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US First Kickoff 2011 Software Programming

US First Kickoff 2011 Software Programming. (And Control System) Daniel Kohn University of Memphis. What will be presented……. For Everyone Classmate Updates / Install. Rookie Teams General intro programming options. Veteran Teams Changes from Last Year. Classmate PC. Rookie Teams

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US First Kickoff 2011 Software Programming

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  1. US First Kickoff 2011Software Programming (And Control System) Daniel Kohn University of Memphis

  2. What will be presented…… • For Everyone • Classmate Updates / Install Rookie Teams • General intro • programming options Veteran Teams • Changes from Last Year

  3. Classmate PC • Rookie Teams • There will be NO Software loaded on the Classmate when you get it. • Veteran Teams • Classmates (driver station NetBook) will be re-imaged. • BACKUP FIRST!

  4. Classmate PC • See handout “Updating the CTL Classmate PC” for how to load up the software from the USB Thumb Drive provided in the KOP • Note: Images for rookie and veteran teams are different!

  5. Rookie Teams

  6. Programming Options • LabVIEW • C/C++ • Java

  7. LabVIEW - Advantages • Made By National Instruments (NI) • Makers of the cRIO Control system • Graphical Programming Language • Lots of support on line in forums and from NI • NI is a huge supporter of FRC and FIRST • Lots of build in documentation (help on every VI)

  8. LabVIEW - Disadvantages • Many windows need to be opened to do anything (hard to do on the Classmate) • Hard to find things the first time you need them • Programmers (those who know standard programming languages) have a hard time with the graphical nature of LabVIEW

  9. Sample LabVIEW Code

  10. C/C++ Advantages • Common programming language • Mentors and students might be more comfortable with C/C++ if they programmed in C before • Many books on C/C++ (but NOT the specifics for FRC teams) • Mentors and students who know C/C++ will have a shorter learning curve

  11. C/C++ Disadvantages • Licensing issues!

  12. Sample C/C++ Code

  13. Java Advantages • Uses NetBeans (commonly used by programmers) • Mentors and students who know Java already will have a very short learning curve. • All public domain – no licensing issues in off season and no registration required.

  14. Java Disadvantages • Newest Language (only the 2nd year offered) • Least amount of help/info available

  15. Sample Java Code

  16. Where to Start • Basic code • Each language has basic robot code or templates available • Don’t be afraid to search the internet, some teams post code from previous years! • HINT: the basic code usually uses the standard wiring (don’t deviate from the standard wiring or code will not work)

  17. Keep Current • A common rookie mistake is not to keep the software up to date. • Check the 2011 software update website often: http://www.usfirst.org/roboticsprograms/frc/content.aspx?id=18758

  18. Other Comments • If you are NOT using LabVIEW, you still need many of the files that are installed with LabVIEW (so you will need to install LabVIEW anyway) • You will probably want to do your programming on a computer with a bigger screen (laptop)

  19. Veteran Teams

  20. Major Changes This Year • Hardware and Software support for Jaguar CAN interface • “Watchdog” replaced with “Motor Safety” VI’s or routines

  21. New with LabView in 2011

  22. Safety VI’s • Instead of the watchdog function that would shut down the entire robot, safety VI’s now monitor each motor separately.

  23. Drive VI’s • Drive motors now have their own VI’s, with pre-existing Arcade and Tank Drive VI’s.

  24. Motor Set Output • Motor Set Speed VI has been replaced with Motor Set Output VI, which is basically the same thing.

  25. CAN Libraries • LabView now has VI’s made specifically for teams who wish to use CAN.

  26. Other Changes • Improved Error Reporting- Because of the safety vi’s, errors in the diagnostics tab are more specific. • Faster build and deployment times. • Robot Framework- You can choose a framework that comes with some game-specific code.

  27. New Features for 2011 C++ Beta Testing

  28. New Motor Safety Class class MotorSafety { public: virtual void SetExpiration(float timeout) = 0; virtual float GetExpiration() = 0; virtual bool IsAlive() = 0; virtual void StopMotor() = 0; virtual void SetSafetyEnabled(bool enabled) = 0; virtual bool IsSafetyEnabled() = 0; };

  29. Motor Based Classes Any class with motion involved is now derived from MotorSafety and implements its virtual functions. class RobotDrive: public MotorSafety { <original declarations> void SetExpiration(float timeout); float GetExpiration(); bool IsAlive(); void StopMotor(); bool IsSafetyEnabled(); void SetSafetyEnabled(bool enabled); <etc> };

  30. Usage • Much like the existing watchdog. • Watchdog still available, but there is no need to use both. • Motor(s) will stop if the Motor Safety feature times out. • No dedicated “Feed” function • Timeout occurs if the motor speed is not set within the expiration time • Depending on situation, can use Set(), Drive(), TankDrive() etc.

  31. Example: Autonomous Mode Old Way void Autonomous() { // drive forward half speed myRobot.Drive(0.5, 0.0); // Wait for 2 seconds Wait(2.0); // Stop myRobot.Drive(0.0, 0.0); } New Way void Autonomous() { Timer driveTime; driveTime.Start(); do { myRobot.Drive(0.5, 0.0); // Wait 1 motor update time Wait(0.005); // 5 ms } while (driveTime.Get() < 2.0); myRobot.Drive(0.0, 0.0); }

  32. Example: Teleop Mode Old Way while ( IsOperatorControl() ) { myRobot.ArcadeDrive(stick); if ( stick.GetRawButton(5) ) roller.Set(0.5); else if ( stick.GetRawButton(6) ) roller.Set(1.0); else if ( stick.GetRawButton(4) ) roller.Set(0.0); // wait for a motor update time Wait(0.005); } New Way double rollerSpeed = 0.0; while ( IsOperatorControl() ) { myRobot.ArcadeDrive(stick); if ( stick.GetRawButton(5) ) rollerSpeed = 0.5; else if ( stick.GetRawButton(6) ) rollerSpeed = 1.0; else if ( stick.GetRawButton(4) ) rollerSpeed = 0.0; roller.Set( rollerSpeed ); Wait(0.005); // motor update time }

  33. New Imaging Tool • now looks for images in ADE specific locations • now allows you to image when multiple network interfaces are enabled and connected • will warn you if your PC subnet will not work with the cRIO address • will allow you to turn on NetConsole • has more verbose progress feedback • allows you to rescan for cRIO devices

  34. C/C++ WPILIB • Safety function • Take place of watchdog • Works on per-actuator basis • Implemented in all PWM classes 

  35. Java Updates • Updated along with C/C++ and LabVIEW • CAN • Watchdog Replaced • Etc….

  36. Thanks to….. • Chop Shop )Team 166) • http://www.chopshop166.com/cms/ • The Fighting PI (Team 1718) • http://www.fightingpi.org/first-robotics-competition/ • The Green Machine (Team 1816) • http://www.edinarobotics.com/

  37. Thanks to….. • Bill’s Blog • http://frcdirector.blogspot.com/ • FRC Website • http://www.usfirst.org/Default.aspx

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