introduction to 2015 control system experts: kevin o’connor, frc mike copioli, cross the road...

Introduction to 2015 Control System

Experts:Kevin O’Connor, FRC

Mike Copioli, Cross the Road Electronics

Greg McKaskle, National InstrumentsBrad Miller, WPI

Hosted By:Evan Morrison & Ty Tremblay,

GameSense

2015 Control System Overview

• Process Timeline– RFP posted - 8/29/2012– Proposals submitted - 12/14/12– Proposal selection - 12/28/12– Public announcement of partners – Championship 2013– Controller announcement – NI Week 2013 (8/8/13)– Alpha Testing (9 teams) – 10/2013 to 8/2014– Beta Testing (90 teams) – 8/2014 to 12/2014

• Partners– National Instruments– Cross The Road Electronics– WPI– AndyMark

RoboRIO

• Based on NI myRIO – using FPGA for I/O tasks– Costs $435, weighs 12oz, fits in a quart zip-top bag– 4 to 10x faster, dual core ARM, NI RT Linux– Built-in CAN, Custom Electronics Port, USB

• Fewer power and data cables

• SW is highly compatible

Power Distribution Panel + VRM

• Comparison to PDB + 12v-15v Converter

• New Features– CAN Monitoring

• Known 2014 Issues Addressed

Power Distribution Panel (PDP)

Voltage Regulator Module (VRM)

Pneumatics Control Module (PCM)

• Comparison to Solenoid Breakout

• New Features

• Known 2014 Issues Addressed

PCM (Pneumatics Control Module)

Motor Controllers

• Victor SP

• Talon SRX

Wireless & Network Configuration

• Changes from 2014– mDNS

Driver Station

• Resizable/Reconfigurable

• DHCP & mDNS

• Power Metrics

• USB Device Test

LabVIEW

• Based on LabVIEW 2014

• Power & USB Camera

• Robotics APIs and Simulator

• Deploy doesn’t reboot

• Record and Playback, Test Mode

• Highly compatible with previous years

C++ and Java

• Development Environment Change– No more rebooting between tests

• Toolchain Changes– C++11/C++1y, Java8– FRCSim

• Library Changes– CAN overhaul

Resources

• Beta Forum (http://forums.usfirst.org/forumdisplay.php?1559-2015-FRC-Beta-Test)

• NI RoboRIO Page (https://decibel.ni.com/content/docs/DOC-30419)

• FRC Blog (http://www.usfirst.org/roboticsprograms/frc/blog)