Transcript Become a Control System Detective

Become a
Control System
Detective
Troubleshooting at the
Boundary Between Electronics
and Programming
WRRF Workshop
August 2013
Laura Rhodes, mentor, FRC Team 100
FRC
Control
System
(on Robot)
Driver
Station
(Windows PC)
Hey RobotHere’s what you’re
supposed to do:
• Enable/disable Mode
• Operating Mode
• Joystick commands
Every 20 ms
OK Driver StationI’m ALIVE!!
Here’s my battery
voltage and other
data
Tethered
(Ethernet Cable)
Wireless
(WiFi)
FMS
AP
Field Management System
(Wired to FMS to WiFi)
cRIO
(Robot Brain)
Power Distribution Board
(PDB)
Digital Sidecar
Speed Controllers
(control voltage to motors)
PWM vs. PWM
The 2 different ways Pulse Width Modulation is used
SIGNALLING – telling the
speed controller what to do
POWER – controlling voltage
and motor direction
H-Bridge
None – Motor free runs
S1 and S4 – Motor moves CW
S2 and S3 – Motor moves CCW
S2 and S4 – Motor brakes
Changing the duty cycle of switches
controls the average VOLTAGE to the
motors.
Wireless Bridge
(Robot Radio)
Motors
Passing
Inspection
Power Distribution
Data Connectivity
Document your I/O
RobotBuilder
I dunno- everything
stopped working
The drive train controls were
responding correctly.
Then I tried raising the arm.
After that the arm controls
responded but the drive train
no longer responded to
joystick commands.
Drive Team Feedback
Troubleshooting on the Robot
• Lights, lights, lights
• Dangling or connectors
• Metal Shavings in Electronics(  !!!)
Multi-Meter
Know How to Use One
• Ω – Ohms –Resistance
(measure with battery
disconnected)
• V DC - Volts
Know your Lights
Robot Signal Light
• Fast Blink = cRIO not
communicating with Driver
Station
• Slow Blink = disabled
• Short on/long-off Blink = either
low battery or no code &
disabled
• Long on/short off blink =
Teleop mode
• Solid on = Autonomous mode
Jaguar Speed Controller
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Solid Yellow = Neutral (zero speed)
Fast Flashing Green = Forward
Fast Flashing Red = Reverse
Solid Green = Full speed forward
Solid Red = Full speed reverse
Slow Flashing Yellow = Loss of CAN
or servo link or Disabled
• Slow Flashing Red = Fault
• No light = no power (check power
connection)
Victor Speed Controller
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Solid Green = Full forward
Solid Orange = Neutral/Brake
Solid Red = Full Reverse
Flashing Orange = No PWM signal
Flashing Red = Failed Calibration
No light = no power OR partial
throttle
Talon Speed Controller
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Solid Green = Full Forward
Flashing Green = Forward
Solid Red = Full Reverse
Flashing Red = Reverse
Solid Orange = Enabled within
deadband
• Flashing Orange = No PWM signal or
robot is disabled.
Troubleshooting on the PC
Driver Station
Operation
Diagnostics
Setup
Driver Station (cont.)
I/O
Charts
Practice Mode & Test Mode
IP Configuration
ping
cRIO – Are you there??
ping 10.xx.yy.02
Dashboard
LabVIEW
Dashboard
(default)
SmartDashboard
(C++ and Java)
Driver Station Log Viewer
C:\Program Files\FRC Driver Station\
Driver Station Log File Viewer.exe
cRIO Imaging Tool
Programming Environment
LabVIEW
C++ (Wind River)
Java (NetBeans)
Axis Camera Configuration
Measuring Bandwidth Usage
Keep wireless network traffic within
7Mb/s limit
• perfmon.exe - Perfomance Monitor (Win 7 only)
• Wireshark – 3rd party Ethernet packet sniffer
See ScreenSteps documentation for how to do this.
http://wpilib.screenstepslive.com/s/3120/m/8559/l/95886measuring-bandwidth-usage
FRC Bridge Configuration Utility
Recommended Reading
KOP Website
http://www.usfirst.org/roboticsprograms/
frc/kit-of-parts
KOP Website – Control System
• Getting Started with the 2013
Control System
• Robot Power Distribution
• Robot Data Connectivity Diagram
http://www.usfirst.org/roboticsprograms/
frc/2013-Control-System
ScreenSteps Live
http://wpilib.screenstepslive.com/s/3120
RobotBuilder Demos - YouTube
http://www.youtube.com/user/BradAMiller
Einstein Field 2012
Report
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WiFi Tampering
Loose Wiring
Faulty breaker
Unregulated Radio power
Bad Ethernet cables
Bug in C++SmartDashboard
Infinite software loop initializing
sensor
• Custom Electronics flooding
communications channel, filling
buffer
Let’s try it out on real hardware!
Email: [email protected]