1. Field Management System
FMS
January 22, 2018
Mark McLeod
FIRST Technical Advisor
Senior Control System Advisor
SBPLI/LI FIRST Development Council
Hudson Valley Regional Committee
Hauppauge FRC Team 358 Advisor

2. FMS Overview Administration Match Execution
Teams Competing, Match Schedule Generation, Alliance Selection
Awards, Reports, database, Web
Match Execution
Match Ready All Teams & Field
Automatic Scoring, Referee Scores/Fouls
Team VPN, Match time/modes
Rankings, Post Results to Web

3. Field Network
VLAN setup for each team consists only of the Robot, the Driver Station, and the FMS server
FMS talks only to the Driver Station to request the mode: Disable, Enable,Teleop, Auto
- DS sends status data to FMS
Operation is the same as at home. DS commands the robot modes.
Field Estops for each team
<-->Robot Bridge<-->roboRIO

4. Allen-Bradley Control & Scoring

5. Hardware

6. Robot Side

7. Field Connectivity

8. Troubleshooting Diagnostics
Robot Status Lights (RSL, roboRIO, Radio)
Driver Station & DS Logs
Error files on roboRIO, Console, RIOlog
Team Stack Lights, Arena Stack Light
Field Status: SCC/Refs/Game Specific/PLC Heartbeats
FMS Field Display

9. Driver Station Diagnostics

10. Driver Station Logs
50 Hz

11. Robot Radio Home Setup Competition Setup
Robot Radio: AP or Bridge mode
DHCP server
Options: Firewall, Bandwidth limit
Competition Setup
Robot Radio: Bridge mode
WPA2 -passcode only known to FMS
DHCP, 7Mb/s bandwidth limit (or less at some venues), Field firewall

12. Radio Config Utility/Kiosk
Home Utility
Event Kiosk

13. Odds & Ends Usage Reporting
Team(Rookie Year)
Language/Framework
Analog/Digital I/O, Relay, Compressor/Solenoids, Encoders, Gyro, I2C/SPI/RS232
# Joysticks, PID, Tank/Arcade/Custom Drive, Motor Controllers(Victor/Talon/etc)
Whenever our robots are connected to FMS they report code usage data

14. 2017 Usage Statistics
3114 – 2017 teams usage statistics were collected from
25,151 - The total number of motor controllers used on 2017 robots
6,296 - The total number of USB input devices used to control those motors
2,045 - Total Encoders used to get feedback from those motors
1,412 - teams that used pneumatics (with the PCM) on their 2017 robot
762 - Digital Outputs used to control non-actuators (lights, sensors, etc.)
teams programming in Java
teams programming in LabVIEW
435 - teams programming in C++
33 - teams programming in Python
1 - teams programming in C#
15 - Analog Outputs used to control non-actuators (sounds, lights, etc.)
Data-Anonymized.xlsx

15. FMS Match Log Data Snapshot at 2Hz Driver Station logs data (50 Hz)
plus
Bandwidth consumption over the wireless link
Strength of the signal transmitted by the robot radio
Signal-to-Noise Ratio of the wireless link

16. Common Field Problems Cannot connect to robot (only pre-match)
Venue Bandwidth too saturated (mid-match)
Field Power Loss
Robots
Pre-match: Not turned on, no roboRIO Ethernet cable, radio not programmed for field, Driver Station PC not setup, Wiring
Match: power interruption, code crashes, disconnected game controllers

17. Backup Information
Open Ports
Common Robot Problems

18. Ports UDP/TCP 1180 - 1190: Camera Data TCP 1735: SmartDashboard
UDP 1130: DS-to-Robot control data
UDP 1140: Robot-to-DS status data
HTTP 80: Camera/web interface
HTTP 443: Camera/web interface (secure)
UDP/TCP 554: Real-Time Streaming Protocol for h.264 camera streaming
UDP/TCP : Team Use
Teams are permitted to utilize ports for their own purposes, or any other open ports (other than 1130 and 1140) if not already allocated.

19. Common Robot Problems Robots Lose Connection in Matches All the Time
Power Brownout or Interruption, wiring loosens
Camera Bandwidth limit cuts off video
User code crashes
Disconnected/Reconnected Game Controllers
Driver Station PC Setup
Firewall, excess NICs, Anti-virus, Ethernet port/adapter, PC battery charged/plugged in