#SCREENSTEPS LIVE FRC DRIVER#
#SCREENSTEPS LIVE FRC SOFTWARE#
#SCREENSTEPS LIVE FRC CODE#
#SCREENSTEPS LIVE FRC PC#

This was missed by many teams (and many inspectors!). If half the time the switches are closed and half the time they’re open, it’s 6V.ġ3 Wireless Bridge (Robot Radio) New version (rev. The switches are cycled at a high rate of speed (~20KHz on the Jags) and the duty cycle affects the average voltage to the motor. The second is how the switches are controlled on the H-Bridge. The width of that pulse encodes what the speed controller is to do. The white signal line on a “PWM Cable” is pulsed every 5 to 20 ms. The first is signalling the controller what to do. But actually this term refers to two completely separate concepts related to the Speed controllers. We casually toss around the term PWM – Pulse Width Modulation. PWM The 2 different ways Pulse Width Modulation is used SIGNALLING – telling the speed controller what to do POWER – controlling voltage and motor direction H-Bridge None – Motor free runs S1 and S4 – Motor moves CW S2 and S3 – Motor moves CCW S2 and S4 – Motor brakes Changing the duty cycle of switches controls the average VOLTAGE to the motors. Two ways to send signals PWM – hobbyist servo signaling (pseudo analog, pulse width defines speed and direction) – Jaguar, Victor, Talon – one way communication, no feedback CANbus – Jaguar only – two way communication, status feedbackġ2 The 2 different ways Pulse Width Modulation is used Another name is H-Bridge Think of them as Voltage controllers, not speed controllers. Both forward and reverse operation allowed. Speed Controllers (control voltage to motors) All speed controllers do the same thing – provide a regulated voltage to the Brushed DC motors based upon “throttle” command. Understand difference between PWM outputs, Digital I/O, Relay outputs. Ribbon cables provided in 2012 were problematic. Power Distribution Board (PDB)ġ0 I/O connection points for all signals to/from cRIO Digital I/O card.ģ7-pin connector to cRIO. Note LED’s along sides that light up if circuit with load is tripped. cRIO (Robot Brain)īattery connection and custom regulated power for cRIO and other devices.

#SCREENSTEPS LIVE FRC CODE#

for gyros) VxWorks operation system, WPILib libraries, NI libraries, and of course Team code run on PowerPC. for encoders), analog sensing and accumulation (e.g. FPGA custom image provided by FIRST, defines H/W. Cross-compile for the PowerPC and download application to flash memory on cRIO. Write robot code in LabVIEW, C++, or Java on a PC.

Field Management System (Wired to FMS to WiFi)Ĩ Made by National Instruments. Due to 2012 problems, FIRST imposed WiFi bandwidth restriction on robot communications (7Mb/sec). Demand and 2012 Einstein field problems forced FIRST to provide better diagnostic tools in 2013. Extra delays compared with tethered in the pits – WiFi traffic Field problems difficult to debug, both because FMS is a “Black Box”. Must tether in the pits.įMS AP Competition mode. Tethered (Ethernet Cable)Ħ Only can do WiFi at your own shop. On the boards we have here, no radio is installed so can plug directly into cRIO. In the pits, tether by plugging into free port on radio.

#SCREENSTEPS LIVE FRC DRIVER#

Hey Robot- Here’s what you’re supposed to do: Enable/disable Mode Operating Mode Joystick commands OK Driver Station-I’m ALIVE!! Here’s my battery voltage and other data Every 20 ms Basic idea of robot/Driver Station communication. Ethernet or WiFI to talk to robotĤ Here’s what you’re supposed to do: Enable/disable Mode Operating Mode

#SCREENSTEPS LIVE FRC SOFTWARE#

Runs Driver Station software to communicate with robot.

#SCREENSTEPS LIVE FRC PC#

Joysticks are HID devices connected to PC by USB cables. Windows PC (works on other PC’s, not just FIRST supplied Classmates). Benchtop systems such as this invaluable for S/W development. WRRF Workshop August 2013 Laura Rhodes, mentor, FRC Team 100Īll teams use same electronics.

Troubleshooting at the Boundary Between Electronics and Programming 10th year mentor CSA at Sacramento & SVR, 2013 CSA at ALL Regionals!! They are there to help.

Screensteps live frc