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Mentors Workshop Programming Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S.

Mentors Workshop Programming Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S. F or I nspiration and R ecognition of S cience and T echnology. Objectives. FIRST Rules & Restrictions Basics/Components Design Notes Potential Problems Keeping Students Busy Typical Schedule.

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Mentors Workshop Programming Sub-System Mark McLeod Team 358 Festo/Hauppauge H.S.

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  1. Mentors WorkshopProgramming Sub-SystemMark McLeodTeam 358Festo/Hauppauge H.S. For Inspiration and Recognition of Science and Technology

  2. Objectives • FIRST Rules & Restrictions • Basics/Components • Design Notes • Potential Problems • Keeping Students Busy • Typical Schedule

  3. FIRST Rules & Restrictions • Must use IFI supplied libraries • Cannot attempt to bypass IFI code -- does not apply to any of the default source code provided, just the object libraries and link map protected areas

  4. Official Suppliers • Official Suppliers • www.innovationfirst.com/ • www.ifirobotics.com • Microchip C compiler license in FIRST Robovation kit • Default code provided for basic operation • 2005 • V2.2 – Basic driving functionality • V2.4 – CMU camera support added • Navigation – autonomous mode scripting

  5. Flow IFI_Loader MPLAB .hex file Robot Controller Operator Interface

  6. Basics/Components • Default code • C or Microchip PIC assembly • PIC limitations (~31K, 1.3K, nested calls, 256/120) • Mechanics of compiling & downloading • Editor-MPLAB • Installation options • Short path names • Creating a new project • Compiler-mcc18 • Loader-IFI_Loader (download to the robot) • Disabled, Autonomous and Driver modes • Sensors (analog, digital) • External circuits

  7. Notes • Typically will not have a robot to test programming on until the end of build, use Robovation • Sensors must be allowed time to power-up before inputs are to be believed • Custom circuits may use TTL, analog, digital I/O ports • Team will require a laptop for competition (can lug a desktop along). You will have to program. • RoboEmu2 – a FIRST C program emulator http://www.robbayer.com/re2.shtml • Act on momentary switches when depressed vs released

  8. Potential Problems • MPLAB & IFI_Loader errors • printf limitations • Lack of configuration management • Lack of robot test/debug time • Mishandled transitions between modes – Disabled, Autonomous, Driver • Over-dependence on sensors (fault tolerant) • Which side is the “front” of the robot? • Motors wired in reverse • Remember to debounce switches

  9. Keeping Students Busy • “Hello World” • Autonomous • Integrate switches • Tune driver joystick control • Debugging practice • Custom circuit design and test • Sensor testbeds • Robovation test robot • Design Operator Interface controls and switches

  10. Typical Electronics Schedule • September thru December • Develop basic skills • January thru March • Six week build period • Robot design -- what control over basic operations is required • Designing and testing solutions • Integrating solutions with other sub-systems • Test before robot goes into shipping crate • Code development can continue after shipping • Regional event (debug and test during rounds)

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