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2015 Beta Control System Hauppauge Robotics Conference November 22, 2014 FRC team 358 team358.org.

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Presentation on theme: "2015 Beta Control System Hauppauge Robotics Conference November 22, 2014 FRC team 358 team358.org."— Presentation transcript:

1 2015 Beta Control System Hauppauge Robotics Conference November 22, 2014 FRC team 358 team358.org

2 Agenda New Components New Components Networking Networking Programming Programming Support Tools Support Tools Breaking It Breaking It Presentation is located at:

3 Parts is Parts 2015 Acronyms: roboRIO w/ MyRIO Expansion Port (MXP) Pneumatics Control Module (PCM) Power Distribution Panel (PDP) Voltage Regulator Module (VRM) Victor SP Talon SRX AndyMark

4 New vs Old Overall 1/3 smaller footprint, 1/3 vertical clearance, 2lb weight savings 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 New vs Old - Cost roboRIO ($435) Pneumatic Control Module ($90) Power Distribution Panel ($200) Voltage Regulation Module ($46) New ($771) Plus Victor SP ($60) Talon SRX ($80) cRIO w/3 modules ($525) Digital Sidecar ($174) Analog Breakout ($152) Solenoid Breakout ($152) Power Distribution Board ($189) 12v/5v Converter ($12.50) Old ($1204) Plus Victor 888 ($70) Jaguar ($80)

6 Layout

7 roboRIO Specs: https://decibel.ni.com/content/servlet/JiveServlet/download/ /roboRIO+Overview.pdf 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) I 2 C ports –UART (1) RS (1) TTL –(2) USB host ports –(1) USB device port for tethering –(1) Ethernet for Dlink Rev B –(1) CAN for PCM/PDP/CAN speed controllers Power pins for 6v(2.2a), 5v(1a), 3.3v(1.5a) –Note 6v measures low if not loaded DIO/I2C/SPI are native 3.3v but handle 5v DIO/I2C/SPI are native 3.3v but handle 5v Short circuit protection

8 PDP Power Distribution Panel Direct replacement of old PDB Minuses: (4) fewer 20/30a Wago connections (net loss of 1) –But old cRIO required (3) of those for control system No warning LEDs for blown or missing breakers Pluses: Software Monitoring –25ms update rate, 1/8 amp resolution –Per channel current & short circuit (sticky fault) –Input battery under 6.5v (sticky fault) –Does not monitor special roboRIO/PCM/VRM power outputs –Via 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 (2015 rules allowing).

9 PCM Pneumatics Control Module 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 w/ jumper The 24v for solenoids is fixed. The 12v just follows battery voltage (brownout danger). (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

10 VRM Voltage Regulation Module 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 12v rail and 5v rail are separate, but each rail’s outputs are joint –All outputs on a rail share 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). matches the combined peak for a Dlink & AXIS camera (725ma+1.3a=2.025a). Normal continuous current draw for these two is about 5v Normal continuous current draw for these two is about 5v Additional VRMs can be powered directly from PDP Wago outputs Additional VRMs can be powered directly from PDP Wago outputs

11 Victor SP/Talon SRX Victor SP –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) Talon SRX Talon SRX –(2) CAN/PWM connectors-2nd is for CAN chain Auto-detect CAN vs PWM use Auto-detect CAN vs PWM use –(1) Quad Encoder connection –(2) Limit Switch connections-forward/reverse –(1) Analog Input (for 3.3v) –3.3v/5v available –Slightly larger than Victor SP –Modes include: slave to another Talon, quad encoder, pot, %voltage slave to another Talon, quad encoder, pot, %voltage

12 Networking DLink Rev B still being used PC talks to roboRIO over USB or Ethernet connection – –roboRIO-358.local (or USB-only ) – –roboRIO does not bridge between USB & Ethernet ports – –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 (roboRIO-358.local ) Driver Station IP camera (axis-camera.local) Development laptops

13 CAN Controller Area Network Standard in vehicles CAN for roboRIO/PCM/PDP/speed controller communications Use two-wire awg twisted pair green/white wire Bus starts at the roboRIO – –roboRIO has a built-in terminator for one end of the CAN bus – –The other end also need a 120ohm terminator PDP has an optional terminator for the other end, or you can make your own – –Other devices (PCM/Talon SRX/Jaguar) each have two CAN connectors to extend a chain of devices CAN IDs are segregated by device type – –The default is PDP id=0 and PCM id=0 – –The full CAN address of type+ID is hidden Bandwidth – –17 devices (15 Jags using %v+PCM+PDP) takes up 20% of bus bandwidth – –Utilization goes up with a large volume of too rapid status queries, keep it under 90% – –Dangerous to increase update rates from the default too high or for too many devices PDP & PCM should be left at the default 0 address. – –Additional modules can have other addresses – –Default address 0 is assumed by the system for default logging

14 Considerations/Differences Self-protect Brownout 7v – –We might see more frequent but less damaging brownouts during matches, of shorter duration (drive stutter) – PWM/CAN output set to neutral & PCM disabled- motors stop/start jitter – the 6v rail shuts down – the 3.3v/5v rails shut down - awkward for 5v devices such as encoders – PDP looses CAN – roboRIO shuts down – VRM drops out PWM plugs, snug but potential for rattling loose Metal frag showers & pinout cups Weimuller connections – –Wire whiskers bunch up – –Wire size (smaller gauge is easier to insert, big insulation doesn’t work) 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

15 Programming Mostly the same programming API’s as last year for all three languages Some class/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 – –Potentiometer class/vi – –Built-in 3-axis accelerometer (MMA8452Q) w/selectable sensitivity of +/-2,4,or 8g Missing – –No Cypress board support by the Driver Station (discontinued) – –No Driver Station user message display – –No Kinect support on Driver Station Windows, Linux, OSX for Java, C++ development Eclipse for Java (JRE 8 SE Embedded-standard Java release) & C++ (gcc version 4.9.1) Put files in the home directory of the account the program is run from "home/lvuser"

16 Programming Backward Compatibility Option 1: LabVIEW & Java Can Use Existing Setups to program cRIOs – –Java teams can continue using Netbeans with the old libraries – –LabVIEW license from last season never expires (just this edition) Option 2: C++ WindRiver Expires, so Use a Different Setup – –C++ teams can use the project located on FIRSTForge here: Option 3: LabVIEW-Only New Software Will Work on cRIO II – –Backward compatibility for LabVIEW w/ 4-slot cRIO only

17 Joystick Handling POV as degrees xBox Trigger Buttons are now on separate axes Indexing starts at 0 Rumble Outputs are supported on xBox controllers (must use xInput)

18 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

19 Update Rates PWM Talon, Victor SP, Jaguar, Talon SRX = 5ms PWM Victor = 10ms PWM Servo = 20ms CAN Talon SRX = 10ms CAN Jaguar = 20ms PCM C++/Java= 20ms, LabVIEW=75ms (may change to 20ms) PDP = 25ms Internal PID on Jaguar & Talon SRX = 1ms

20 Miscellany USB thumb drives work on roboRIO (mount as U & V on root directory) Use IP or USB Cameras –Axis IP camera can use mDNS (axis-camera.local) or a static IP address –USB cameras are processed by user code on the roboRIO and the user can forward video/images to the Driver station All user programs run under lvuser account on roboRIO –Java/C++ are started via the LabVIEW startup mechanism –Can ssh onto roboRIO as lvuser or admin (both blank passwords) roboRIO clock –Initial date/time when roboRIO is booted seems to be 2/17/1970, 12:40am. When the Driver Station connects the time on the roboRIO gets sync'ed to the DS. So timestamps may vary accordingly if files are written/created before/after the DS connects after a roboRIO boot.

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

22 Driver Station Option to switch back to 2014 FMS protocols. Allows FMS support for teams going to Week 0 events running FMS Offseason software. Keyboard Shortcuts to Enable/Disable Driver Station –Enable - ' [ ] \ ' key combination. –Disable - Enter key

23 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 CAN Bus Devices –Set CAN Ids for PCM, PDP, speed controllers –See PDP & PCM monitoring/clear sticky faults

24 Beta Testing Some system behavior is due to the more generic use of the baseline MyRIO –WebDASH changes, for instance, are controlled by a different NI commercial group and could not be made for this year

25 Breaking It: What Didn’t VRM –Handles short circuits on all outputs –Handles reversed power input PCM PCM –Handles short circuits on all outputs –Handles reversed power input PDP PDP –Overloading the PCM/VRM power outputs roboRIO roboRIO –Handles short circuits on all outputs –Handles reversed power input

26 Breaking It: What Did VRM -Bad –Over current (>1.5a) on the 12v rail –Heating up from repeated over current cycles on 5v rail might eventually cause damage (we tried) PCM - Bad PCM - Bad –Compressor that pulls >17a constantly PDP - Bad PDP - Bad –20a fuse: Max load on VRM (2.125a) + high current compressor (>17a continuous) –Wire battery terminals backwards –Attach motor (inductive load) directly to Wagos w/o a speed controller –Wiring power to CAN bus roboRIO roboRIO –Can still overload the CPU, use WebDASH to disable user code

27 Beta Testing Still To Do Benchmarking roboRIO vs cRIO Performance Update LabVIEW examples to 2015 style and test FIRST is still making adjustments –Minor circuit changes to CTRE hardware (roboRIO is in production) E.g., removing a PCM internal fuse that does nothing E.g., removing a PCM internal fuse that does nothing –Firmware fine tuning E.g., PCM overcurrent timing profile E.g., PCM overcurrent timing profile

28 Links NI Specs – –https://decibel.ni.com/content/docs/DOC Team 358 Beta – –http://team358.org/files/programming/ControlSystem /BetaResults.phphttp://team358.org/files/programming/ControlSystem /BetaResults.php – –http://team358.org/files/programming/ControlSystem http://team358.org/files/programming/ControlSystem Other Beta Teams – –Team 11: https://www.facebook.com/FRCBetaTesthttps://www.facebook.com/FRCBetaTest – –Team 1718: – –Team 111: ChiefDelphi Community: – –http://www.chiefdelphi.com/forums/showthread.php?threadid=130303


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