2013 KOP Workshop
January 12, 2013
Hauppauge High School
SPBLI – LI FIRST
Mark McLeod
team358.org
Northrop Grumman Corp.
Mark.McLeod@ngc.com
Before We Start
Objective – Talk About What’s New & Changed
Anyone with these issues please speak up before
we get started:
– Software Installation Issues
– Anything else that we can start the computers on
now and let them do their thing during the KOP
discussion
Agenda
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KOP
1st Week Issues
New in 2013
Changes from 2013
Software Installation
Work on Individual Team Issues
Presentation (and the links it contains) is located at:
http://www.team358.org/files/workshops/
KOP
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Rookie vs. Vet Kits
KOP consists of:
– Physical KOP bins/boxes
– Vouchers from:
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Automotive Recyclers (voucher in KOP)
Banebots (code in TIMS)
Digikey (voucher in KOP)
Inventables (voucher in KOP)
Bimba (http://www.bimba.com/en/FIRST-Form/)
IFI (code in TIMS)
MaxBotix, AutomationDirect,RoboRealm (Flyers in Black Tote)
– FIRST Choice -
http://www.andymark.com/login.asp
New in 2013
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Catalyst Video Game- PC/web based - play the 2013
game
– http://www.dbsgames.net/
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Robot Bridge Configuration Utility (KOP site)
– Only for use at home, but similar to what you’ll see at competition
– Can also setup by hand
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Motor Controllers
– Vex Robotics - Victor 888 ($50), Jaguar ($60) modified over-voltage
– Andy Mark - Talon ($60) response
New in 2013
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New Robot Bridge
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New REQUIRED model version B1
Boots in 14 sec.
Use FRC Bridge Configuration Tool at home
Use Radio Kiosk at competition
New in 2013
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C++/Java
– Robot Builder – generates framework for command-based robot project
– Network Tables Viewer
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C++/Java/LabVIEW
– New speed controller references added
– HiTechnic Color Sensor reference added
– Test Mode through SmartDashboard or LabVIEW Dashboard
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Useful for diagnosing SW/HW issues-can see & manipulate all defined devices
Can be used to test sensors or subsystems on the robot
It just avoids running Auto or Teleop code
– Network Tables completely rewritten
New in 2013
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LabVIEW
– Default Robot Project choices for Arcade/Mecanum/Arm/Simulation
– cRIO Simulator (2013 field background to be released by NI)
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Tutorial from Getting started -> Tutorials -> Tutorial 10 – Robot Simulation
https://decibel.ni.com/content/docs/DOC-26300
Make sure to set project back to cRIO afterwards
1st Week Issues
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FIRST Known Issues List
–
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http://wpilib.screenstepslive.com/s/3120/m/8559/l/92653-2013-software-notes
Windows 8 Not Guaranteed, but Usually Works
– Can have installation issues, e.g.,
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Install Wind River 3.0 (DVD 1), then 3.3 (DVD 2)
During the installation of DVD2, the installation might hang at some of the .bat the files, e.g., bspinstall.bat
Open PC task manager, and end the associated tasks, e.g., tcpcl.exe
LabVIEW License Key Came on a Separate Card:
– S14X86763
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Robot Bridge Setup Utility
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–
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Original complained about v2.02 firmware – download new version dated 1/8/13
Leaves IP at 192.168.0.51
Possibly Too Many Pages of Documentation
– Getting Started is 161 pages long
– Some Help documentation is incomplete
– Older training videos & documents won’t quite match the latest release
1st Week Issues
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cRIO Imaging Tool
– Doesn’t fit on Classmate screen – right-click, choose Move, use
arrow keys to shift it around.
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Classmate Image Download Site Was Down For Awhile
Software Installation Issues
– Lots of pieces this year
– Wind River installer issue - Update v2993
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_update_for_c
– Java Plugins - delete sunspotsdk folder & reinstall, upgrade to
latest JavaBeans
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KitBot
– Short belt goes on the pulley with spacers on either side. Video
is correct, instructions swapped front/rear.
1st Week Issues
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“Waiting for cRIO…”
– Trying to deploy new code to the robot while the Dashboard or
SmartDashboard is running seems to tie up the cRIO.
– Solution:
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Close the dashboard
Reboot the cRIO
Deploy your code
Changes from 2012
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Bandwidth Limited (7mb/s per team)
Belt/Pulley KOP Drivetrain
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Motors
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– Fisher Price
– Mini & BAG CIMs
– Snow Blower motor
Driver Station
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Competition power still for Classmates ONLY
(19v, 2a barrel connector)
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Dashboard Selection (Default, LabVIEW, Java,
C++)
Issues
– Dashboard change workaround (local to remote to local)
– Charts CPU usage is incorrectly plotted, Good in Log Viewer
– DS Log Viewer isn’t Ready Yet – NI will post update
Driver Station
Operation
Setup
Charts
Joysticks
Test
Dashboard
PC CPU %
Driver Station
Diagnostics
New messages for
• Connectivity pings
• Joysticks
• Cypress I/O
• Kinect
Default Dashboard
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Camera Bandwidth feedback & adjustment
• Bandwidth Limited (7mb/s per team)
• Estimate Impact of fps, compression, and resolution
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Variables (Network Tables)
Checklist
Test
Significant Rules Changes
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Robot Size/Perimeter
Legal Motors (AndyMark, BaneBots, CIM, Denso, Vex)
– Not
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No Fisher-Price
No van door
– 6 CIMs
– 4 BAG or mini-CIMs
– Snow blower motor
FRC References
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Motor Performance Data:
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– http://www.usfirst.org/sites/default/files/uploadedFiles/Robotic
s_Programs/FRC/Game_and_Season__Info/2013/2013MotorInf
ormation.pdf
Pneumatic User’s Guide:
– http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC
/Game_and_Season__Info/2013/2013FRCPneumaticsInfo_RevA.pdf
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Robot Quick Build Instructions:
– http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC
/Game_and_Season__Info/2013/2013RQBSMaterial.pdf
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KitBot Assembly Videos:
– KitBot Narrow Build:
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http://www.youtube.com/watch?v=JEkJiWdh5Ks&feature=share&list=PL4E748D43693609C8
– KitBot Wide Build:
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http://www.youtube.com/watch?v=YhYEcevF43E&feature=share&list=PL4E748D43693609C8
FRC Documents
2013 FRC Control System Documentation
– http://wpilib.screenstepslive.com/s/3120
2013 Control System
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Getting Started With the 2013 Control System
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Vision Processing
WPILib programming documentation
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Getting started with C++
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Getting started with Java
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WPILib programming
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Command based programming
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Debugging and testing robot programs
Software tools
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SmartDashboard
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NetConsole
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RobotBuilder
NI Whitepapers
2013 NI Training Material & Resources
https://decibel.ni.com/content/docs/DOC-8923
Part A: Introduction to LabVIEW
Part B - Getting Started: These Tutorials Provide the Basics on the FRC Hardware and Software
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[FRC 2012] WPI Robotics Library Overview
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[FRC 2013] FRC Robot Framework Tutorial
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[FRC 2013] Dashboard Tutorial
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[FRC 2013] Driver Station Tutorial
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[FRC 2013] Robot Simulation Tutorial
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[FRC 2013] Test Mode Tutorial
Part C - Using the Tools - Essential Concepts for Building and Programming Your Robot
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[FRC 2012] Basic Motor Control Tutorial
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[FRC 2013] Sensor Basics Tutorial
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[FRC 2013] Safety Config Tutorial
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[FRC 2013] Tmed Movement VIs for Autonomous Mode Tutorial
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[FRC 2013] Vision Target White Paper
Part D - Building a Better Robot - Complex Concepts to Bring Your Robot to Life
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[FRC 2013] PID Tutorial
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[FRC 2013] Image Processing Tutorial
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[FRC 2013] Sensor Fusion Tutorial
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[FRC 2013] Programming for Performance Tutorials
Java C++ FIRST Forge
WPILib
http://firstforge.wpi.edu/sf/frs/do/viewSummary/projects.wpilib/frs
– 2013 FRC Update for Java
– 2013 FRC Update for C++
– 2013 FRC Kinect Server
Software Installation
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Read the Directions
– Backup Old Projects
– Uninstall Old Applications
– Basic Install – all teams in the following order:
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LabVIEW Tools minimum, or all of LabVIEW (from the KOP DVD)
LabVIEW Utilities Update (KOP/NI site)
Driver Station Update (KOP/NI site)
– LabVIEW
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LabVIEW Update (KOP/NI site)
– Windriver DVD - 2nd DVD for 64-bit PCs (from the KOP DVD)
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Same as last season, so shortcuts exist
C++ Update (FIRST Forge)
May need to remove C:\Program Files (x86)\Common Files\InstallShield\Universal\WindRiver
– Java (FIRST Forge or otherwise online)
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NetBeans http://www.netbeans.org
Java Update http://firstforge.wpi.edu/sf/projects/wpilib & go to documents
Software Installation
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Jaguar Firmware Version 107
– Installed by the LabVIEW Utilities Update
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http://joule.ni.com/nidu/cds/view/p/id/2262
http://content.vexrobotics.com/downloads/217-3367-VEXpro_Jaguar_Firmware_107.zip
Watch For Future
Software Updates
2013 Technical Resources:
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http://www.usfirst.org/roboticsprograms/frc/2013-Technical-Resources
http://www.usfirst.org/roboticsprograms/frc/2013-Control-System
http://www.usfirst.org/roboticsprograms/frc/2013-Driver-Station
http://www.usfirst.org/roboticsprograms/frc/2013-Programming
Update Patches:
– LabVIEW patch - not required, improves the Robot Simulator
performance of simulated camera images back to the
Dashboard:
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http://joule.ni.com/nidu/cds/view/p/id/3655
Optional Kinect
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Kinect – for optional use in the Driver Station
– FRC Kinect Documentation
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2013_frc_kinect_server
– Kinect Server
http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2013_frc_kinect_server
– Microsoft SDK v1.6
http://go.microsoft.com/fwlink/?LinkID=262831
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Optional Visual C# for modifying the Server
Miscellaneous Notes
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Sample Vision Target Images:
– C:\Program Files\National Instruments\LabVIEW
2012\examples\FRC\Vision\Rectangular Target - 2013\images