Mechanics of LabVIEW Workshop January 10, 2009 Farmingdale State College SPBLI - FIRST Mark McLeod Advisor Hauppauge Team 358 Northrop Grumman Corp.

Agenda Architecture Architecture Project from Scratch Project from Scratch Default Framework Default Framework –Basic –Advanced Typical Operations Typical Operations Mechanics of Downloading Mechanics of Downloading FRC Palette Overview FRC Palette Overview Download Programs & Test Download Programs & Test

2009 Control System Software (check periodically for latest update) Robot Programming Robot Programming –Wind River Workbench –LabVIEW PC Dashboard PC Dashboard –LabVIEW FRC cRIO Imaging Tool --Apply updates to the cRIO FRC cRIO Imaging Tool --Apply updates to the cRIO Setup Axis Camera --Create FRC user account Setup Axis Camera --Create FRC user account Vision Assistant –Play with camera vision Vision Assistant –Play with camera vision

Architecture Hardware Layers Hardware Layers –FPGA –PowerPC –Modules –Breakout Bumpers/Sidecar Software Layers Software Layers –FPGA code –vxWorks –WPILib –User Code in LabVIEW or C++

Project From Scratch Limited by lack of Robot Mode function, but works for Basic Teleop Create a vi Create a vi –Structure Open -> Loop -> Close Open -> Loop -> Close Create a project Create a project

Basic Tasks Solenoid control Compressor Driver Station Communication Watchdog

Drives Teleop Tank Drive Teleop Arcade Drive

Miscellaneous Driver Station Custom Inputs Button Toggle

Default Frameworks A Framework is required for full functionality Basic Basic –Basic Robot Main.vi –Drive loop –Camera loop –Periodic loop –Autonomous Independent.vi Advanced Advanced –Team Code Begin.vi Begin.vi Teleop.vi Teleop.vi Vision Processing.vi Vision Processing.vi Autonomous Iterative.vi or Autonomous Independent.vi Autonomous Iterative.vi or Autonomous Independent.vi Periodic Tasks.vi Periodic Tasks.vi

Modifying the Framework What’s Missing: Tank Drive Tank Drive –Drive loop or Teleop.vi Compressor & solenoid control Compressor & solenoid control –Compressor in periodic –Solenoid control in Drive loop or Teleop.vi Manipulator and other unique controls Manipulator and other unique controls –Their own loop or vi

Sample Autonomous LabVIEW Kills Autonomous Independent.vi at the end of autonomous mode

Downloading or Running a Project Run Run –Used to test & debug using your PC –Temporarily executes your code –Gone after a reboot –Can disable Downloaded code, so test reboot Download/Deploy Download/Deploy –As a stand-alone application –Must reboot to take affect

My Computer Target For programs that run on your PC For programs that run on your PC Dashboard template Dashboard template What it does What it does How to customize the default Dashboard How to customize the default Dashboard –DS Digital/Analog input display –Digital Sidecar PWMs, Relays, DIO –Analog/Solenoid

FRC-cRIO-358 ( ) Target For Robot programs For Robot programs Build Specifications Build Specifications –Run as Startup –Build/Deploy

Cautions Set the cRIO as a LabVIEW environment Set the cRIO as a LabVIEW environment If you get conflict messages when “Running”, then the formerly deployed code will execute on reboot If you get conflict messages when “Running”, then the formerly deployed code will execute on reboot Development is still underway, so expect the process and behavior to change somewhat Development is still underway, so expect the process and behavior to change somewhat Careful when relocating LabVIEW projects due to relative directory paths. Careful when relocating LabVIEW projects due to relative directory paths. Examples are not setup to download as stand-alone applications, but “Run” works Examples are not setup to download as stand-alone applications, but “Run” works Must use delay in master While loop to avoid running as fast as possible and sucking up the CPU Must use delay in master While loop to avoid running as fast as possible and sucking up the CPU Must use WATCHDOG as of Update 2 Must use WATCHDOG as of Update 2 “Run” must be done from RobotMain.vi “Run” must be done from RobotMain.vi

FRC Palette Overview WPILib WPILib –Robot Drive –Sensors –Actuators –I/O –Driver Station –Camera –Communications –Utilities FIRST Vision FIRST Vision –Image Management –Intensity Measurement –Particle Analysis –Image Enhancement –Image Conversion –Display Interaction

FRC WPI Palettes Robot Drive

FRC WPI Palettes Sensors

FRC WPI Palettes Actuators

FRC WPI Palettes I/O

FRC WPI Palettes Driver Station

FRC WPI Palettes Camera

FRC WPI Palettes Communications

FRC WPI Palettes Utilities

FIRST Vision Palettes

Programming Palettes

Where to Find Further Information NI FIRST forum: first NI FIRST forum: first first first Video Tutorials Video Tutorials – – – –

Presentation slides at: Presentation slides at: Team358.org Team358.org Questions/Help please Questions/Help please