Samantha
Module and Field Control System
Dave Hackett
FTC Mentor
Valley Forge, PA
Agenda
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Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
2
Agenda
•
•
•
•
•
•
Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
3
Samantha Components
• Samantha Module
– A Wi-Fi device that allows a team to control its
robot remotely
– Attaches to NXT using USB cable
– Receives commands from game controllers
connected to the Field Control System
• Samantha Field Control System (FCS)
– Software and hardware setup that allows FTC
robots to engage in competition
– Consists of:
• Laptop w/Samantha FCS Software
• Wi-Fi router
• USB cables and hubs
• Logitech Game Controllers
• External monitor for timer display
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FCS Configuration Overview
• Configure Samantha Field Control System
software and hardware
– Download and install FCS software
– Connect and configure FCS router
– Connect remaining hardware to laptop
• Configure Samantha module
– Prepare FCS flash drive with network
configuration and firmware
– Flash Samantha module
• Prepare NXT
– Name, Tele-Op program, required programs
• Run FCS software
– Connect robot via Samantha module
• Resources
– Read: FCS User's Guide for teams
– Watch: FTC Video Tutorial - Setting Up the Field Control System
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Agenda
•
•
•
•
•
•
Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
6
FCS Software
• Download latest Samantha Field Control System software
• http://www.usfirst.org/roboticsprograms/ftc/fcs
• Install it on the FCS Laptop
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FCS Router
• Connect an Ethernet cable between router Port 1 and FCS laptop
• Manually configure the router
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DHCP enabled
Network Mode: Wireless B Only
SSID: <e.g., FTC_FIELD>
Channel: choose quietest channel
• inSSIDer
• http://www.metageek.net/products/inssider
– Wireless Security
• Security Mode: WPA2 Personal
• Passphrase: <a strong password – remember for later use>
• Resources
– Read: Router Configuration Guide for Teams
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Agenda
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•
•
•
•
•
Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
9
Configure Wi-Fi Settings
• Required
– USB flash drive
• 2 GB maximum (FAT file system)
– Network information
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SSID (same as on FCS router)
Network Authentication: WPA2-PSK
Encryption: AES
Network Key (same as on FCS router)
• Samantha Competition Network Config
– “FTC_FIELD” Wireless Network Settings
– Settings in FTCNTKY folder on flash drive
– SamoCfg.exe /Primary
• Samantha Network Config
“FTC_PIT” Wireless Network Settings
• Settings in SMRTNTKY folder on flash drive
• SamoCfg.exe
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Samantha Firmware
• Samantha Firmware
– Samantha.hex
– C:\Program Files (x86)\Samantha
Field Control System\Samantha
– Use version that came with FCS
• Copy Samantha.hex to FCS flash
drive
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Flash Samantha Module
• Flash the Samantha module with firmware and network settings
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Power off Samantha module
Remove USB cable from Samantha
module
Insert FCS flash drive
Press and hold red button
Power on the Samantha module
Wait for Red LED, then release button
Wait for LED sequence Red, White, Blue,
White, Red to occur twice
1.
One sequence is for firmware
2.
The other is for network information
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Wait for Red LED
Power off Samantha module
Remove flash drive
Reconnect the USB cable
Power on Samantha module
White LED illuminates when your
network recognized
• Resources
– Watch: FTC Video Tutorial - How to update Samantha's Firmware
• Wait for LED sequence Red, White, Blue, White, Red to occur twice
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Agenda
•
•
•
•
•
•
Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
13
Prepare NXT
• Name your NXT
– Use your FTC Team number
– Append hyphen and letter on additional NXTs (e.g. 0010-A, 0010-B)
• Install programs required at Tournaments
– Program Chooser
– Samostat
• Define the default Tele-op program
– FTCConfig.txt
• Configuration file on NXT
• Used by FCS to start the named program at the
beginning of the Tele-op period
– Setting
• Run Program Chooser
• Define within programming environment
• Help the FCS Operator and the FTA help you!
– Use meaningful names for autonomous and Tele-op programs
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Agenda
•
•
•
•
•
•
Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
15
Start Samantha FCS Software
• Start Samantha Field Control System software
• Assign Controllers window opens first
– Connect USB Logitech controllers to corresponding team and position
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Red 1/Driver 1, Red 1/Driver 2, Red 2/Driver 1, etc.
– “Rescan” will search for new Logitech controllers
– “Reset All” will clear all assigned Logitech controllers
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Select Teams
• Choose button shows list of
available robots
• The first time Samantha module
is connected to FCS, press Red
button on Samantha module to
pair
• Additional Red, Yellow, Green
messages indicate
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Batteries strength
Autonomous program status
Tele-op program status
Various connection statuses
• Resources
– Read: http://www.usfirst.org/sites/default/files/docs/Samantha_FCS_Readme/
Samantha_FCS_Readme.html
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Agenda
•
•
•
•
•
•
Overview
Configure Field Control System
Configure Samantha Module
Prepare NXT
Field Control System Software
Additional Information
18
Program Chooser
• Creates a configuration file (FTCConfig.txt) on NXT
that tells the FCS the program to start at the beginning
of the Tele-op period
• Required to be installed on NXT at Tournaments
• Compile and install on NXT
– RobotC
• No longer installed by default
• Sample Programs> Try Me Program
Source\Program Chooser.c
– LabVIEW
• FTC 2012-2013 Toolkit
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Samostat
• Wi-Fi status and network verification
• Required to be installed on NXT at
Tournaments
• Samantha FCS folder
– RobotC: samostat.c
– LabVIEW: samostat.vi
• Also in RobotC Sample Programs
• Displays
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Firmware version
IP address of Samantha
Connection counters
Detected Wi-Fi networks
• Left most character
– blank: not connected to network
– asterisk (*): connected to network
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Second left most character
– blank: infrastructure network
– ampersand (@): ad hoc network
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Mounting Best Practices
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Mount Samantha module as high as possible
Do not bury Samantha module behind a mass of metal
Use as short a USB cable as possible, usually 12”
Ensure good strain relief for USB cable
– The ½” gear hub the right size is a good choice to use as a spacer
• Samantha Mounting Best Practices Report
– Mounting Samantha module laterally results in the best overall signal strength
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Power Connections
• Robot Power Management Using Anderson Powerpole® Connectors
– http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FT
C/FTC_Documents/Anderson-Powerpole-Guide.pdf
– Thanks to Purple Gears / FTC Team 2901
• Wire directly to switch and battery
– Samantha Mounting Best Practices
Check for an
expanded female
connector
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Samantha Light Codes
• The LEDs are:
– The Red LED used as an indicator for the power connection
– The White LED used as an indicator for the Wi-Fi connection
– The Blue LED used as an indicator for the NXT connection
• Status Monitoring and Troubleshooting
– The LEDs are also used for status monitoring and
troubleshooting
– The LEDs 'blink' individually or in sequences or patterns that
signify the conditions of operation or faults
• Resources
– Read: http://www.usfirst.org/sites/default/files/docs/Samantha_Module_Readme/
Samantha_Module_Readme.html
– Watch: FTC Video Tutorial - Samantha Troubleshooting
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SAMANTHA Debug Log
• Stores communications between
the FCS and Samantha modules
• Automatically created
– My Documents\Samantha
FCS\Debug Log
• New log file each time FCS started
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Samantha Information Web Page
• Connect to Samantha module via web browser
• On FCS, press Details button then click on IP Address
• May assist with troubleshooting issues (FCS vs. NXT)
Details
Button
Details Window
Web Page Information
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