2015
Beta Control System
Brunswick Eruption
November 8, 2014
Mark McLeod
FRC team 358
team358.org
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Agenda
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Layout
New Components
Old vs New
Networking
Programming
Support Tools
Hands on (try Weidmuller connectors)
Presentation is located at:
http://team358.org/files/workshops/
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Parts is Parts
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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 Old
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Overall 1/3 smaller footprint, 1/2 vertical clearance
roboRIO
– Old: cRIO/modules/Digital Sidecar(DSC)/Analog Breakout
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PCM
– Old: Solenoid Breakout & DSC Compressor relay/pressure DIO
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PDP
– Old: Power Distribution Board (PDB)
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VRM
– Old: PDB 12v output + 12v/5v converter
– Old: 5v power for camera
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Victor SP
– Old: Victor 888/Talon SR/Jaguar(PWM)
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Talon SRX
– Old: Jaguar (CAN)
Layout
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roboRIO
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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
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Power pins for 6v(2.2a), 5v(1a), 3.3v(1.5a)
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(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
Note 6v measures low if not loaded
DIO/I2C/SPI are 3.3v but handle 5v
Short circuit protection
Specs: https://decibel.ni.com/content/servlet/JiveServlet/download/30419-56-79765/roboRIO+Overview.pdf
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PDP
Direct replacement of old PDB
Minuses:
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(4) fewer 20/30a Wago connections
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No warning LEDs for blown or missing breakers
Pluses:
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Per channel current monitoring (25ms update rate)
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Per channel short circuit sticky fault
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Input battery under voltage sticky fault
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CAN communications
Other Notes:
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Battery power lugs must fit within protective cover
(.44” wide)
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Special roboRIO/PCM/VRM outputs aren’t special. If
more PCM/VRM devices are needed just use regular
wago power.
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PCM
Replaces old Solenoid Breakout, Compressor Relay, Pressure Switch DIO
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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
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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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VRM
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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 rail’s
outputs are joint
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All outputs on a rail share the same overall
constraints
1.5a total continuous current across all rail
outputs
500ma current limited outputs piggy-back off
the 2a Max outputs
2a Max momentary current
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matches the combined peak for a Dlink & AXIS
camera (725ma+1.3a=2.025a).
Normal continuous current draw for these two is
about 500ma
Additional VRMs can be powered directly from
PDP Wago outputs
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Victor SP/Talon SRX
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Victor SP
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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 SRX
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CAN or PWM
Slightly larger
$80
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Networking
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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
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Multicast Domain Name System (mDNS)
– E.g., roboRIO-358.local
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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)
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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.
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Considerations/Differences
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Self-protect Brownout Cutoff @ 7v
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PWM connection Security, snug but potential for rattling loose
Metal frag & pinout cups
Weimuller connections
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(4) 4x dedicated encoders
(8) 1x/2x Counters
Dual purpose MXP pins
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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
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@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
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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Programming
Mostly the same programming API’s as last year for all three languages
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Some function name changes
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roboRIO will automatically run whichever language program was loaded last
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New
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Power API’s
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Indexing starts at 0 rather than 1
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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
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Battery voltage, PDP current monitoring, Over current/short circuit faults PCM & PDP, Sticky faults
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 Handling
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POV as degrees
Indexing from 0
Some Relocation of
Controls
Plans are for Rumble
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LabVIEW
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Minor Palette Rearrangement
Joystick functions revised
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Modified Behavior
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Legacy vi’s, e.g., Joystick Get, will partially work - removed from palette
Joystick Get Values replacement uses a generalized indexing scheme
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
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roboRIO
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PCM
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Compressor current
Compressor & Solenoid see & clear faults
Input voltage
Solenoid voltage
PDP
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Input voltage, current, brownout
3.3v/5v/6v rail faults
6v rail voltage & current
Disable 3.3v/5v/6v rails
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
Support Apps, Tools, &
Utilities
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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
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PuTTY for ssh
ftp
LV cRIO Backward Compatibility
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cRIO Imaging Tool 2015
Net Console for cRIO
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Driver Station
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WebDASH
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View and Modify roboRIO settings
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Versions
Update firmware
Force Safe Mode
Disable RT Startup App
System Resources Available/Used
Set Static/DHCP IP
CAN Bus Devices
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Set CAN Ids for PCM, PDP, speed controllers
See PDP & PCM monitoring/clear sticky faults
358
Links
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NI Specs
– https://decibel.ni.com/content/docs/DOC-30419
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Team 358 Beta
– http://team358.org/files/programming/ControlSystem20152019/BetaResults.php
– http://team358.org/files/programming/ControlSystem2015-2019
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Other Beta Teams
– Team 11: https://www.facebook.com/FRCBetaTest
– Team 1718:
http://www.fightingpi.org/Resources/Controls/Beta/2015.shtml
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ChiefDelphi Community:
– http://www.chiefdelphi.com/forums/showthread.php?threadid=130303