Transcript Logic System and Programming BasicsR4 (4) (2

Apple Pi Robotics
Logic System
and
Programming Basics
Agenda
Review Control System Hardware
On Robot
Driver Station
Where to begin application code
LabView Interface
LabView Programming Fundamentals
Application Challenge
Control System
Hardware

Controller

I/O and interface
boards

Communications

Operator Interface
Software

Operating System

Program Code
Let's Look at the Hardware
Rack/Processor/Communication
Analog Module
Digital I/O
Solenoid Module
Extra Slot
The cRIO I had 8 slots, the newer cRIO II has 4. Both are
compatible, and both are legal in competitions, if you have an 8 slot
you may only use the 1st 4 slots.
Additional Hardware
Analog Breakout
12v Power from
Power
Distribution
Board
Up to 8 Analog
sensors
Jumper
Analog Breakout
Board
Additional Hardware
Digital Sidecar
All speed controllers (up
to 10),
sensors (up to 16) and
relays (up to 8) connect
to sidecar
Connect to 12V
output on Power
Distribution
Board
Robot Signal
Light
Additional Hardware
Solenoid Breakout
Only used for
pneumatics;
spike relay,
pressure switch
Solenoid Breakout
Board
12v Power from
Power
Distribution
Board
Driver Station
• Laptop
• Driver Station
Software
• Joystick
• Custom Controls
• Dashboard
Laptop
• Classmate comes in the kit
• You can use any laptop
that you like
• (Advanced) Software can
run on the laptop and
send data back to the
robot, like vision
processing
Driver Station Software
• Software that is run on the DS laptop
• Allows driver control of the robot
• Diagnostics of the communication to the robot
• Battery Voltage Read out
• Enter Key = Disable
• Spacebar Key = Emergency Stop (Use Enter normally)
If you press Spacebar you will have to restart the robot before you can disable it
Driver Station Software
• 5 Tabs Provide Access to the different screens
• Operation
• Diagnostics
• Setup
• I/O
• Charts
If you press Spacebar you will have to restart the robot before you can disable it
Driver Station Operation Tab
Battery Voltage
Display
Team Number
(Make sure it is
correct)
Mode Selection
• Teleoperated = Driver
• Autonomous = Computer
Control
• Practice = Run like a
match
Elapsed time since
start of robot
communication
PC Battery
Communication
Status
• Communication = a
connection to the cRIO
• Robot Code = the user
code is running
Communication
Status
Enable/Disable
Buttons
User Messages
Station Number (This area can be
for Competition controlled by the
Use
robot program)
Driver Station Diagnostics Tab
Communication LEDS:
Green means they are active
Hover over errors for messages
that may help resolve issues
View Driver Station Log
can be useful for debugging errors
Joystick and IO LEDS:
Firmware Versions:
Reboot cRIO
Green means they are active
These must be stay up to date
for you to work at competition
Useful if you have an error that
a robot reset can fix
Driver Station Setup Tab
Team Number
Configuration:
Make sure this is
set correctly
(Advanced) Allows
you to configure
Remote Dashboard
Choose NIC:
Allows you select
which network
adapter is connected
to the robot
Allows you to
configure how the
practice rounds are
setup
Joystick Setup:
Exit:
Drag Joystick up and
down to switch which
connected joystick is 1,
2, 3 or 4 in the program
Logs off the Driver Station
Account on the classmate
Driver Station I/O Tab
This tab is used for configuring custom interfaces with the cypress I/O
module. If you aren’t using the cypress module you will not need this tab
There are several other ways to build custom I/O interfaces that don’t involve
the cypress board or this I/O panel. You can find examples of these on
Chiefdelphi.com
Driver Station Charts Tab
This tab helps you diagnose problems with your robot
• Lost Pkts = Lost Packets this is an indication of connection issues, if you have a large amount of
lost packets there is something wrong with your connection between the robot and the DS
• Volts = A graph of battery voltage this can be very useful to find correlations between battery
volatage and problems that occur with the robot
• Msecs = This is reporting your trip time, which is how long it takes for information to go from the
driver station to the robot, this should also be small
• CPU% = this is the percentage of CPU your cRIO is using, minimizing this will allow for better
performance
Dashboard
The Dashboard can be used to get feedback from robot systems.
This is the default Labview Dashboard
D-Link DAP 1522 Router/Bridge
• Connects Robot to Driver Station Laptop
• Allows wireless control of the robot
• Also called the Radio
• Should be mounted away from motors and
speed controllers to avoid interference
D-Link DAP 1522 Router/Bridge
Power Light
(blue)
Bridge Light
(orange)
Access Point Light
(blue)
Traffic Indicator Lights
(blue)
D-Link DAP 1522 Router/Bridge rev.B
D-Link DAP 1522 Router/Bridge
Ethernet Ports
AP/Bridge Switch
AP = Practice/Home
Bridge = At Competition
Reset Button
5v Power
Connector
Plugs in to
grey power
inverter
Other Electrical System
Devices
Sensors
Limit Switches
Photo Detectors
Infrared Sensors
Encoders
Potentiometers
Gyro
Solenoids
Lights
Pressure
Switches
Gyro
Speed Controllers
Jaguars
Victors
Talons
Relays
Let's Talk Application Code
Where do we Start?
List Connected Hardware with purpose defined

All Operator Interface
 Pushbutton/Switches
 Meters
 Lights

All Robot Mounted Devices
 Limit switches
 Motor controllers
 Spike Relays
 Lights
 Photo sensors
Application Code
Where do we Start?
Develop Sequence of Operations

Documentation of how robot works; all
subsystems defined including the purpose
 Ball collector/conveyor
 Shooter
 Drive train
 Knockdown

All ties back to the hardware list
Example:
Knockdown Sequence of Operation
The purpose of the Knockdown arm is to allow for the lowering of
the bridges that are used to cross from the offensive side of the
field to the defensive side. It is also used for lowering of the bridge
during the “end game” to allow the robot(s) to get on the bridge to
attempt balancing.
Control devices include the “Arm Up” and “Arm Down” buttons on
the Operator's joystick. The “Full Up” and “Full Down” limit
switches control the stop points for actuation and prevent over
travel. Both limit switches make use of the normally open contact.
The “Knockdown Gearmotor” provides for the actuation of the arm.
The motor operates clockwise for movement in the down direction
(positive polarity) and counterclockwise for movement in the up
direction (negative polarity).
Example:
Knockdown Sequence of Operation
Operation: When the “Arm Down” button is depressed, the motor
is commanded to rotate clockwise with a preset speed reference.
The arm continues to advance in the down direction until either the
button is released or the full down limit switch is engaged. If the
button is released the arm stops at that point. If the full down limit
switch is activated the arm stops in the down direction and can not
be lowered further. Only the “Arm Up” button may be used at this
location.
When the “Arm Up” button is depressed, the motor is commanded
to rotate counter clockwise with a preset speed reference. The
arm continues to advance in the up direction until either the button
is released or the full up limit switch is engaged. If the button is
released the arm stops at that point. If the full up limit switch is
activated the arm stops in the up direction and can not be raised
further. Only the “Arm Down” button may be used at this location.
LabView Interface Overview:
1st do you have correct version installed?
• For those who
don’t have correct
version:
• We can start
loading during
initial discussion
slides
• USB + 3 updates
req’d
Open a blank “vi”
LabVIEW Interface
Each Virtual Instrument (VI) has 2
Windows
Front Panel
Front Panel
• User Interface (UI)
– Controls = Inputs
– Indicators = Outputs
Block Diagram
Block Diagram
• Graphical Code
– Data travels on wires from
controls through functions to
indicators
– Blocks execute by Dataflow
Dataflow Programming
 Block diagram execution
 Dependent on the flow of data
through wires
 Block diagram does NOT execute
left to right
 It is good practice to lay out
the code in an easy to follow
left to right, top down
manner
 Function executes when data
is available to ALL input
terminals
 Functions supply data to all
output terminals when done Logic Thinking: What functions
are needed, and in what order?
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LabVIEW Interface
LabVIEW Interface
LabVIEW Interface – function sets
LabVIEW palette sets
Programming
FRC specific palettes
 FIRST Vision
 WPI Robotics Library
PID Toolkit palette
Context Help
WPI Robotics Library
Interfaces with cRIO, sensors & actuators
Contains multiple palettes
Robot Drive
Sensors
Actuators
IO
Driver Station
Camera
Communications
Utilities
LabVIEW Interface
Sample Block Diagram
LabVIEW Interface
LabVIEW Interface
 Help»Show Context Help, press the <Ctrl+H>
keys
 Hover cursor over object to update window
Additional Help
– Right-Click on the VI
icon and choose Help,
or
– Choose “Detailed
Help.” on the context
help window
LabVIEW Best Practices
 Create a New Folder in your work directory for your
LabVIEW work call it “Labview Data”
 You will save all your VIs & Projects to this folder.
 Saving your VI frequently is good, but know that once you
choose to save your VI, it resets the ‘undo call’ (Ctrl-Z) and
you will not be able to go back on any steps you made before
saving your VI.
 Think function-to-function programming and not line-by-line
 Avoid crossing wires while connecting different objects on
the block diagram. Crossed wires can be confusing to read
and follow at times. (but can be unavoidable )
 When in doubt, DEBUG! Use the light bulb icon on the status
toolbar on the block diagram to highlight the path of the flow
of data.
LabVIEW Best Practices
 Place output indicators at multiple steps during the data
flow path of your VI to keep track of the output as it
changes through the VI.
 PLAN PLAN and PLAN! Plan out the various stages of
your VI/Program prior to placing objects on the block
diagram. This will make it easier to end up with a clean
picture of code and will also allow you to pick out the
functions that best suit your needs.
 PRACTICE! The only way to get better at LabVIEW is
to practice.
 We will teach basics and principles in next few weeks
 In order to be proficient – independent work is required
LabView for FRC
A template is provided to set up the code
Open Labview FRC 2013
1.
2.
3.
4.
Select New FRC cRio Robot Project
Change Project name
Set IP Address to 10.20.67.02, select “Finish”
In “Project Explorer” window select “Robot Main”
•
Project explorer links multiple vi’s
(Virtual Instruments)
That's All Folks!