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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
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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
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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
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Power Distribution Panel + VRM
• Comparison to PDB + 12v-15v Converter
• New Features– CAN Monitoring
• Known 2014 Issues Addressed
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Power Distribution Panel (PDP)
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Voltage Regulator Module (VRM)
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Pneumatics Control Module (PCM)
• Comparison to Solenoid Breakout
• New Features
• Known 2014 Issues Addressed
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PCM (Pneumatics Control Module)
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Motor Controllers
• Victor SP
• Talon SRX
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Wireless & Network Configuration
• Changes from 2014– mDNS
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Driver Station
• Resizable/Reconfigurable
• DHCP & mDNS
• Power Metrics
• USB Device Test
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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
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C++ and Java
• Development Environment Change– No more rebooting between tests
• Toolchain Changes– C++11/C++1y, Java8– FRCSim
• Library Changes– CAN overhaul
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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)