2012 KOP Workshop 2012 KOP Workshop

January 14, 2012Hauppauge High School

SPBLI – LI FIRST

Mark McLeodMark McLeodteam358.orgteam358.org

Northrop Grumman Corp.Northrop Grumman Corp.Mark.McLeod@ngc.comMark.McLeod@ngc.com

Before We StartBefore We Start

Anyone with these issues please speak up Anyone with these issues please speak up before we get started:before we get started:

– Classmate Restore Stick IssuesClassmate Restore Stick Issues

– Software Installation IssuesSoftware Installation Issues

– Anything else that we can set the computers Anything else that we can set the computers to now and let them do their thing during the to now and let them do their thing during the KOP discussionKOP discussion

AgendaAgenda

KOPKOP 1st Week Issues 1st Week Issues New in 2012New in 2012 New ComponentsNew Components Changes from 2012Changes from 2012 Software InstallationSoftware Installation DocumentsDocuments

Presentation (and the links it contains) is located at:http://www.team358.org/files/workshops/

KOPKOP

Rookie vs. Vet KitsRookie vs. Vet Kits KOP consists of:KOP consists of:

– Physical KOP bins/boxesPhysical KOP bins/boxes– Vouchers from:

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/)

– FIRSTFIRST Choice - Choice - http://www.andymark.com/login.asp

11stst Week Issues Week Issues

Bad Ribbon CableBad Ribbon Cable– Test by plugging into itselfTest by plugging into itself

Simple loop = goodSimple loop = good Mobius loop = badMobius loop = bad

http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2012_Assets/DB37%20Ribbon%20Cable%20Assembly%20-%20Rework%20Instructions.pdf

Camera Setup Utility Camera Setup Utility – Doesn’t work properly with old Axis 206 modelDoesn’t work properly with old Axis 206 model– Create FRC/FRC admin acct., set IP 10.xx.yy.11Create FRC/FRC admin acct., set IP 10.xx.yy.11

Trouble Imaging cRIOTrouble Imaging cRIO Jaguar Firmware 101 (CAN-only)Jaguar Firmware 101 (CAN-only)

http://www.ti.com/jaguar

11stst Week Issues Week Issues

Bad 2010 Classmate E09 Image SticksBad 2010 Classmate E09 Image Stickshttp://www.usfirst

.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Season__Info/2012_Assets/Creating_a_USB_drive_for_2012_Classmate_Image_Restoration_Rev0.pdf

Some Incorrect Restore Sticks DistributedSome Incorrect Restore Sticks Distributed

Team # 3450& higher

Teams 1 to 3449& lower

2011/12 Classmate

2010 Classmate

11stst Week Issues Week Issues

Software Installation IssuesSoftware Installation Issues– Lots of pieces this yearLots of pieces this year– Wind River installer issue - Update Wind River installer issue - Update

v2993v2993http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs

.2012_update_for_c

– Java Plugins - delete sunspotsdk folder & reinstall, upgrade to latest JavaBeans

New in 2012New in 2012

cRIO FRC IIcRIO FRC II Motors – lots moreMotors – lots more Electric Solenoid – push Electric Solenoid – push oror pull devices, no pull devices, no

greater than 1 in. stroke and no greater than 10 greater than 1 in. stroke and no greater than 10 watts continuous duty at 12vwatts continuous duty at 12v

Catalyst Simulator - PC/web based - play the 2012 Catalyst Simulator - PC/web based - play the 2012 gamegame– http://dbsgames.net/games_temp.php?p=1

New ComponentsNew Components

cRIOcRIO– Old modules in Old cRIOs must be Old modules in Old cRIOs must be

relocated!relocated!– FRC IIFRC II

4.4” shorter4.4” shorter .63 lbs lighter.63 lbs lighter 2x memory & storage2x memory & storage

Kinect Kinect MaxBotix SonarMaxBotix Sonar SoftwareSoftware

cRIO Module PositionscRIO Module Positions

Old 8-slot Old 8-slot cRIOcRIO

1-analog 1-analog 2-digital2-digital3-solenoid3-solenoid4-unused4-unused5-analog5-analog6-digital6-digital7-solenoid7-solenoid8-unused8-unused

New 4-slot New 4-slot cRIOcRIO

1-analog 1-analog 2-digital2-digital3-solenoid3-solenoid4-any4-any

cRIO FRC IIcRIO FRC II

CANoptional

CAN optional

Pit tethering

Both

FRC II

FRC I

Optional

CRIO FRC IICRIO FRC II

• The cRIO FRC II adds a protective conformal coating to the electronics helping to guard against metal dust and fragments that work their way into the case from shorting out the circuits.

• The original cRIO FRC had user installable gaskets that many teams never used or even knew what they were for.

KinectKinect

Windows 7 OnlyWindows 7 Only InstallationInstallation

E09/E11 Classmate OS image stick (optional)E09/E11 Classmate OS image stick (optional) Microsoft SDK (Microsoft SDK (32 or 64-bit32 or 64-bit)) .NET Framework 4.0.NET Framework 4.0 FRC Kinect ServerFRC Kinect Server

– Plug in the KinectPlug in the Kinect– Start the Driver StationStart the Driver Station

For Testing At Home OnlyFor Testing At Home OnlyThe field will supply it’s own dedicated oneThe field will supply it’s own dedicated one

Kinect OperationKinect Operation

Kinect SDK

FRCKinect Server

Driver Station Playing Field

Kiosk

Dashboard

10.0.100.1510.0.100.16

Kinect ProgrammingKinect Programming

Labview KinectStick leftArm(1);KinectStick rightArm(2);

leftArm.getY()leftArm.getRawButton(#)

C++

KinectStick leftArm;KinectStick rightArm;…leftArm = new KinectStick(1);rightArm = new KinectStick(2);…leftArm.getY()leftArm.getRawButton(#)

Java

KinectKinect

Good Skeletal RecognitionGood Skeletal Recognition Laggy Response - Laggy Response - Be Real Careful w/RobotBe Real Careful w/Robot Default Motions Map to 2-Joystick Buttons Default Motions Map to 2-Joystick Buttons

and Axesand Axes– Kinect Enable = Kinect Enable = both arms in plane & rangeboth arms in plane & range– Button 1/2 = head to the right/leftButton 1/2 = head to the right/left– Button 3/4 = right/left leg out to sideButton 3/4 = right/left leg out to side– Button 5/6 = right leg forward/backButton 5/6 = right leg forward/back– Button 7/8 = left leg forward/backButton 7/8 = left leg forward/back– Axis y = arm up/down (left arm = Kinect 1, right arm = Kinect Axis y = arm up/down (left arm = Kinect 1, right arm = Kinect

2) 2) wrist-to-shoulder anglewrist-to-shoulder angle

LV-MaxSonar-EZ1LV-MaxSonar-EZ1

WiringWiring– Standard PWM cableStandard PWM cable– Connects to Analog Breakout (alternates not easily FRC supported)Connects to Analog Breakout (alternates not easily FRC supported)– Needs a protected mountingNeeds a protected mounting

Very Accurate Distance Very Accurate Distance Report the Report the closestclosest object it sees if it’s in the way object it sees if it’s in the way

• 1/4 inch object up to 4 ft• 1 inch object up to • 11 inch object up to 20 ft

Changes from 2011Changes from 2011

Driver StationDriver Station DashboardDashboard

– Default Has Kinect SkeletonDefault Has Kinect Skeleton MotorsMotors ProgrammingProgramming

– cRIO Imaging Tool - cRIO cRIO Imaging Tool - cRIO diagram, hover mouse over any slot in red or empty and it will tell you the problem or what can go in there

– Battery voltage readily availableBattery voltage readily available– Kinect data inputKinect data input– LV Compressor & Camera changesLV Compressor & Camera changes

Camera DefaultCamera Default (10.xx.yy.11)(10.xx.yy.11)– Use Camera setup toolUse Camera setup tool– Camera default connection is to the robot bridgeCamera default connection is to the robot bridge– Serve images to both the Driver Station and the cRIO at the Serve images to both the Driver Station and the cRIO at the

same time same time – Displays on the default Dashboard and is available to the cRIODisplays on the default Dashboard and is available to the cRIO

Driver StationDriver Station

No Separate Estop ButtonNo Separate Estop Button ““Driver” User Account Not RequiredDriver” User Account Not Required Any Win7/XP Laptop Any Win7/XP Laptop (Windows 7 Required for Kinect)(Windows 7 Required for Kinect)

Competition power still for Classmates ONLY Competition power still for Classmates ONLY (19v, (19v, 2a barrel connector)2a barrel connector)

Data LogsData Logs– battery, packet loss, cpu usage etc. every 20ms. – Files stored: C://Users/public/Documents/FRC/Log Files– Viewer: C://Program Files (x86)/FRC Driver Station/Driver Station Log File Viewer

Spacebar = E-Stop, Enter=Disable, F1=EnableSpacebar = E-Stop, Enter=Disable, F1=Enable Minimum Software InstallationMinimum Software Installation

Driver StationDriver Station

DS Tutorial: https://decibel.ni.com/content/docs/DOC-14705

BatteryCPU %Lost packetsPacket delay

Kinect Status0, 1, or 2 people

KinectVersions

MotorsMotors

Up to 22 Motors Allowed <R48> Up to 22 Motors Allowed <R48> up to 4 CIM motors (part #FR801-001, M4-R0062-12, AM802-001A, 217-200 up to 4 CIM motors (part #FR801-001, M4-R0062-12, AM802-001A, 217-200

or PMR25R-45F-1003)or PMR25R-45F-1003) up to 4, in any combination, of the BaneBots motors provided in the KOP up to 4, in any combination, of the BaneBots motors provided in the KOP

(acceptable part numbers are(acceptable part numbers areM7-RS775-12, M7-RS775-18, M5-RS550-12, M5-RS550-12-B, and M3-RS395-M7-RS775-12, M7-RS775-18, M5-RS550-12, M5-RS550-12-B, and M3-RS395-12)12)

up to 2 window motors (acceptable part #s are 262100-3030 and 262100-up to 2 window motors (acceptable part #s are 262100-3030 and 262100-3040)3040)

up to 2 FisherPrice motors (acceptable part #s are 00968-9013, 00801-0673, up to 2 FisherPrice motors (acceptable part #s are 00968-9013, 00801-0673, and 00968-9015)and 00968-9015)

up to 2 AndyMark motors (acceptable part # is am-0912)up to 2 AndyMark motors (acceptable part # is am-0912) up to 2 AndyMark gearmotors (acceptable part # is am-0914)up to 2 AndyMark gearmotors (acceptable part # is am-0914) up to 2 Denso throttle control motors (acceptable part # AE2351000)up to 2 Denso throttle control motors (acceptable part # AE2351000) up to 2 VEX motors (acceptable part # 276-2177)up to 2 VEX motors (acceptable part # 276-2177) up to 2 window lift, seat, windshield wiper or door motors obtained through up to 2 window lift, seat, windshield wiper or door motors obtained through

either the FIRST-Automotive Recyclers Association partnership or from a prior either the FIRST-Automotive Recyclers Association partnership or from a prior years’ KOP.years’ KOP.

Programming ChangesProgramming Changes

All Use Module # Instead of Slot #All Use Module # Instead of Slot # Modules Must Be in Different Slots Than Last YearModules Must Be in Different Slots Than Last Year

LabVIEW 2011LabVIEW 2011– Compressor & CameraCompressor & Camera– Vision Palette AdditionsVision Palette Additions– Gyro Calibration ConfigurationGyro Calibration Configuration

C++/JavaC++/Java– Command ClassCommand Class– Network TablesNetwork Tables– Smart DashboardSmart Dashboard– Vision code (NI c code or OpenCV)Vision code (NI c code or OpenCV)

Interesting Interesting WhitepapersWhitepapers

http://decibel.ni.com/content/community/first/frc?http://decibel.ni.com/content/community/first/frc?view=documentsview=documents

E.g.,E.g., Vision Target TutorialVision Target Tutorial Driver StationDriver Station Robot Framework TutorialRobot Framework Tutorial Basic Kinect TutorialBasic Kinect Tutorial

Software InstallationSoftware Installation

Read the DirectionsRead the Directions– Backup old projectsBackup old projects– Remove Old ApplicationsRemove Old Applications– Basic Install - in the following order:Basic Install - in the following order:

LabVIEW or LabVIEW Tools (from the KOP stick)LabVIEW or LabVIEW Tools (from the KOP stick) LabVIEW FRC Update (only if using LabVIEW) (online)LabVIEW FRC Update (only if using LabVIEW) (online) Utilities Update (online)Utilities Update (online) Driver Station Update (online)Driver Station Update (online)

– KinectKinect Microsoft SDK (online)Microsoft SDK (online) .Net Framework 4.0 (online).Net Framework 4.0 (online) FRC Kinect Server (online)FRC Kinect Server (online)

– Windriver DVD Windriver DVD - 2- 2ndnd DVD for 64-bit PCs (from the KOP DVD) DVD for 64-bit PCs (from the KOP DVD) C++ Update (online)C++ Update (online)

– Java (online)Java (online) NetBeans NetBeans http://www.netbeans.org Java Update Java Update http://firstforge.wpi.edu/sf/projects/wpilib & go to documents & go to documents

Watch For Future Watch For Future Software UpdatesSoftware Updates

2012 Robot Control System Information2012 Robot Control System Informationhttp://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system

Current Updates:Current Updates: LabVIEW FRC UpdateLabVIEW FRC Update

http://joule.ni.com/nidu/cds/view/p/id/2261

Utilities UpdateUtilities Updatehttp://joule.ni.com/nidu/cds/view/p/id/2262

Driver Station UpdateDriver Station Updatehttp://joule.ni.com/nidu/cds/view/p/id/2263

C++ UpdateC++ Updatehttp://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_update_for_c

Java UpdateJava Updatehttp://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs

.2012_java_update_for_frc

Other Software Other Software UpdatesUpdates FIRSTFIRST

– Kinect ServerKinect Serverhttp://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_frc_kinect_server

– Kinect KioskKinect Kioskhttp://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_frc_kinect_kiosk

Commercial SoftwareCommercial Software– Microsoft SDKMicrosoft SDK

http://kinectforwindows.org/

– .NET Framework 4.0 .NET Framework 4.0 (already installed on E09/E11 sticks)(already installed on E09/E11 sticks)http://www.microsoft.com/download/en/details.aspx?id=17851

Flood of DocumentsFlood of Documents

FIRSTFIRST KOP site KOP sitehttp://www.usfirst.org/roboticsprograms/frc/2012-frc-kit-of-partshttp://www.usfirst.org/roboticsprograms/frc/2012-frc-kit-of-parts

Getting Started with the 2012 FRC Control Getting Started with the 2012 FRC Control SystemSystemhttp://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/

Game_and_Season__Info/2012_Assets/Getting%20Started%20with%20theGame_and_Season__Info/2012_Assets/Getting%20Started%20with%20the%202012%20FRC%20Control%20System_2.pdf%202012%20FRC%20Control%20System_2.pdf

LinksLinks

ChiefDelphi Community: – http://www.chiefdelphi.com

Game Manual: – http://www.usfirst.org/roboticsprograms/frc/competition-manual-and-related-

documents

FRC Software Updates: – http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system

Technical Manuals on FRC KOP Website– http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system

Black Jaguar RMA Procedure: – http://forums.usfirst.org/showthread.php?p=44255#post44255