FRC Robot Framework

Labview Made Easy (er)

For FIRST Robotics

FRC Framework

Base Code with Architecture Pre-configured Defines Interaction between code sections Designated places to add functionality Focus on robot functionality rather than

program structure

Let's walk through this together

FRC Project

Select FRC cRIO Robot Project

Dialogue box opens

Create Project

Give Project a name

Choose where to save project

Give cRIO IP address – your team number goes in xx.yy e.g 10.20.67.2

Click “Finish”

Project Explorer Project Explorer

appears All code listed under

“RT CompactRIO target 10.xx.yy.2”

Displays pre-written set of VI's to allow for an out of box solution

Top level VI is “Robot Main.vi”

Double click to open it

Robot Main.vi – Front Panel Front Panel has controls

and indicators Not much on this one Driver’s Station is main

operator interface

Click on “Window” Then Select “Show Block

Diagram”

Robot Main Block Diagram Select and modify sub-VI's

from here Or click on sub VI from

Project Explorer

Recommended not to make changes to “Robot Main.vi”

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For now, never mind these X

Robot Main Block Diagram

•We will focus on the main block VIs:

• Begin

• TeleOp

• Autonomous

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Programming of devices in general follows the following protocol:

OPEN – SET/GET - CLOSE

Open a motor Set the motor speed Close the motor

Open a Joystick Get the Y Joystick Value Close the Joystick

Open a Device,

• Tell the code where it is plugged in

• Give it a name

Get info from a device, or

Set a value to a device

Close the Device

Begin.vi

Initializes the camera, motors, joysticks “Opens” devices Tells program where

device is plugged into cRio

Gives the device a “Refnum” name which can be recalled from other areas of the program (such as tele-op)

Initialize additional components desired to be added to the system here

Camera configuration – unlikely to need to change this, if use it at all - Discuss in later session.

Motor configuration set up for 2 motors drive.

Tell which PWM port plugged into, give it a name

Why is one motor inverted?

Set up for 1 joystick

Tell where plugged into DS

“refnum” i.e.name of devices

Device info stored by that name to be recalled when device is used (e.g.in tele-op)

Begin.vi

• Edit vi: Add an accessory motor:

• Open function palette and select: WPI Robotics Library / Actuators / Motor Control

• Add Open Motor .vi • Identify where plugged in• What type of controller

• Add Refnum Set.vi• Give it a name

Begin .vi Modify to Add Extra Motor

Robot Main – Calling TeleOp or Autonomous.vi

This section uses a “State Machine”

Case structure Inside a while

loop Continues to loop

until robot Disabled

“Robot Mode” controlled by Driver Station or by Field Management System (In Competitions)

“Robot Mode” selects Case

Out of Box Code will drive 2 motor drive with Joystick axes 1 & 2

Reads Refnums from Begin.vi

Tele-op.VIGets Joystick Axis data

Cluster of data – uses the “Unbundle by Name” function block

Sets Drive Motor Speed Arcade drive

• X axis turns, Y axis fwd / reverse

Use Context Help (CTRL H) to investigate blocks

These are available but not required

First: Modify Joystick axes for a PS3 controller

Right click on Axes elements

Change Axes 1 & 2 to Axes 3 & 4

• Right thumb control on PS3 style controller

Next access Joystick Buttons by connecting to a “Unbundle by name” function from the “cluster,“ palette

Modify Tele-op.VI for added Motor

Now from the “Comparison” palette bring a “Select” Block

Button output is true or false

Select function assigns a value if true and another if false

Create constant of 1 if true and 0 if false

Wire output to the Set Output block - Results in motor going full speed if trigger is pressed.

From WPI Robotics Library/ Actuators/ MotorControl

Bring the Refnum Get and provide name

Bring Motor Set Output vi and connect them

Next we will see if our code works!

Interfacing with the Robot

Driver Station Operation Tab

Communication Status

Enable/Disable Buttons

Station Number for Competition

Use

User Messages (This area can be controlled by the robot program)

Team Number (Make sure it is

correct)

Communication Status

•Communication = a connection to the cRIO•Robot Code = the user code is running

Battery Voltage Display

Mode Selection•Teleoperated = Driver•Autonomous = Computer Control•Practice = Run like a match

Elapsed time since start of

robot communication

PC Battery

Driver Station Setup TabID Team number to connect to robot

Team Number Configuration:

Make sure this is set correctly

Choose NIC: Allows you select

which network adapter is

connected to the robot

Joystick Setup:Drag Joystick up and down to switch which connected joystick is

1, 2, 3 or 4 in the program

Exit: Logs off the Driver

Station Account on the classmate

Warning this will change your Computer TCP/IP properties to a static IP address vs.DHCP

IP Address

• IP (Internet Protocal ) address is how devices address each other on the internet (public) or closed wi-fi network.

• Normally the IP address is temporary and created automatically (DHCP)

• But for a closed – local network we use a static IP address

• Using 10.XX.YY.A where XX. YY is team number and A is a device number (2 for cRio),• e. g. 10.20.67.2

IP Address

To Change IP Address

On Computer go to : Control Panel> Network and Internet > view network status > change adapter settings > Right Click on Wireless connection, select properties:

When driver station opens it

will set your computer IP

address to this static value,

To connect to internet this must

be reset to the “Obtain address

automatically”Be sure to say ok

and get all the way out.

Homework Challenge Slides

• Add a gyro device:1. Begin – Open

2. Tele-op – Read gyro and display reading on front panel

• Edit vi: Add an accessory motor:

• Open function palette and select: WPI Robotics Library / Sensors / Gyro

• Add Open Gyro .vi • Identify where plugged in

• Add Refnum Set.vi• Give it a name

Begin .vi Updated for adding Gyro

Modify Tele-op.VI for Reading Gyro

From WPI Robotics Library/ Sensors/ Gyro palette Bring the Refnum Get and provide name it was given in the Begin.vi

Bring Gyro Get Output vi and connect them

Put cursor on “angle” output, right click select create indicator

Indicator shows up on Front Panel

Digital indicator is default but can be replaced with a Dial or Linear Indicator

Modify Front Panel Indicatorfor Gyro reading

Put Cursor on indicator, right click and select “Replace”, then “Gauge”

Enlarge gauge by dragging diagonally

Click on the 10 and change to 360

Hover on the 360 until you see the rotation arrows – then drag the 360 around to the zero.

Updated for PS3 Joystick control pad and selectable steering modes

1) Add a “case structure” around the “arcade drive”2) Add a second case “Tank Drive” with a tank drive

function block3) Use Driver station “Digital In 1” as case selector4) Update Joystick for PS3 controller

# 2 Modify Tele-op.VI for option for Tank Drive, selectable from DS

Extra slides for reference

Edit vi: Set up for 4 motor drive:Put cursor on open 2 wheel drive block > right click > replace > drive palette > 4 motor driveUpdate input parameters

Why are 2 motors inverted?

Begin .vi updated for 4 motorsUse this if you put 2 CIMs in each of two gearboxes.