20152015Beta Control System Beta Control System

Brunswick EruptionNovember 8, 2014

Mark McLeodMark McLeodFRC team 358FRC team 358team358.orgteam358.org

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AgendaAgenda

LayoutLayout New ComponentsNew Components Old vs NewOld vs New NetworkingNetworking ProgrammingProgramming Support ToolsSupport Tools Hands on (try Weidmuller connectors)Hands on (try Weidmuller connectors)

Presentation is located at:http://team358.org/files/workshops/

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Parts is PartsParts is Parts

roboRIO w/ MyRIO Expansion Port (MXP) Pneumatics Control Module (PCM) Power Distribution Panel (PDP) Voltage Regulator Module (VRM) Victor SP Talon SRX

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New vs OldNew vs Old

Overall 1/3 smaller footprint, 1/2 vertical clearance roboRIO

– Old: cRIO/modules/Digital Sidecar(DSC)/Analog Breakout PCM

– Old: Solenoid Breakout & DSC Compressor relay/pressure DIO PDP

– Old: Power Distribution Board (PDB) VRM

– Old: PDB 12v output + 12v/5v converter– Old: 5v power for camera

Victor SP– Old: Victor 888/Talon SR/Jaguar(PWM)

Talon SRX– Old: Jaguar (CAN)

358LayoutLayout

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roboRIOroboRIO

Specs: https://decibel.ni.com/content/servlet/JiveServlet/download/30419-56-79765/roboRIO+Overview.pdf

PWM (10) + up to (10) on MXP DIO (10) + up to (16) on MXP (4) Relay Analog Input (4) + (4) on MXP (2) Analog Output on MXP Communications

– (2) SPI ports 1x4 & 1x1– (2) I2C ports– UART (1) RS-232 + (1) TTL– (2) USB host ports– (1) USB device port– (1) Ethernet– (1) CAN

Power pins for 6v(2.2a), 5v(1a), 3.3v(1.5a)

– Note 6v measures low if not loaded DIO/I2C/SPI are 3.3v but handle 5vDIO/I2C/SPI are 3.3v but handle 5v Short circuit protection

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PDPPDP

Direct replacement of old PDB

Minuses: (4) fewer 20/30a Wago connections No warning LEDs for blown or missing breakers

Pluses: Per channel current monitoring (25ms update rate) Per channel short circuit sticky fault Input battery under voltage sticky fault CAN communications

Other Notes: Battery power lugs must fit within protective cover

(.44” wide) Special roboRIO/PCM/VRM outputs aren’t special. If

more PCM/VRM devices are needed just use regular wago power.

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PCMPCM

Replaces old Solenoid Breakout, Compressor Relay, Pressure Switch DIO

Automatic control of compressor operation- no direct user code involvement Supports either 12v or 24v solenoids, pick one The 24v for solenoids is guaranteed. The 12v just follows battery voltage. (8) solenoid outputs - that’s (8) single or (4) double or a mixture Additional PCMs can be powered directly from a PDP Wago connection CAN communication Smart monitoring for faults

– Compressor/solenoid over voltage or short circuit– Compressor current– Solenoid on/off– Solenoid jumper setting 12v or 24v– 25ms update rate

No Relay Spike for the compressor Short circuit protection

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VRMVRM

Replaces 12v protected supply from the old PDB and the 12v/5v converter

Good down to 3.5v (long after everything else blacks out)

Short circuit protection 12v rail and 5v rail are separate, but each 12v rail and 5v rail are separate, but each

rail’s outputs are jointrail’s outputs are joint– All outputs on a rail share the same overall All outputs on a rail share the same overall

constraintsconstraints– 1.5a 1.5a totaltotal continuous current across all rail continuous current across all rail

outputsoutputs– 500ma current limited outputs piggy-back off 500ma current limited outputs piggy-back off

the 2a Max outputs the 2a Max outputs – 2a 2a Max momentaryMax momentary current current

matches the combined peak for a Dlink & AXIS matches the combined peak for a Dlink & AXIS camera (725ma+1.3a=2.025a). camera (725ma+1.3a=2.025a).

Normal continuous current draw for these two is Normal continuous current draw for these two is about 500maabout 500ma

Additional VRMs can be powered directly from Additional VRMs can be powered directly from PDP Wago outputsPDP Wago outputs

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Victor SP/Talon SRXVictor SP/Talon SRX

Victor SP– PWM only– Sealed enclosure– 60a continuous/100a surge– Much smaller footprint (2.5" x 1.125" x 0.875"tall)– Much lighter weight (.2 lbs)– LED indicators blink proportionately to output speed and in various colors

(yellow blink=Disabled, green=forward, red=backwards)– $60

Talon SRXTalon SRX– CAN or PWMCAN or PWM– Slightly largerSlightly larger– $80$80

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NetworkingNetworking

PC talks to roboRIO over USB or Ethernet connection DLink Rev B still being used CAN for roboRIO/PCM/PDP/speed controller communications

– CAN IDs are by device type, so the default is PDP id=0 and also PCM id=0– 17 devices (15 Jags using %v+PCM+PDP) takes up 20% of bus bandwidth

Multicast Domain Name System (mDNS)– E.g., roboRIO-358.local

Static IP vs DHCP– Static 10.TE.AM.1 for robot DLink/default gateway– .2-.19 set aside for the user to assign, e.g., IP cameras, secondary processors– .20-.199 assigned via DHCP (Field Router or DLink at home)

roboRIO Driver Station Development laptops

The NI FRC Update installs a mDNS resolver, Mac OS and iTunes come with Bonjour. Linux distros have it or can install avahi, zeroconf, or mdns.

358Considerations/Considerations/DifferencesDifferences

Self-protect Brownout Cutoff @ 7v– @7v PWM output is cut– @6.5v the 6v rail shuts down– @6.2v the 3.3v rail shuts down– @5v PDP looses CAN– @3.8v roboRIO reboots– @3.4v VRM drops out

PWM connection Security, snug but potential for rattling loose Metal frag & pinout cups Weimuller connections

– Wire whiskers bunch up– Wire size 16-18 (smaller gauge is easier to insert)

USB thumb drives work on roboRIO (mount as U & V on root directory) Encoders: currently up to 12 quadrature encoders are supported

– (4) 4x dedicated encoders– (8) 1x/2x Counters

Dual purpose MXP pins– Any Digital Output pins shareable with PWM will be Disabled with the robot

Windows 7/8 to run Driver Station & if using LabVIEW environment

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ProgrammingProgramming

Mostly the same programming API’s as last year for all three languages Some function name changes roboRIO will automatically run whichever language program was loaded last New

– Power API’s Battery voltage, PDP current monitoring, Over current/short circuit faults PCM & PDP, Sticky faults

– Indexing starts at 0 rather than 1 Joysticks, PWM, DIO, Analog I/O, Relay

– Compressor no longer under user code control other than stop/start– Built-in 3-axis accelerometer w/selectable sensitivity of +/-2,4,or 8g

Missing– Cypress board support by the Driver Station discontinued– Driver Station user message display– Kinect support on Driver Station

Backward compatibility for LabVIEW w/ 4-slot cRIO only Windows, Linux, OSX for Java, C++ development Eclipse for Java & C++ JRE 8 SE Embedded (standard Java release)

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Joystick HandlingJoystick Handling

POV as degrees Indexing from 0 Some Relocation of

Controls Plans are for Rumble

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LabVIEWLabVIEW

Minor Palette Rearrangement Joystick functions revised

– Legacy vi’s, e.g., Joystick Get, will partially work - removed from palette– Joystick Get Values replacement uses a generalized indexing scheme

Modified Behavior– Compressor Open not required, a Solenoid Open will activate the compressor– Index from 0, e.g., USB 0, Button 0, Axis 0, PWM 0

Power palette– roboRIO

Input voltage, current, brownout 3.3v/5v/6v rail faults 6v rail voltage & current Disable 3.3v/5v/6v rails

– PCM Compressor current Compressor & Solenoid see & clear faults Input voltage Solenoid voltage

– PDP Battery input voltage (16) Wago channel currents PDP Energy & Power usage

– Outputs Enabled (DS Disabled, comms loss, overvoltage or brownout Disables) Potentiometer & Limit Switch palettes Read User Button

358Support Apps, Tools, & Support Apps, Tools, & UtilitiesUtilities

No automatic shortcuts on desktop or Start menu (user has to add if wanted)

Driver Station Dashboards WebDASH roboRIO Imaging Tool 2015 Setup AXIS Camera Tool Bridge Configuration Utility BCD Comm (new Jaguar firmware) 3rd Party Tools

– PuTTY for ssh– ftp

LV cRIO Backward Compatibility– cRIO Imaging Tool 2015– Net Console for cRIO

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Driver StationDriver Station

358WebDASHWebDASH

View and Modify roboRIO settings– Versions– Update firmware– Force Safe Mode– Disable RT Startup App– System Resources Available/Used– Set Static/DHCP IP

CAN Bus DevicesCAN Bus Devices– Set CAN Ids for PCM, PDP, speed Set CAN Ids for PCM, PDP, speed

controllerscontrollers– See PDP & PCM monitoring/clear sticky See PDP & PCM monitoring/clear sticky

faultsfaults

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LinksLinks

NI Specs– https://decibel.ni.com/content/docs/DOC-30419

Team 358 Beta– http://team358.org/files/programming/ControlSystem2015-

2019/BetaResults.php– http://team358.org/files/programming/ControlSystem2015-

2019 Other Beta Teams

– Team 11: https://www.facebook.com/FRCBetaTest– Team 1718:

http://www.fightingpi.org/Resources/Controls/Beta/2015.shtml ChiefDelphi Community:

– http://www.chiefdelphi.com/forums/showthread.php?threadid=130303