate Laptop IO Module Port 1
E-Stop
USB Hub
2
3
Laptop Power
4 To Router
(connect to cRIO for now)
IO Module
DRIVER STATION OVERVIEW Customized Intel Classmate PC • http://www.2gopc.com/2goPC_atom.html • 1.6 GHz Atom, 1 Gig Ram • 16 Gig Solid State Hard Drive • 8.9” screen, 1024x600 res • Designed for school Children • More rugged than a normal laptop
DRIVER STATION OVERVIEW • Driver Station is a LabVIEW executable • Works on ANY PC • You don’t have to use the classmate • Does EVERYTHING Kwikbyte • Plus a LOT more! • S/W Included (avoid adding S/W): • Windows XP Pro • NI Labview 8.6 • Sun JAVA • OpenOffice • Cypress IO Module • AVG Anti Virus • Foxit Reader (Free pdf Reader)
DRIVER STATION OVERVIEW
• SETUP TAB • Set Team Number >> Sets Laptop IP Address!!! • Practice Round – Setup your own! • Remap Joystick Positions, monitor type detected
DRIVER STATION OVERVIEW
• OPERATION TAB • • • • • •
Monitor Battery Voltage, Comms, Code, E-Stop Set mode (Teleop, Auton) Enable/Disable Current match time Laptop Battery status Team Location (Red/Blue) User Messages from Robot (the old Kwikbyte LCD)
DRIVER STATION OVERVIEW
• DIAGNOSTICS TAB • • • • •
Test Joysticks Verify communications System Messages, Error messages from Robot Remote Reboot of robot Firmware status, Robot image and DS
DRIVER STATION OVERVIEW
• I/O TAB • Monitor all DS I/O if IO Module is connected • Manually control I/O if not >> Allows you to test your DS I/O without hardware!
DASHBOARD • Monitor ALL Robot IO at a glance • You can modify it to do what ever you want
E-STOP BUTTON • Connects via USB • Performs E-Stop – NOT disable • Robot must be rebooted after E-Stop • Same function as E-Stop on Field • Space Bar on DS acts as Disable for quick access • MUST BE connected for robot to be enabled
EXPANDABLE IO • Cypress First Touch starter Kit • Currently same IO as Kwikbyte DS • • • •
4 Analog Inputs 8 Digital Inputs 8 Digital Outputs Built-in Accelerometer, capacitive touch sensor interface, thermistor
• No enclosure or circuit card planned
DEVELOPER/DRIVER ACCOUNTS • Two Windows XP Accounts • Driver Account • Automatically Starts Drive Station Software • Console Mode, DS software only thing running • Developer Account • Administrator Account • Use this to change IP address, etc .. • Labview & Java loaded by default • Windriver will need to be loaded if you are using it
CREDITS • Brought to you by you friendly neighborhood Peachtree Beta Team: • Rick Folea – Team 1746, The Forsyth Alliance • Tanner Smith – Team 1261, Peachtree Ridge • Fred Smith – Team 1261, Peachtree Ridge