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2013 KOP Workshop. January 12, 2013 Hauppauge High School SPBLI – LI FIRST. Mark McLeod team358.org Northrop Grumman Corp. [email protected] Before We Start. Objective – Talk About What’s New & Changed Anyone with these issues please speak up before we get started:

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2013 kop workshop

2013 KOP Workshop

January 12, 2013

Hauppauge High School

SPBLI – LI FIRST

Mark McLeod

team358.org

Northrop Grumman Corp.

[email protected]


Before we start

Before We Start

Objective – Talk About What’s New & Changed

Anyone with these issues please speak up before we get started:

  • Software Installation Issues

  • Anything else that we can start the computers on now and let them do their thing during the KOP discussion


Agenda

Agenda

KOP

1st Week Issues

New in 2013

Changes from 2013

Software Installation

Work on Individual Team Issues

Presentation (and the links it contains) is located at:

http://www.team358.org/files/workshops/


2013 kop workshop

KOP

  • Rookie vs. Vet Kits

  • KOP consists of:

    • Physical KOP bins/boxes

    • Vouchers from:

      • Automotive Recyclers (voucher in KOP)

      • Banebots (code in TIMS)

      • Digikey (voucher in KOP)

      • Inventables (voucher in KOP)

      • Bimba (http://www.bimba.com/en/FIRST-Form/)

      • IFI (code in TIMS)

      • MaxBotix, AutomationDirect,RoboRealm (Flyers in Black Tote)

    • FIRST Choice - http://www.andymark.com/login.asp


New in 2013

New in 2013

  • Catalyst Video Game- PC/web based - play the 2013 game

    • http://www.dbsgames.net/

  • Robot Bridge Configuration Utility (KOP site)

    • Only for use at home, but similar to what you’ll see at competition

    • Can also setup by hand

  • Motor Controllers

    • Vex Robotics - Victor 888 ($50), Jaguar ($60) modified over-voltage

    • Andy Mark - Talon ($60) response


New in 20131

New in 2013

  • New Robot Bridge

    • New REQUIRED model version B1

    • Boots in 14 sec.

    • Use FRC Bridge Configuration Tool at home

    • Use Radio Kiosk at competition


New in 20132

New in 2013

  • C++/Java

    • Robot Builder – generates framework for command-based robot project

    • Network Tables Viewer

  • C++/Java/LabVIEW

    • New speed controller references added

    • HiTechnic Color Sensor reference added

    • Test Mode through SmartDashboard or LabVIEW Dashboard

      • Useful for diagnosing SW/HW issues-can see & manipulate all defined devices

      • Can be used to test sensors or subsystems on the robot

      • It just avoids running Auto or Teleop code

    • Network Tables completely rewritten


New in 20133

New in 2013

  • LabVIEW

    • Default Robot Project choices for Arcade/Mecanum/Arm/Simulation

    • cRIO Simulator (2013 field background to be released by NI)

      • Tutorial from Getting started -> Tutorials -> Tutorial 10 – Robot Simulation

      • https://decibel.ni.com/content/docs/DOC-26300

      • Make sure to set project back to cRIO afterwards


1 st week issues

1st Week Issues

  • FIRST Known Issues List

    • http://wpilib.screenstepslive.com/s/3120/m/8559/l/92653-2013-software-notes

  • Windows 8 Not Guaranteed, but Usually Works

    • Can have installation issues, e.g., Install Wind River 3.0 (DVD 1), then 3.3 (DVD 2)

      • During the installation of DVD2, the installation might hang at some of the .bat the files, e.g., bspinstall.bat

      • Open PC task manager, and end the associated tasks, e.g., tcpcl.exe

  • LabVIEW License Key Came on a Separate Card:

    • S14X86763

  • Robot Bridge Setup Utility

    • Original complained about v2.02 firmware – download new version dated 1/8/13

    • Leaves IP at 192.168.0.51

  • Possibly Too Many Pages of Documentation

    • Getting Started is 161 pages long

    • Some Help documentation is incomplete

    • Older training videos & documents won’t quite match the latest release


1 st week issues1

1st Week Issues

  • cRIO Imaging Tool

    • Doesn’t fit on Classmate screen – right-click, choose Move, use arrow keys to shift it around.

  • Classmate Image Download Site Was Down For Awhile

  • Software Installation Issues

    • Lots of pieces this year

    • Wind River installer issue - Update v2993

      http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_update_for_c

    • Java Plugins - delete sunspotsdk folder & reinstall, upgrade to latest JavaBeans

  • KitBot

    • Short belt goes on the pulley with spacers on either side. Video is correct, instructions swapped front/rear.


1 st week issues2

1st Week Issues

  • “Waiting for cRIO…”

    • Trying to deploy new code to the robot while the Dashboard or SmartDashboard is running seems to tie up the cRIO.

    • Solution:

      • Close the dashboard

      • Reboot the cRIO

      • Deploy your code


Changes from 2012

Changes from 2012

  • Bandwidth Limited (7mb/s per team)

  • Belt/Pulley KOP Drivetrain

  • Motors

    • Fisher Price

    • Mini & BAG CIMs

    • Snow Blower motor


Driver station

Driver Station

  • Competition power still for Classmates ONLY (19v, 2a barrel connector)

  • Dashboard Selection (Default, LabVIEW, Java, C++)

  • Issues

    • Dashboard change workaround (local to remote to local)

    • Charts CPU usage is incorrectly plotted, Good in Log Viewer

    • DS Log Viewer isn’t Ready Yet – NI will post update


Driver station1

Driver Station

Joysticks

Test

Operation

Dashboard

Setup

PC CPU %

Charts


Driver station2

Driver Station

Diagnostics

  • New messages for

    • Connectivity pings

    • Joysticks

    • Cypress I/O

    • Kinect


Default dashboard

Default Dashboard

  • Camera Bandwidth feedback & adjustment

    • Bandwidth Limited (7mb/s per team)

    • Estimate Impact of fps, compression, and resolution

  • Variables (Network Tables)

  • Checklist

  • Test


Significant rules changes

Significant Rules Changes

  • Robot Size/Perimeter

  • Legal Motors (AndyMark, BaneBots, CIM, Denso, Vex)

    • Not

      • No Fisher-Price

      • No van door

    • 6 CIMs

    • 4 BAG or mini-CIMs

    • Snow blower motor


Frc references

FRC References

  • Motor Performance Data:

    • http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2013/2013MotorInformation.pdf

  • Pneumatic User’s Guide:

    • http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2013/2013FRCPneumaticsInfo_RevA.pdf

  • Robot Quick Build Instructions:

    • http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2013/2013RQBSMaterial.pdf

  • KitBot Assembly Videos:

    • KitBot Narrow Build:

      • http://www.youtube.com/watch?v=JEkJiWdh5Ks&feature=share&list=PL4E748D43693609C8

    • KitBot Wide Build:

      • http://www.youtube.com/watch?v=YhYEcevF43E&feature=share&list=PL4E748D43693609C8


Frc documents

FRC Documents

2013 FRC Control System Documentation

  • http://wpilib.screenstepslive.com/s/3120

    2013 Control System

  • Getting Started With the 2013 Control System

  • Vision Processing

    WPILib programming documentation

  • Getting started with C++

  • Getting started with Java

  • WPILib programming

  • Command based programming

  • Debugging and testing robot programs

    Software tools

  • SmartDashboard

  • NetConsole

  • RobotBuilder


  • Ni whitepapers

    NI Whitepapers

    2013 NI Training Material & Resources

    https://decibel.ni.com/content/docs/DOC-8923

    Part A: Introduction to LabVIEW

    Part B - Getting Started: These Tutorials Provide the Basics on the FRC Hardware and Software

    • [FRC 2012] WPI Robotics Library Overview

    • [FRC 2013] FRC Robot Framework Tutorial

    • [FRC 2013] Dashboard Tutorial

    • [FRC 2013] Driver Station Tutorial

    • [FRC 2013] Robot Simulation Tutorial

    • [FRC 2013] Test Mode Tutorial

      Part C - Using the Tools - Essential Concepts for Building and Programming Your Robot

    • [FRC 2012] Basic Motor Control Tutorial

    • [FRC 2013] Sensor Basics Tutorial

    • [FRC 2013] Safety Config Tutorial

    • [FRC 2013] Tmed Movement VIs for Autonomous Mode Tutorial

    • [FRC 2013] Vision Target White Paper

      Part D - Building a Better Robot - Complex Concepts to Bring Your Robot to Life

    • [FRC 2013] PID Tutorial

    • [FRC 2013] Image Processing Tutorial

    • [FRC 2013] Sensor Fusion Tutorial

    • [FRC 2013] Programming for Performance Tutorials


    Java c first forge

    Java C++ FIRST Forge

    WPILib

    http://firstforge.wpi.edu/sf/frs/do/viewSummary/projects.wpilib/frs

    • 2013 FRC Update for Java

    • 2013 FRC Update for C++

    • 2013 FRC Kinect Server


    Software installation

    Software Installation

    • Read the Directions

      • Backup Old Projects

      • Uninstall Old Applications

      • Basic Install – all teams in the following order:

        • LabVIEW Tools minimum, or all of LabVIEW (from the KOP DVD)

        • LabVIEW Utilities Update (KOP/NI site)

        • Driver Station Update (KOP/NI site)

      • LabVIEW

        • LabVIEW Update (KOP/NI site)

      • Windriver DVD - 2nd DVD for 64-bit PCs (from the KOP DVD)

        • Same as last season, so shortcuts exist

        • C++ Update (FIRST Forge)

        • May need to remove C:\Program Files (x86)\Common Files\InstallShield\Universal\WindRiver

      • Java (FIRST Forge or otherwise online)

        • NetBeanshttp://www.netbeans.org

        • Java Update http://firstforge.wpi.edu/sf/projects/wpilib & go to documents


    Software installation1

    Software Installation

    • Jaguar Firmware Version 107

      • Installed by the LabVIEW Utilities Update

        • http://joule.ni.com/nidu/cds/view/p/id/2262

        • http://content.vexrobotics.com/downloads/217-3367-VEXpro_Jaguar_Firmware_107.zip


    Watch for future software updates

    Watch For Future Software Updates

    2013 Technical Resources:

    • http://www.usfirst.org/roboticsprograms/frc/2013-Technical-Resources

    • http://www.usfirst.org/roboticsprograms/frc/2013-Control-System

    • http://www.usfirst.org/roboticsprograms/frc/2013-Driver-Station

    • http://www.usfirst.org/roboticsprograms/frc/2013-Programming

      Update Patches:

    • LabVIEW patch - not required, improves the Robot Simulator performance of simulated camera images back to the Dashboard:

      • http://joule.ni.com/nidu/cds/view/p/id/3655


    Optional kinect

    Optional Kinect

    • Kinect – for optional use in the Driver Station

      • FRC Kinect Documentation

        http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2013_frc_kinect_server

      • Kinect Server

        http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2013_frc_kinect_server

      • Microsoft SDK v1.6

        http://go.microsoft.com/fwlink/?LinkID=262831

      • Optional Visual C# for modifying the Server


    Miscellaneous notes

    Miscellaneous Notes

    • Sample Vision Target Images:

      • C:\Program Files\National Instruments\LabVIEW 2012\examples\FRC\Vision\Rectangular Target - 2013\images


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