Prototyping Autonomous Operation of FRC/FTC Robots

1. Prototyping Autonomous Operation of FRC/FTC Robots Presented by: Marc Center, FRC47, GM Hybrid Powertrain 2008 Chief Delphi Engineering Mentor marc.center@gm.com248-255-7377 2008 FIRST Robotics Conference

2. Autonomous Problem and Solution • Because of common software (Easy-C Pro), similar microprocessor architecture between the VEX controller (Microchip PIC18F8520)and FRC controller (Microchip PIC18F8722), a typical robotics team can compete against more established robotics team by successfully prototyping the 15 second autonomous period operation with a VEX robot. 2008 FIRST Robotics Conference

3. Introduction - Small team issues • Smaller teams must normally wait on their team to build the FRC (full-sized) robot before effective prototyping of autonomous period • Small teams often finish their FRC robot a few hours before shipment. • The programming team can use small, VEX robot to begin development of the autonomous period in a parallel path during week one of FIRST season. 2008 FIRST Robotics Conference

4. Introduction – IR board & Primary Goal • This 2008 FIRST Conference presentation will focus on the process used at FRC Team 47, Chief Delphi, this year to accomplish this goal with the FIRST supplied Kit of Parts (KOP) IR board. • Primary goal of the presentation is to "raise the bar" on autonomous operation for all FRC teams. 2008 FIRST Robotics Conference

5. Biographical Info – Marc Center • GM Hybrid Powertrain System Engineer for Gen2 RWD next generation of hybrid transmission products, 2007 - forward • Undergraduate degree – BEEE – General Motors Institute (Kettering University) – 1982 • Graduate degree – MSECE – Oakland University Rochester Michigan – 1986 • 25 years plus of embedded engine/transmission controls experience at General Motors • Team 1286, Oakland Technical Campus-SE, mentor 2005,2007 • Paul Center, son, award $24,000 FIRST scholarship to Lawrence Technological University • Oakland County Competitive Robotics Association VEX Mentor, Oakland County, Michigan 2008 • Team 47, Chief Delphi, Pontiac Central High School Engineering Mentor for 2008 2008 FIRST Robotics Conference

6. Outline Parts 1-7 • Autonomous period implementation timeline • CD47 Initial Autonomous Operation Strategy • CD47 Programming Team Responsibilities • FIRST supplied KOP IR Board and schematic • IR Board Basic Operation • IR Board operating issues (range, jamming, brain-dead) • IR Board CD47 modifications (7805 voltage regulator, reverse polarity diode, TSOP34856 IR receiver, green/yellow/blue LED’s) 2008 FIRST Robotics Conference

7. 1 - Autonomous period implementation timeline Week 1 – Build VEX Robot to model FRC Robot, obtain remotes, Chief Delphi website study, IR operation familiarization Week 2 – Order more KOP IR Boards, 2x5 pin Molex Connectors Week 3 – Order Vishary TSOP IR receivers, Install 5V, 7805 regulators, build switch harness, build LED harness, VEX IR code development begins – debug code Week 4 – CD47 FRC practice Robot completed, VEX IR code development continues – diagnostic code Week 5 – Install VEX Easy-C IR Code to FRC Robot – complete Easy-C VEX IR Code development Week 6 – Complete Easy-C FRC IR Code integration for Detroit Regional 2008 FIRST Robotics Conference

8. 1A – VEX robot prototype of FRC robot 2008 FIRST Robotics Conference

9. 1B – VEX robot prototype of FRC robot 2008 FIRST Robotics Conference

10. 1C – VEX robot prototype of FRC robot 2008 FIRST Robotics Conference

11. 1D – VEX robot prototype of FRC robot 2008 FIRST Robotics Conference

12. 2 - CD47 Initial Autonomous Operation Strategy 2008 FIRST Robotics Conference

13. 3 - CD47 Programming Team Responsibilities Pontiac Central High School Students Sam Spade and James Kiefer – both students have programmed all non-autonomous operation functions using Easy-C Pro Chief Delphi – Programming Team Mentors Rob Jenkins (teacher) – Programming Lead / former FIRST student participant Curtis Sharif (engineer) – Programming Team Member Marc Center (engineer) – IR Board Integration Lead 2008 FIRST Robotics Conference

14. 4 - FIRST KOP IR BOARD - 2008 KOP IR Sensor Workshop - Mark McLeod Advisor Hauppauge Team 358 2008 FIRST Robotics Conference

15. 4 – IR Board Schematic - Tauntek Vishay TSOP 34838 78L05 5V 100mA regulator 2 x 5 ,0.1 header ICSP Connector 5 – Red 5mm LED’s 2008 FIRST Robotics Conference

16. 5 - IR Board Basic Operation • Program IR remote with selected code • Hold down “training switch” while turning on power to IR board. • LED error light flashes then LED 0 is steady. • Aim remote LED at IR receiver, press/hold desired button, LED 0 flashes, repeat step 4 • Repeat step 4 for 3 more sequences to train buttons two, three and four. • Light 0 should now light when button 1 pressed, and same for next three remote buttons. 2008 FIRST Robotics Conference

17. 6 – IR Board operating issues • Range – In classroom setting, IR receiver delivered good response to the small sample of IR remotes • Jamming – Big Problem. Whenever two remotes are pressed at the same time, the signal is not received • Chief Delphi website – reports of “brain-dead” IR remotes have surfaced – monitor for solution • Two CD-47 IR boards went bad – one from known issue, other unknown. 2008 FIRST Robotics Conference

18. 7- IR Board CD47 modifications • Reverse polarity diode was added to input power line. This causes a 0.7 volt drop. Powering from 12V fuse panel selected in conjunction with this diode addition. • 78L05, 5V, 100 mA regulator replaced with 7805, 5V, 1000 mA regulator • TSOP34856 (56 kHz) IR receiver w/Sony IR code 047 to help prevent outside interference and provide long leads for sensor orientation • Red LED’s changed to green/yellow/blue LED’s to easily discern response to IR remote on field 2008 FIRST Robotics Conference

19. 7- IR Board CD47 modifications 2008 FIRST Robotics Conference

20. Outline Parts 8-14 • Molex connectors and wiring harness • VEX Easy-C software with debug features • IR Board firmware programming (PicKit2) • Initial Development on CD47 practice robot • Differences between VEX and FRC controllers • FRC Robot modifications for the FIRST IR Board (power/ground, spikes plus LED’s) • VEX Easy-C software with diagnostic features 2008 FIRST Robotics Conference

21. Outline Parts 15-21 • Development versus Integration Philosophy • Regional #1 Autonomous Operation Strategy Change to score 8 points • Software Integration during “Fix-it Window” • Regional #2 Integration into CD47 FRC Robot on Thursday practice day – Great Lakes Regional, Ypsilanti Michigan March 27, 2008 • New and Old Lessons learned so far this year • CD website /FIRST GP (Gracious Professionalism) • Acknowledgements and Thanks 2008 FIRST Robotics Conference

22. Backup/Additional Reference Material • FRC Controller Microchip PICmicro® PIC18F8520 for 2005, PIC18F8722 for 2006 • VEX Controller Microchip PICmicro® PIC18F8520 • Variable Space - PIC18F8520  2048 bytes  + 1024 bytes EEPROM • Variable Space - PIC18F8722  3936 bytes  + 1024 bytes EEPROM • Program Space- PIC18F8520 32K • Program Space- PIC18F8722 128K 2008 FIRST Robotics Conference

23. Using the VEX robot system to prototype the autonomous operation of a FRC/FTC robot • Because of common software (Easy-C Pro), similar microprocessor architecture between the VEX controller (Microchip PIC18F8520)and FRC controller (Microchip PIC18F8722), a typical robotics team can compete against more established robotics team by successfully prototyping the 15 second autonomous period operation with a VEX robot. • Smaller teams must normally wait on the team to build the full-sized robot before effective prototyping of autonomous period, but can use small VEX robot to begin development of autonomous period in parallel path during week one. • Presentation will focus on process used with this year's team to accomplish this goal w/ FIRST KOP IR board. • Goal is to "raise the bar" on autonomous operation 2008 FIRST Robotics Conference