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2012 KOP Workshop . January 14, 2012 Hauppauge High School SPBLI – LI FIRST. Mark McLeod team358.org Northrop Grumman Corp. Mark.McLeod@ngc.com. Before We Start. Anyone with these issues please speak up before we get started: Classmate Restore Stick Issues Software Installation Issues

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2012 kop workshop

2012 KOP Workshop

January 14, 2012

Hauppauge High School

SPBLI – LI FIRST

Mark McLeod

team358.org

Northrop Grumman Corp.

Mark.McLeod@ngc.com

before we start
Before We Start

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

  • Classmate Restore Stick Issues
  • Software Installation Issues
  • Anything else that we can set the computers to now and let them do their thing during the KOP discussion
agenda
Agenda

KOP

1st Week Issues

New in 2012

New Components

Changes from 2012

Software Installation

Documents

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

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

slide4
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/)
    • FIRST Choice - http://www.andymark.com/login.asp
1 st week issues
1st Week Issues
  • Bad Ribbon Cable
    • Test by plugging into itself
      • Simple loop = good
      • Mobius loop = bad

http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2012_Assets/DB37%20Ribbon%20Cable%20Assembly%20-%20Rework%20Instructions.pdf

  • Camera Setup Utility
    • Doesn’t work properly with old Axis 206 model
    • Create FRC/FRC admin acct., set IP 10.xx.yy.11
  • Trouble Imaging cRIO
  • Jaguar Firmware 101 (CAN-only)

http://www.ti.com/jaguar

1 st week issues6
1st Week Issues
  • Some Incorrect Restore Sticks Distributed
  • Bad 2010 Classmate E09 Image Sticks

http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2012_Assets/Creating_a_USB_drive_for_2012_Classmate_Image_Restoration_Rev0.pdf

Team # 3450

& higher

2011/12 Classmate

Teams 1 to 3449

& lower

2010 Classmate

1 st week issues7
1st Week Issues
  • 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
new in 2012
New in 2012
  • cRIO FRC II
  • Motors – lots more
  • Electric Solenoid – push or pull devices, no greater than 1 in. stroke and no greater than 10 watts continuous duty at 12v
  • Catalyst Simulator - PC/web based - play the 2012 game
    • http://dbsgames.net/games_temp.php?p=1
new components
New Components
  • cRIO
    • Old modules in Old cRIOs must be relocated!
    • FRC II
      • 4.4” shorter
      • .63 lbs lighter
      • 2x memory & storage
  • Kinect
  • MaxBotix Sonar
  • Software
crio module positions
cRIO Module Positions
  • Old 8-slot cRIO

1-analog 2-digital3-solenoid4-unused5-analog6-digital7-solenoid8-unused

  • New 4-slot cRIO

1-analog 2-digital3-solenoid4-any

crio frc ii
cRIO FRC II

CAN

optional

Pit tethering

Optional

FRC I

FRC II

CAN optional

Both

crio frc ii12
CRIO FRC II
  • The cRIO FRC II adds a protective conformal coating to the electronics helping to guard against metal dust and fragments that work their way into the case from shorting out the circuits.
  • The original cRIO FRC had user installable gaskets that many teams never used or even knew what they were for.
kinect
Kinect
  • Windows 7 Only
  • Installation
    • E09/E11 Classmate OS image stick (optional)
    • Microsoft SDK (32 or 64-bit)
    • .NET Framework 4.0
    • FRC Kinect Server
    • Plug in the Kinect
    • Start the Driver Station
  • For Testing At Home Only

The field will supply it’s own dedicated one

kinect operation
Kinect Operation

Kinect SDK

Dashboard

FRC

Kinect Server

Playing Field

Kiosk

Driver Station

10.0.100.15

10.0.100.16

kinect programming
Kinect Programming

KinectStickleftArm;

KinectStickrightArm;

leftArm = new KinectStick(1);

rightArm = new KinectStick(2);

leftArm.getY()

leftArm.getRawButton(#)

Java

KinectStickleftArm(1);

KinectStickrightArm(2);

leftArm.getY()

leftArm.getRawButton(#)

Labview

C++

kinect16
Kinect
  • Good Skeletal Recognition
  • Laggy Response - Be Real Careful w/Robot
  • Default Motions Map to 2-Joystick Buttons and Axes
    • Kinect Enable = both arms in plane & range
    • Button 1/2 = head to the right/left
    • Button 3/4 = right/left leg out to side
    • Button 5/6 = right leg forward/back
    • Button 7/8 = left leg forward/back
    • Axis y = arm up/down (left arm = Kinect 1, right arm = Kinect 2) wrist-to-shoulder angle
lv maxsonar ez1
LV-MaxSonar-EZ1
  • Wiring
    • Standard PWM cable
    • Connects to Analog Breakout (alternates not easily FRC supported)
    • Needs a protected mounting
  • Very Accurate Distance
  • Report the closest object it sees if it’s in the way
  • 1/4 inch object up to 4 ft
  • 1 inch object up to
  • 11 inch object up to 20 ft
changes from 2011
Changes from 2011
  • Driver Station
  • Dashboard
    • Default Has Kinect Skeleton
  • Motors
  • Programming
    • cRIO Imaging Tool - cRIO diagram, hover mouse over any slot in red or empty and it will tell you the problem or what can go in there
    • Battery voltage readily available
    • Kinect data input
    • LV Compressor & Camera changes
  • Camera Default(10.xx.yy.11)
    • Use Camera setup tool
    • Camera default connection is to the robot bridge
    • Serve images to both the Driver Station and the cRIO at the same time
    • Displays on the default Dashboard and is available to the cRIO
driver station
Driver Station
  • No Separate Estop Button
  • “Driver” User Account Not Required
  • Any Win7/XP Laptop (Windows 7 Required for Kinect)
  • Competition power still for Classmates ONLY (19v, 2a barrel connector)
  • Data Logs
    • battery, packet loss, cpu usage etc. every 20ms.
    • Files stored: C://Users/public/Documents/FRC/Log Files
    • Viewer: C://Program Files (x86)/FRC Driver Station/Driver Station Log File Viewer
  • Spacebar = E-Stop, Enter=Disable, F1=Enable
  • Minimum Software Installation
driver station20
Driver Station

Kinect Status

0, 1, or 2 people

Kinect

Versions

Battery

CPU %

Lost packets

Packet delay

DS Tutorial: https://decibel.ni.com/content/docs/DOC-14705

motors
Motors

Up to 22 Motors Allowed <R48>

  • up to 4 CIM motors (part #FR801-001, M4-R0062-12, AM802-001A, 217-200 or PMR25R-45F-1003)
  • up to 4, in any combination, of the BaneBots motors provided in the KOP (acceptable part numbers areM7-RS775-12, M7-RS775-18, M5-RS550-12, M5-RS550-12-B, and M3-RS395-12)
  • up to 2 window motors (acceptable part #s are 262100-3030 and 262100-3040)
  • up to 2 FisherPrice motors (acceptable part #s are 00968-9013, 00801-0673, and 00968-9015)
  • up to 2 AndyMark motors (acceptable part # is am-0912)
  • up to 2 AndyMark gearmotors (acceptable part # is am-0914)
  • up to 2 Denso throttle control motors (acceptable part # AE2351000)
  • up to 2 VEX motors (acceptable part # 276-2177)
  • up to 2 window lift, seat, windshield wiper or door motors obtained through either the FIRST-Automotive Recyclers Association partnership or from a prior years’ KOP.
programming changes
Programming Changes
  • All Use Module # Instead of Slot #
  • Modules Must Be in Different Slots Than Last Year
  • LabVIEW 2011
    • Compressor & Camera
    • Vision Palette Additions
    • Gyro Calibration Configuration
  • C++/Java
    • Command Class
    • Network Tables
    • Smart Dashboard
    • Vision code (NI c code or OpenCV)
interesting whitepapers
Interesting Whitepapers

http://decibel.ni.com/content/community/first/frc?view=documents

E.g.,

  • Vision Target Tutorial
  • Driver Station
  • Robot Framework Tutorial
  • Basic Kinect Tutorial
software installation
Software Installation
  • Read the Directions
    • Backup old projects
    • Remove Old Applications
    • Basic Install - in the following order:
      • LabVIEW or LabVIEW Tools (from the KOP stick)
      • LabVIEW FRC Update (only if using LabVIEW) (online)
      • Utilities Update (online)
      • Driver Station Update (online)
    • Kinect
      • Microsoft SDK (online)
      • .Net Framework 4.0 (online)
      • FRC Kinect Server (online)
    • Windriver DVD - 2nd DVD for 64-bit PCs (from the KOP DVD)
      • C++ Update (online)
    • Java (online)
      • NetBeans http://www.netbeans.org
      • Java Update http://firstforge.wpi.edu/sf/projects/wpilib & go to documents
watch for future software updates
Watch For Future Software Updates

2012 Robot Control System Information

http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system

Current Updates:

  • LabVIEW FRC Update

http://joule.ni.com/nidu/cds/view/p/id/2261

  • Utilities Update

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

  • Driver Station Update

http://joule.ni.com/nidu/cds/view/p/id/2263

  • C++ Update

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

  • Java Update

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

other software updates
Other Software Updates
  • FIRST
    • Kinect Server

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

    • Kinect Kiosk

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

  • Commercial Software
    • Microsoft SDK

http://kinectforwindows.org/

    • .NET Framework 4.0 (already installed on E09/E11 sticks)

http://www.microsoft.com/download/en/details.aspx?id=17851

flood of documents
Flood of Documents
  • FIRST KOP site

http://www.usfirst.org/roboticsprograms/frc/2012-frc-kit-of-parts

  • Getting Started with the 2012 FRC Control System

http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2012_Assets/Getting%20Started%20with%20the%202012%20FRC%20Control%20System_2.pdf

links
Links
  • ChiefDelphi Community:
    • http://www.chiefdelphi.com
  • Game Manual:
    • http://www.usfirst.org/roboticsprograms/frc/competition-manual-and-related-documents
  • FRC Software Updates:
    • http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system
  • Technical Manuals on FRC KOP Website
    • http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system
  • Black Jaguar RMA Procedure:
    • http://forums.usfirst.org/showthread.php?p=44255#post44255