Presentation on theme: "Apple Pi Robotics Logic System and Programming Basics."— Presentation transcript:
Apple Pi Robotics Logic System and Programming Basics
Agenda Review Control System Hardware On Robot Driver Station Where to begin application code LabView Interface LabView Programming Fundamentals Application Challenge
Control System Hardware Controller I/O and interface boards Communications Operator Interface Software Operating System Program Code
Let's Look at the Hardware Rack/Processor/Communication Analog Module Digital I/O Solenoid Module Extra Slot The cRIO I had 8 slots, the newer cRIO II has 4. Both are compatible, and both are legal in competitions, if you have an 8 slot you may only use the 1 st 4 slots.
Additional Hardware Analog Breakout Up to 8 Analog sensors 12v Power from Power Distribution Board Analog Breakout Board Jumper
Additional Hardware Digital Sidecar All speed controllers (up to 10), sensors (up to 16) and relays (up to 8) connect to sidecar Connect to 12V output on Power Distribution Board Robot Signal Light
Digital Sidecar Connections PWM Outputs: Connect up to 10 Speed Controllers Relay Outputs: Connect up to 8 Spike Relays Connects to the cRIO Digital Module Power connection: Connect to 12V output on Power Distribution Board Status LEDs: These should always be green when robot is turned on Robot Signal Light Connector Digital I/O: connect up to 14 digital sensors Relay Indicator Lights Red = REV Green = FWD Servos also connect here must have a jumper on power pins to function
Additional Hardware Solenoid Breakout Only used for pneumatics; spike relay, pressure switch 12v Power from Power Distribution Board Solenoid Breakout Board
Driver Station Laptop Driver Station Software Joystick Custom Controls Dashboard
Laptop Classmate comes in the kit You can use any laptop that you like (Advanced) Software can run on the laptop and send data back to the robot, like vision processing
Driver Station Software Software that is run on the DS laptop Allows driver control of the robot Diagnostics of the communication to the robot Battery Voltage Read out Enter Key = Disable Spacebar Key = Emergency Stop (Use Enter normally) If you press Spacebar you will have to restart the robot before you can disable it
Driver Station Software 5 Tabs Provide Access to the different screens Operation Diagnostics Setup I/O Charts If you press Spacebar you will have to restart the robot before you can disable it
Driver Station Operation Tab Communication Status Enable/Disable Buttons Station Number for Competition Use User Messages (This area can be controlled by the robot program) Team Number (Make sure it is correct) Communication Status Communication = a connection to the cRIO Robot Code = the user code is running Battery Voltage Display Mode Selection Teleoperated = Driver Autonomous = Computer Control Practice = Run like a match Elapsed time since start of robot communication PC Battery
Driver Station Diagnostics Tab Joystick and IO LEDS: Green means they are active Communication LEDS: Green means they are active Hover over errors for messages that may help resolve issues Firmware Versions: These must be stay up to date for you to work at competition View Driver Station Log can be useful for debugging errors Reboot cRIO Useful if you have an error that a robot reset can fix
Driver Station Setup Tab (Advanced) Allows you to configure Remote Dashboard Allows you to configure how the practice rounds are setup Team Number Configuration: Make sure this is set correctly Choose NIC: Allows you select which network adapter is connected to the robot Joystick Setup: Drag Joystick up and down to switch which connected joystick is 1, 2, 3 or 4 in the program Exit: Logs off the Driver Station Account on the classmate
Driver Station I/O Tab This tab is used for configuring custom interfaces with the cypress I/O module. If you arent using the cypress module you will not need this tab There are several other ways to build custom I/O interfaces that dont involve the cypress board or this I/O panel. You can find examples of these on Chiefdelphi.com
Driver Station Charts Tab Lost Pkts = Lost Packets this is an indication of connection issues, if you have a large amount of lost packets there is something wrong with your connection between the robot and the DS Volts = A graph of battery voltage this can be very useful to find correlations between battery volatage and problems that occur with the robot Msecs = This is reporting your trip time, which is how long it takes for information to go from the driver station to the robot, this should also be small CPU% = this is the percentage of CPU your cRIO is using, minimizing this will allow for better performance This tab helps you diagnose problems with your robot
Dashboard The Dashboard can be used to get feedback from robot systems. This is the default Labview Dashboard
D-Link DAP 1522 Router/Bridge Connects Robot to Driver Station Laptop Allows wireless control of the robot Also called the Radio Should be mounted away from motors and speed controllers to avoid interference
D-Link DAP 1522 Router/Bridge Power Light (blue) Bridge Light (orange) Access Point Light (blue) Traffic Indicator Lights (blue)
D-Link DAP 1522 Router/Bridge rev.B
D-Link DAP 1522 Router/Bridge Ethernet PortsAP/Bridge Switch AP = Practice/Home Bridge = At Competition Reset Button 5v Power Connector Plugs in to grey power inverter
Let's Talk Application Code Where do we Start? List Connected Hardware with purpose defined All Operator Interface Pushbutton/Switches Meters Lights All Robot Mounted Devices Limit switches Motor controllers Spike Relays Lights Photo sensors
Application Code Where do we Start? Develop Sequence of Operations Documentation of how robot works; all subsystems defined including the purpose Ball collector/conveyor Shooter Drive train Knockdown All ties back to the hardware list
Example: Knockdown Sequence of Operation The purpose of the Knockdown arm is to allow for the lowering of the bridges that are used to cross from the offensive side of the field to the defensive side. It is also used for lowering of the bridge during the end game to allow the robot(s) to get on the bridge to attempt balancing. Control devices include the Arm Up and Arm Down buttons on the Operator's joystick. The Full Up and Full Down limit switches control the stop points for actuation and prevent over travel. Both limit switches make use of the normally open contact. The Knockdown Gearmotor provides for the actuation of the arm. The motor operates clockwise for movement in the down direction (positive polarity) and counterclockwise for movement in the up direction (negative polarity).
Example: Knockdown Sequence of Operation Operation: When the Arm Down button is depressed, the motor is commanded to rotate clockwise with a preset speed reference. The arm continues to advance in the down direction until either the button is released or the full down limit switch is engaged. If the button is released the arm stops at that point. If the full down limit switch is activated the arm stops in the down direction and can not be lowered further. Only the Arm Up button may be used at this location. When the Arm Up button is depressed, the motor is commanded to rotate counter clockwise with a preset speed reference. The arm continues to advance in the up direction until either the button is released or the full up limit switch is engaged. If the button is released the arm stops at that point. If the full up limit switch is activated the arm stops in the up direction and can not be raised further. Only the Arm Down button may be used at this location.
LabView Interface Overview: 1st do you have correct version installed? For those who dont have correct version: We can start loading during initial discussion slides USB + 3 updates reqd Open a blank vi
LabVIEW Interface Each Virtual Instrument (VI) has 2 Windows Front Panel User Interface (UI) –Controls = Inputs –Indicators = Outputs Block Diagram Graphical Code –Data travels on wires from controls through functions to indicators –Blocks execute by Dataflow Front Panel Block Diagram
Block diagram execution Dependent on the flow of data through wires Block diagram does NOT execute left to right It is good practice to lay out the code in an easy to follow left to right, top down manner Function executes when data is available to ALL input terminals Functions supply data to all output terminals when done Dataflow Programming 30 Logic Thinking: What functions are needed, and in what order?
LabVIEW Interface – function sets LabVIEW palette sets Programming FRC specific palettes FIRST Vision WPI Robotics Library PID Toolkit palette Context Help
WPI Robotics Library Interfaces with cRIO, sensors & actuators Contains multiple palettes Robot Drive Sensors Actuators IO Driver Station Camera Communications Utilities
LabVIEW Interface Sample Block Diagram
Help»Show Context Help, press the keys Hover cursor over object to update window Additional Help – Right-Click on the VI icon and choose Help, or – Choose Detailed Help. on the context help window
LabVIEW Best Practices Create a New Folder in your work directory for your LabVIEW work call it Labview Data You will save all your VIs & Projects to this folder. Saving your VI frequently is good, but know that once you choose to save your VI, it resets the undo call (Ctrl-Z) and you will not be able to go back on any steps you made before saving your VI. Think function-to-function programming and not line-by-line Avoid crossing wires while connecting different objects on the block diagram. Crossed wires can be confusing to read and follow at times. (but can be unavoidable ) When in doubt, DEBUG! Use the light bulb icon on the status toolbar on the block diagram to highlight the path of the flow of data.
LabVIEW Best Practices Place output indicators at multiple steps during the data flow path of your VI to keep track of the output as it changes through the VI. PLAN PLAN and PLAN! Plan out the various stages of your VI/Program prior to placing objects on the block diagram. This will make it easier to end up with a clean picture of code and will also allow you to pick out the functions that best suit your needs. PRACTICE! The only way to get better at LabVIEW is to practice. We will teach basics and principles in next few weeks In order to be proficient – independent work is required
LabView for FRC A template is provided to set up the code Open Labview FRC Select New FRC cRio Robot Project 2.Change Project name 3.Set IP Address to , select Finish 4.In Project Explorer window select Robot Main Project explorer links multiple vis (Virtual Instruments)