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2009 Control Systems. Fly By Wire & Autonomous Presented By: Frank Larkin Lansdale Catholic Robotics, Team 272 Upper Darby Kickoff Jan. 2009. Development Cycle. Joy . A brief moment of optimism usually followed by a crushing downfall! Warning: DO NOT BE FOOLED!. Pain .

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2009 control systems

2009 Control Systems

Fly By Wire

&

Autonomous

Presented By:

Frank Larkin

Lansdale Catholic Robotics, Team 272

Upper Darby Kickoff Jan. 2009

development cycle
Development Cycle

Joy

A brief moment of optimism usually followed by a crushing downfall!

Warning: DO NOT BE FOOLED!

Pain

Time – Lots Of It!

goals
Goals
  • Get you to another room if you think this is a beginner’s seminar.
  • Get you to understand the Iterative Robot.
  • Get a good understanding of multi file programming
  • Get a good understanding of Wind River.
    • How to edit, debug and load new code via Flash or FTP to the robot.
  • Learn how to make disabled mode your friend
  • Learn how to get autonomous working
  • Presentation and files located at…

www.frc272.com/Training/Archive

c vs c
C vs C++
  • A few changes have to be taken into consideration
    • File extensions end in .cpp and .h
    • C++ can use classes
      • Bundle all of a things, things into a single thing.
        • Example: a joystick has, X, Y & Z variables and many buttons.Joystick->GetX();
      • You can get to those “things” if they are public or they can br private. You then use methods to set values, get values. start processes, stop processes etc.compressor->start();
    • 3 Requirements to use variables
      • Create
        • Servo *my_servo;
      • Initialize
        • my_servo = new Servo(5);
      • Use
        • my_servo->Set( my_leftStick->GetZ() );
      • Bad form for C++
        • Servo *my_servo= new Servo(5);
c vs c6
C vs C++
  • Pointers vs Local Declarations
    • Pointers – References to things in memory
      • Possibly looks cleaner
      • How most examples are being done.
    • Declarations – The things in memory
      • No need for pointers but a little more complicated
    • Why do I care?
      • You will see code described both ways. Do not be afraid embrace them.
  • Declaration Section:

class IterativeDemo : public IterativeRobot

{

// Declare variable for the robot drive system

Servo *p_servo;

}Note: * means this is a pointer!

  • Initialization Section:

IterativeDemo(void)

{

printf("IterativeDemo Constructor Started\n");

p_servo = new Servo(5);

}

  • Usage:

p_servo->Set(.50);

p_servo->Set(p_leftStick->GetZ());

discoveries
Discoveries
  • Floating point power ranges
    • Stated as range is -1.0 to 1.0 with 0.0 being stop.
      • Declare: Victor p_LeftWinch; // pointer
      • Initialize: p_LeftWinch = new Victor(2);
      • Use: p_LeftWinch->Set(0.0); // stop
    • Forward and Back are relative
      • 2 motors side set to (1.0) are running at full power. But what direction?
        • All relative to the motors position.
        • Turn one around who is forward and who is back.
    • Joysticks Y axis
      • Backwards to what you might think?
      • Push forward get a value of -1.0.
      • Pull back get 1.0
      • Invert (reverse) for use f_WinchPower = -(p_joystick->GetX());
    • Opposite motors driving in same direction. One is reversed
      • f_WinchPower = .50;
      • p_RightWinch->Set(f_WinchPower);
      • p_LeftWinch->Set(-f_WinchPower);
discoveries8
Discoveries
  • Using Wind River
    • Put all you variables into a structure. Then the intellisense works.

typedef struct {

Victor *p_FrontLeftMotor;

Victor *p_FrontRightMotor;

Victor *p_RearLeftMotor;

Victor *p_RearRightMotor;

Joystick *p_RightDriverStick;

Joystick *p_LeftDriverStick;

int i_FrontSonar;

float f_FrontLeftMotor;

float f_FrontRightMotor;

float f_RearLeftMotor;

float f_RearRightMotor;

}struct_robotVars;

struct_robotVars my;

multi file programs
Multi File programs
  • Allow for collaborative effort
    • Multiple developers taking different roles
    • Separate files
      • Start with place holder functions

AutonomousPeriodic() {

printf(“Auton Periodic: see Jim\n”);

}

      • Developed and tested separately
      • added to final project
      • Use .h files to expose variables to others
    • START_ROBOT_CLASS
      • Main entry point of program in cRIO.
      • In Multi file approach move from .h file to main .cpp file.
      • Prevent multiple instances of this function
what is fly by wire
What is fly by wire?
  • No operator direct control of output
    • Inputs are processed before going to outputs
  • Something puts in input to variables
    • CBU (carbon based unit) via Joy Stick

my.f_LeftDrive = my.p_LeftStick->GetY();

my.f_RightDrive = my.p_RightStick->GetY();

    • SBU (silicon based unit) via autonomous program

my.f_LeftDrive = 0.50;

my.f_RightDrive = 0.50;

  • Variables are processed
    • Changes made depending upon other input

my.f_LeftDrive = gyroCorrect(my.f_LeftDrive);

my.f_RightDrive = gyroCorrect(my.f_RightDrive);

if( sonar < 80)

my.f_LeftDrive = my.f_RightDrive = 0.0;

  • Variables drive the output
    • Variable set final output motors or switches

my.p_LeftMotor = my.f_LeftDrive;

my.p_RightMotor = my.f_RightDrive;

iterativedemo2 functions
IterativeDemo2 Functions
  • GetDSInputs
    • Get Driver station inputs and set to variables
      • Condition inputs for everyone else to use
        • Reverse sticks
        • Convert analog to digital
  • GetRobotSensorInputs
    • Get inputs from Robot
      • Sonar, contact switches
  • RobotThink
    • Process the inputs
  • ProcessOutputs
    • Update the variable to outputs
basic idea giant loop
Basic Idea – Giant Loop
  • Teleop code is looped through when in teleop mode.

TeleopPeriodic()

{

GetDSInputs();

GetRobotSensorInputs();

RobotThink();

ProcessOutputs();

}

  • Autonomous code is looped through when in Autonomous mode.

AutonomousPeriodic()

{

GetRobotSensorInputs();

AutoProgramx(); // set vars

RobotThink();

ProcessOutputs();

}

disableperiodic
DisablePeriodic
  • Use Disable Mode to test and setup for run
    • Check sensors (sonar)
      • Use DS LED to see if sonar is working.
    • Select Auto Program to Run
      • Use joystick buttons to set mode
      • Use trigger to increment program counter.
      • Use DS LEDs to see what program is selected
      • #defines set limits
  • Other possible tests
    • Is joystick zeroed?
    • Is gyro working?
    • Set an autonomous delay
autonomous basics
Autonomous Basics
  • AutoStatus structure
    • Keeps all Auto vars together
  • autoStatus.Program
    • What program should run?
  • Use switch statements to select program.

select(autoStatus.Program)

{

case 1:

autoProgram1();

break;

case 2:

autoProgram2();

break;

case 3:

autoProgram3();

break;

}

Note: autoPrograms can be in separate files.

autonomous state machine
Autonomous State Machine
  • autoStatus.step
    • What am I doing now
  • Parts of a step
    • Initialize
      • Set up the step to be performed
      • Set flag indicating setup done.
    • Perform Step
      • Change variables to make something happen
    • Test to see if step is complete
      • Did I go far enough?
      • Is a wall is in front of me?
      • Is the timer up?
    • Cleanup
      • Unset setup done flag
      • Bump step
final thought
Final Thought

Unlike baseball crying is allowed in software development… but …

…when your done, get back and make it work!