Mechanics of LabVIEW Workshop January 10, 2009 Farmingdale State College SPBLI - FIRST Mark McLeod...
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Transcript of Mechanics of LabVIEW Workshop January 10, 2009 Farmingdale State College SPBLI - FIRST Mark McLeod...
Mechanics of LabVIEW Mechanics of LabVIEW Workshop Workshop
January 10, 2009Farmingdale State College
SPBLI - FIRST
Mark McLeodMark McLeodAdvisorAdvisor
Hauppauge Team 358Hauppauge Team 358Northrop Grumman Corp.Northrop Grumman [email protected]@ngc.com
AgendaAgenda
ArchitectureArchitecture Project from Scratch Project from Scratch Default FrameworkDefault Framework
– BasicBasic– AdvancedAdvanced
Typical OperationsTypical Operations Mechanics of DownloadingMechanics of Downloading FRC Palette OverviewFRC Palette Overview Download Programs & TestDownload Programs & Test
2009 Control System 2009 Control System SoftwareSoftware(check periodically for latest update)(check periodically for latest update) Robot ProgrammingRobot Programming
– Wind River WorkbenchWind River Workbench– LabVIEWLabVIEW
PC DashboardPC Dashboard– LabVIEWLabVIEW
FRC cRIO Imaging Tool --Apply updates to FRC cRIO Imaging Tool --Apply updates to the cRIOthe cRIO
Setup Axis Camera --Create FRC user Setup Axis Camera --Create FRC user accountaccount
Vision Assistant –Play with camera visionVision Assistant –Play with camera vision
ArchitectureArchitecture
Hardware LayersHardware Layers– FPGAFPGA– PowerPCPowerPC– ModulesModules– Breakout Bumpers/SidecarBreakout Bumpers/Sidecar
Software LayersSoftware Layers– FPGA codeFPGA code– vxWorksvxWorks– WPILibWPILib– User Code in LabVIEW or C++User Code in LabVIEW or C++
Project From ScratchProject From Scratch
Limited by lack of Robot Mode Limited by lack of Robot Mode function, but works for Basic Teleopfunction, but works for Basic Teleop
Create a viCreate a vi– StructureStructure
Open -> Loop -> CloseOpen -> Loop -> Close
Create a projectCreate a project
Default FrameworksDefault Frameworks
A Framework is required for full functionalityA Framework is required for full functionality BasicBasic
– Basic Robot Main.viBasic Robot Main.vi– Drive loopDrive loop– Camera loopCamera loop– Periodic loopPeriodic loop
– Autonomous Independent.viAutonomous Independent.vi AdvancedAdvanced
– Team CodeTeam Code Begin.viBegin.vi Teleop.viTeleop.vi Vision Processing.viVision Processing.vi Autonomous Iterative.vi or Autonomous Independent.viAutonomous Iterative.vi or Autonomous Independent.vi Periodic Tasks.viPeriodic Tasks.vi
Modifying the Modifying the Framework Framework
What’s Missing:What’s Missing: Tank Drive Tank Drive
– Drive loop or Teleop.viDrive loop or Teleop.vi Compressor & solenoid controlCompressor & solenoid control
– Compressor in periodicCompressor in periodic– Solenoid control in Drive loop or Teleop.viSolenoid control in Drive loop or Teleop.vi
Manipulator and other unique controlsManipulator and other unique controls– Their own loop or viTheir own loop or vi
Sample AutonomousSample Autonomous
LabVIEW Kills Autonomous Independent.vi at the end of autonomous mode
Downloading or Running Downloading or Running a Projecta Project
Run Run – Used to test & debug using your PCUsed to test & debug using your PC– Temporarily executes your codeTemporarily executes your code– Gone after a rebootGone after a reboot– Can disable Downloaded code, so test Can disable Downloaded code, so test
rebootreboot Download/Deploy Download/Deploy
– As a stand-alone applicationAs a stand-alone application– Must reboot to take affectMust reboot to take affect
My ComputerMy ComputerTargetTarget
For programs that run on your PCFor programs that run on your PC Dashboard templateDashboard template What it doesWhat it does How to customize the default How to customize the default
DashboardDashboard– DS Digital/Analog input displayDS Digital/Analog input display– Digital Sidecar PWMs, Relays, DIODigital Sidecar PWMs, Relays, DIO– Analog/SolenoidAnalog/Solenoid
FRC-cRIO-358 (10.3.58.2)FRC-cRIO-358 (10.3.58.2)TargetTarget
For Robot programsFor Robot programs Build SpecificationsBuild Specifications
– Run as StartupRun as Startup– Build/DeployBuild/Deploy
CautionsCautions
Set the cRIO as a LabVIEW environmentSet the cRIO as a LabVIEW environment If you get conflict messages when “Running”, then If you get conflict messages when “Running”, then
the formerly deployed code will execute on rebootthe formerly deployed code will execute on reboot Development is still underway, so expect the Development is still underway, so expect the
process and behavior to change somewhat process and behavior to change somewhat Careful when relocating LabVIEW projects due to Careful when relocating LabVIEW projects due to
relative directory paths.relative directory paths. Examples are not setup to download as stand-Examples are not setup to download as stand-
alone applications, but “Run” worksalone applications, but “Run” works Must use delay in master While loop to avoid Must use delay in master While loop to avoid
running as fast as possible and sucking up the CPU running as fast as possible and sucking up the CPU Must use WATCHDOG as of Update 2Must use WATCHDOG as of Update 2 ““Run” must be done from RobotMain.viRun” must be done from RobotMain.vi
FRC Palette Overview FRC Palette Overview
WPILibWPILib– Robot DriveRobot Drive– SensorsSensors– ActuatorsActuators– I/OI/O– Driver StationDriver Station– CameraCamera– CommunicationsCommunications– UtilitiesUtilities
FIRST VisionFIRST Vision– Image Image
ManagementManagement– Intensity Intensity
MeasurementMeasurement– Particle AnalysisParticle Analysis– Image Image
EnhancementEnhancement– Image ConversionImage Conversion– Display InteractionDisplay Interaction
Where to Find Further Where to Find Further InformationInformation NI FIRST forum: NI FIRST forum: http://http://decibel.ni.comdecibel.ni.com
/content/community/first/content/community/first Video TutorialsVideo Tutorials
– http://decibel.ni.com/content/docs/DOC-http://decibel.ni.com/content/docs/DOC-25112511
– http://labviewzone.blip.tvhttp://labviewzone.blip.tv– http://www.lvmastery.com/tipjar2008-1http://www.lvmastery.com/tipjar2008-1
2-122-12– http://first.wpi.edu/FRC/contro876.htmlhttp://first.wpi.edu/FRC/contro876.html
Presentation slides at: Presentation slides at:
Team358.orgTeam358.org
Questions/Help please email Questions/Help please email
[email protected]@ngc.com