2. Software Subsystem Scot Marshall Lead Manufacturing Test Engineer Constellation Project / Orion CEV Lockheed Martin Space Systems Michoud Operations Team 1913, Covington High School Covington, LA scot@LaFRC.org www.LaFRC.org

3. Software and Programming 2007 What is It? Where Does it Go? What are the Tricks? How do We Make It Work? What Else Do We Need to Know?

4. Where Does the Software Go? PC – Robot IFI Loader (1 st ) Dashboard Viewer C18 Compiler PC – Camera CMUcam2 Rev. A PC – Design AutoCadSolidWorksLabView MPLAB CBOT Compiler EZ C Robot Controller Master Code (1 st ) Program Code Prog

5. Where does the software come from? CDs in Kit MPLAB CBOT – Robot Code Compiler LabView – Control System Simulation Autocad - Mechanical Desktop; 3D modelling SolidWorkshttp://www.ifirobotics.com/ IFI Loader Robot Master Code Robot Default Code http://java.com/en/download/index.jsp Java for CMUcam2 Camera PC Display http://microchip.com C-18 Compiler Updates

6. MPLab IDE 7.20

7. EasyC

8. www.IFIRobotics.com

9. IFI Robotics Web Downloads IFI_Loader v1.1.0 (zip, 2-3-2006) Must be used with the 2006 Robot Controller. FRC DDT Code v2.2/v2.4 (zip, 1-25-2005) for use with the IFI Loader Dynamic Debug Tool only, instructions included. Program Port Y-Cable (pdf, 2-1-2005) see Printf statements while connected to the Breaker Panel, wiring diagram for Y-Cable. Device Reader Ver1.0.1 (zip, 4-7-2006) For reading/restoring Code in a RC, instructions included. NOTE: Uninstall before installing. 2004 Programming Reference Guide (pdf, 12-04-2004) FRC 2004 RC Default Code Reference Guide (pdf, 1-7-2004) 2007 RC Code (zip,1-12-2007) Contains both Default/User and Master Code. Frequently Asked Questions (FAQ) C Programming FRC DDT Code v2.2/v2.4 Program Port Y-Cable Device Reader Ver1.0.1 2004 Programming Reference Guide FRC 2004 RC Default Code Reference Guide 2007 RC Code Frequently Asked Questions (FAQ) C Programming This information is available at http://www.ifirobotics.com/rc.shtml#Programming

10. IFI Loader v1-1-0 Verifies COM port connection PC-to-Robot Loads Robot Master Firmware v.13 Download from http://www.ifirobotics.com/ Zipped file FrcCode_2007_8722 –FRC_MASTER_V13.BIN Loads Robot Default/User Code Zipped file FrcCode_2007_8722 –27 other files including: –user_xxx.c and user_xxxxx.h –ifi_xxxxx.c and ifi_xxxxx.h –main.c –FrcCode.mcp and FrcCode.mcw –Frc_xxxx

11. Robot Default Code Use IFI Loader One segment of code is user modifiable Other segments must not be changed Use 2007 version of default code IFI suggests placing the robot code in a directory named C:\mcc18\Projects\ This is because the Microchip compiler has a 64 character path/filename limit.

12. Robot Default Code I/O See Controller Reference Guide Tables for DEFAULT code for each input and output

13. Port 1 Hardware/Software

14. Port 2 Hardware/Software

15. CMUcam2 Software Requires Java 10 or higher to run www.java.com

16. CMUcam2 Getting Started (zip, 4.65 Mb) 1-18-2005, Updated the Start_Here-CMUcam2_fe-r2.pdf Specifications Description Camera Board Markings (zip, 114Kb) Basic Trouble-Shooting (pdf) 1-18-05 TTL-232 Board Basic Trouble-Shooting (pdf) 2-3-05 Additional information available for the camera at: http://www.kevin.org/frc/

17. CMUcam2 (2006)

18. MPLab IDE Software Development Environment Edits user code segment Download from http://www.ifirobotics.com/ Zipped file FrcCode_2007_8722 user_routines.cuser_routines.h Edits and Compiles Robot Default Code Open FrcCode.mcw from unzipped Default folder FrcCode_2007_8722 So it will correctly compile, remember to store the default folder at: C:\mcc18\Projects\

19. Default Assignments & Values

20. Operator Interface

21. Robot Controller

22. Backup Charts

23. Useful Websites Innovation First Inc. (IFI Robotics) http://www.ifirobotics.com System Overview Robot Controller Operator Interface Radio Modems Breaker Panel Victor 884 Spike CMU Cam2 Accessories Dashboard Viewer Robot Parts Legacy Docs