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									2012 KOP Workshop

          January 14, 2012
       Hauppauge High School
         SPBLI – LI FIRST


                   Mark McLeod
                   team358.org
             Northrop Grumman Corp.
              Mark.McLeod@ngc.com
Before We Start

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

  – Classmate Restore Stick Issues

  – Software Installation Issues

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

   KOP
   1st Week Issues
   New in 2012
   New Components
   Changes from 2012
   Software Installation
   Documents




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

   Rookie vs. Vet Kits
   KOP consists of:
    – Physical 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/)

    – FIRST Choice -          http://www.andymark.com/login.asp
1st Week Issues

   Bad Ribbon Cable
    – Test by plugging into itself
        Simple loop = good

        Mobius loop = bad
    http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_Sea
        son__Info/2012_Assets/DB37%20Ribbon%20Cable%20Assembly%20-
        %20Rework%20Instructions.pdf

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

   Trouble Imaging cRIO
   Jaguar Firmware 101 (CAN-only)
    http://www.ti.com/jaguar
1st Week Issues

    Some Incorrect Restore Sticks Distributed
                                                                        Team # 3450
2011/12 Classmate                                                         & higher




                                                                       Teams 1 to 3449
2010 Classmate
                                                                          & lower



    Bad 2010 Classmate E09 Image Sticks
 http://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
1st Week Issues

   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
New in 2012
   cRIO FRC II
   Motors – lots more
   Electric Solenoid – push or pull devices, no greater than
    1 in. stroke and no greater than 10 watts continuous
    duty at 12v
   Catalyst Simulator - PC/web based - play the 2012 game
    – http://dbsgames.net/games_temp.php?p=1
New Components

   cRIO
    – Old modules in Old cRIOs must be relocated!
    – FRC II
         4.4” shorter
         .63 lbs lighter
         2x memory & storage

   Kinect
   MaxBotix Sonar
   Software
cRIO Module Positions

   Old 8-slot cRIO      New 4-slot cRIO
    1-analog              1-analog
    2-digital             2-digital
    3-solenoid            3-solenoid
    4-unused              4-any
    5-analog
    6-digital
    7-solenoid
    8-unused
       cRIO FRC II



                                CAN
                               optional




Pit tethering


                                          Optional
                                          FRC I

                CAN optional
                                          FRC II
                                          Both
        CRIO 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.
Kinect

   Windows 7 Only
   Installation
     E09/E11 Classmate OS image stick (optional)
     Microsoft SDK (32 or 64-bit)
     .NET Framework 4.0
     FRC Kinect Server
     – Plug in the Kinect
     – Start the Driver Station
   For Testing At Home Only
    The field will supply it’s own dedicated one
Kinect Operation

                     Kinect SDK


                                          Dashboard




    Playing Field       FRC
                                    Driver Station
        Kiosk       Kinect Server

    10.0.100.15
    10.0.100.16
     Kinect Programming




                 KinectStick leftArm;
                 KinectStick rightArm;
                 …
                 leftArm = new KinectStick(1);
          Java   rightArm = new KinectStick(2);
                 …
                 leftArm.getY()
                 leftArm.getRawButton(#)                KinectStick leftArm(1);
Labview                                                 KinectStick rightArm(2);
                                                  C++
                                                        leftArm.getY ()
                                                        leftArm.getRawButton(#)
Kinect

   Good Skeletal Recognition
   Laggy Response - Be Real Careful w/Robot
   Default Motions Map to 2-Joystick Buttons and
    Axes
    – Kinect Enable = both arms in plane & range
    –   Button 1/2 = head to the right/left
    –   Button 3/4 = right/left leg out to side
    –   Button 5/6 = right leg forward/back
    –   Button 7/8 = left leg forward/back
    –   Axis y = arm up/down (left arm = Kinect 1, right arm = Kinect 2)
        wrist-to-shoulder angle
LV-MaxSonar-EZ1

   Wiring
     – Standard PWM cable
     – Connects to Analog Breakout (alternates not easily FRC
       supported)
     – Needs a protected mounting
   Very Accurate Distance
   Report the closest 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 2011
   Driver Station
   Dashboard
     – Default Has Kinect Skeleton
   Motors
   Programming
     – 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 available
     – Kinect data input
     – LV Compressor & Camera changes
   Camera Default (10.xx.yy.11)
     –   Use Camera setup tool
     –   Camera default connection is to the robot bridge
     –   Serve images to both the Driver Station and the cRIO at the same time
     –   Displays on the default Dashboard and is available to the cRIO
Driver Station

   No Separate Estop Button
   “Driver” User Account Not Required
   Any Win7/XP Laptop (Windows 7 Required for Kinect)
   Competition power still for Classmates ONLY
    (19v, 2a barrel connector)

   Data 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=Enable
   Minimum Software Installation
         Driver Station
Kinect Status
0, 1, or 2 people




      Kinect
      Versions



      Battery
      CPU %
      Lost packets
      Packet delay

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

Up to 22 Motors Allowed <R48>
   up to 4 CIM motors (part #FR801-001, M4-R0062-12, AM802-001A, 217-200 or
    PMR25R-45F-1003)
   up to 4, in any combination, of the BaneBots motors provided in the KOP (acceptable
    part numbers are
    M7-RS775-12, M7-RS775-18, M5-RS550-12, M5-RS550-12-B, and M3-RS395-12)
   up to 2 window motors (acceptable part #s are 262100-3030 and 262100-3040)
   up to 2 FisherPrice motors (acceptable part #s are 00968-9013, 00801-0673, and
    00968-9015)
   up to 2 AndyMark motors (acceptable part # is am-0912)
   up to 2 AndyMark gearmotors (acceptable part # is am-0914)
   up to 2 Denso throttle control motors (acceptable part # AE2351000)
   up to 2 VEX motors (acceptable part # 276-2177)
   up to 2 window lift, seat, windshield wiper or door motors obtained through either
    the FIRST-Automotive Recyclers Association partnership or from a prior years’ KOP.
Programming Changes

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

   LabVIEW 2011
    – Compressor & Camera
    – Vision Palette Additions
    – Gyro Calibration Configuration
   C++/Java
    –   Command Class
    –   Network Tables
    –   Smart Dashboard
    –   Vision code (NI c code or OpenCV)
Interesting Whitepapers

http://decibel.ni.com/content/community/first/frc?view=d
   ocuments

E.g.,
         Vision Target Tutorial
         Driver Station

         Robot Framework Tutorial

         Basic Kinect Tutorial
Software Installation
   Read the Directions
    – Backup old projects
    – Remove Old Applications
    – Basic Install - in the following order:
           LabVIEW or LabVIEW Tools (from the KOP stick)
           LabVIEW FRC Update (only if using LabVIEW) (online)
           Utilities Update (online)
           Driver Station Update (online)
    – Kinect
           Microsoft SDK (online)
           .Net Framework 4.0 (online)
           FRC Kinect Server (online)

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

    – Java (online)
           NetBeans http://www.netbeans.org
           Java Update http://firstforge.wpi.edu/sf/projects/wpilib & go to documents
Watch For Future
Software Updates
              2012 Robot Control System Information
         http://www.usfirst.org/roboticsprograms/frc/2012-kit-of-parts-control-system


Current Updates:
   LabVIEW FRC Update
    http://joule.ni.com/nidu/cds/view/p/id/2261

   Utilities Update
    http://joule.ni.com/nidu/cds/view/p/id/2262

   Driver Station Update
    http://joule.ni.com/nidu/cds/view/p/id/2263

   C++ Update
    http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_update_for_c

   Java Update
    http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_java_update_for_frc
Other Software Updates
   FIRST
    – Kinect Server
        http://firstforge.wpi.edu/sf/frs/do/listReleases/projects.wpilib/frs.2012_frc_kinect_server

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




   Commercial Software
    – Microsoft SDK
        http://kinectforwindows.org/

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

   FIRST KOP site
    http://www.usfirst.org/roboticsprograms/frc/2012-frc-kit-of-parts




   Getting Started with the 2012 FRC Control System
    http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FRC/Game_and_S
        eason__Info/2012_Assets/Getting%20Started%20with%20the%202012%20FRC%20Contr
        ol%20System_2.pdf
Links

   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

								
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