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FRC 2010 Driver Station

FRC 2010 Driver Station. Doug Norman & Stephanie Brierty National Instruments January 8, 2010 Thanks to Joe Ross – Team 330. Driver Station (Legacy). Handles communication between human drivers and robot Ports for joysticks and miscellaneous I/O

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FRC 2010 Driver Station

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  1. FRC 2010 Driver Station Doug Norman & Stephanie Brierty National Instruments January 8, 2010 Thanks to Joe Ross – Team 330

  2. Driver Station (Legacy) • Handles communication between human drivers and robot • Ports for joysticks and miscellaneous I/O • Enable/Disable and Autonomous/Teleop selection • Robot to Driver feedback

  3. Why Change Driver Stations? • Intel Classmate is consumer grade hardware • Robust • Easier to upgrade • On-board battery makes demos easier • Additional debugging output • Built in dashboard – no separate laptop needed

  4. Driver Station Beta Test • 18 teams beta tested Classmate hardware • All 44 beta teams tested the DS software • 8 teams tested Driver Station at River Rage Off-Season competition in Manchester

  5. Classmate PC • Customized Intel Classmate • Windows XP • 1.6 GHz Atom processor, 1 BG RAM • 16 GB solid state hard drive • 8.9” screen, 1024x600 resolution • 802.11g wireless only • No VGA port • Designed for educational use • More rugged than a normal laptop

  6. Developer/Driver Accounts • Two Windows XP accounts on Classmate • 1 - Driver Account • Automatically starts Driver Station and Dashboard software • Console/Kiosk mode – no access to any other programs • 2 - Developer Account • Administrator account • Normal XP interface

  7. Pre-installed Software • LabVIEW and Java software loaded by default • C++ may be installed via memory stick or USB DVD drive • AVG Antivirus • Get updates from the internet… • Or download updates on another computer and transfer • Open Office • PDF reader

  8. Joystick Connectivity • 2 USB ports on Classmate • 1 for I/O module • 1 for USB hub • 4 port USB hub supports 3 joysticks + E-Stop button • Joystick support through Windows standard DirectInput API • Should allow a variety of joysticks and other input devices

  9. E-Stop Button vs. Enable / Disable • E-Stop connects via USB • Performs E-Stop not disable • Must be connected for robot operation • Robot must be rebooted after E-Stop • Same as the E-Stop on the field • Enable / Disable • Space bar disables • F1 enables

  10. I/O Module • Cypress First Touch Starter Kit 3 • USB powered (500ma limit) • Breadboard provided

  11. Driver Station I/O Driver Station Enhanced I/O Compatibility I/O

  12. I/O Module – Compatibility I/O • Same I/O as Kwikbyte Driver Station • 4 analog inputs – 3.3V reference • 8 digital inputs – with pull-up resistors • 8 digital outputs • If you use Compatibility I/O, don’t use Enhanced I/O

  13. I/O Module – Enhanced I/O • Set/Get Digital I/O (16) • Set/Get Digital Out HC (2) • Get Analog Input (8) • Set/Get Analog Output (2) • Get Buttons (6) • Set/Get LEDs (8) • Get Quadrature Encoders • Set/Get PWM Values (4) • Get Accelerometer (X,Y,Z) • Set/Get Digital Config • Get Touch Slider • Get Version Info Note – don’t mix and match with Compatibility I/O

  14. I/O Enclosure • No case or enclosure included • Teams may want to customize based on Enhanced I/O • There is an enclosure and carrier board made by eStop Robotics and available from AndyMark

  15. Driver Station Software • The Driver Station software is an executable built with LabVIEW • Works only on Windows 2000/XP/Vista PC • Communication protocol is compatible with the Kwikbyte DS, making them interchangeable • Does everything the Kwikbyte DS did and more

  16. DS Operation Tab • Same information as Kwikbyte DS • Choose Auto/Teleop/Practice and Enable/Disable • “LCD Text” is displayed in User Messages • Communications, Robot Code, Stop Button LEDs

  17. DS Diagnostics Tab • Shows communication details with each device in the control system • Useful for debugging • Shows error output from running robot • Reboot robot remotely

  18. DS Setup Tab • Set team number – sets Classmate IP address automatically • Configure Practice Round – simulate matches • Remap Joystick order • Turn on Remote Dashboard

  19. DS I/O Tab – Compatibility (Default) • Allows you to simulate analog and digital I/O by pressing buttons and dragging sliders • Shows state of I/O when hardware is connected • Click Configure to choose Compatible or Enhanced

  20. Enhanced I/O Configuration • Configure almost any pin just how you like • Trade off digital lines for PWM, encoders, etc.

  21. DS I/O Tab - Enhanced • Shows LEDs, Buttons, Analog in, Accelerometers, Quadrature encoders, Touch slider • Does not show PWM value, PWM Period, Analog out

  22. Integrated Dashboard

  23. Dashboard – Design Your Own • The integrated dashboard may be replaced by an executable and run on the Classmate • C:\Program Files\FRC Dashboard\Dashboard.exe • Dashboard data may be re-routed to another computer • On Setup tab of Driver Station, choose Remote Dashboard and enter the remote Dashboard IP

  24. Conclusions • New Driver Station hardware, Classmate, more robust • New Driver Station software • Full featured: error reporting, live feedback, sets IP, etc. • Integrated Dashboard is fully customizable Questions?

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