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2010 LabVIEW Intermediate Workshop

2010 LabVIEW Intermediate Workshop . October 9, 2010 Hauppauge High School SPBLI – LI FIRST. Mark McLeod Hauppauge Team 358 Northrop Grumman Corp. Mark.McLeod@ngc.com. Agenda. Programming Topics PID State Machines Saving Data For Later Lab on Tuning PID. PID. Steering Example.

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2010 LabVIEW Intermediate Workshop

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  1. 2010 LabVIEW Intermediate Workshop October 9, 2010 Hauppauge High School SPBLI – LI FIRST Mark McLeod Hauppauge Team 358 Northrop Grumman Corp. Mark.McLeod@ngc.com

  2. Agenda • Programming Topics • PID • State Machines • Saving Data For Later • Lab on Tuning PID

  3. PID Steering Example • Proportional (current error) • Integral (total error) • Derivative (current change in error)

  4. State Machine • Kicker Example • Draw back kicker • Latch • Release • Follow through WPI Robotics Library->DriverStation->Joystick Programming->Structures Programming->Comparison Programming->Numeric

  5. Save Data For Later • Probably best used on Classmate • ASCII, .ini, Binary or Spreadsheet formats • Try to make it reasonably readable Example: Save battery voltage throughout a match for later review Programming->File I/O Programming->File I/O->File Constants

  6. Practice Code This Tune It Flywheel Tachometer Example WPI Robotics Library->DriverStation->Joystick WPI Robotics Library->Actuators->MotorControl PID Programming->Timing

  7. Links • Workshop slides and code • http://www.team358.org/files/workshops/ • LabVIEW Examples: • http://team358.org/files/programming/ControlSystem2009-/LabVIEW/

  8. Contacts • Presentation slides Under Workshops at: Team358.org • Questions/Help please email Mark.McLeod@ngc.com

  9. Further Topics

  10. Framework • The essential elements every • FRC robot program requires are: • Communications with the Driver Station • Recognizing and processing the different competition modes • Autonomous operations • Teleop driver controls

  11. Odds & Ends

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