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FRC LabVIEW Quick Start GuideFRC 2014 Training Material

Set Up LabVIEWBasics

Vision,& PID

Advanced Programming

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FRC LabVIEW Quick Start Guide

Set Up

LabVIEWBasics

Vision,& PID

Advanced Programming

•Software Set Up Overview

•FRC Software Orientation

•Finding/Connecting to the cRIO

•Basics of the Robot Project

•Deploying and Driving

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Software Overview – What do I download?• Option 1: If you develop in

LabVIEW• Includes Vision

• Option 2: If you develop in C++ or Java and you want to use NI Vision

• ALL FRC TEAMS must download the NI Update Package

• Required for competition regardless of development language

• IE: Installs the driver station and cRIO utilities

Set Up

ALL TEAMSFRC 2014 Update Package

DVD included in Kit of Parts or Download links available at NI.com/FRC

1) LabVIEW Development Suite

2) NI Vision DevelopmentOR

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Installation & Activation• 1) Download the software

• Link on NI.com/FRC

• 2) Unzip and run Setup.exe

• 3) Activate LabVIEW• Serial Number on the Back of the NI Software for FRC 2014 packageStarts with ‘M’

Set Up

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Software Orientation: Getting Started Window• This window will open you start LabVIEW

• Requires FRC 2014 Update Package

Set Up

Create New Project

Built In Training

Tools

Help

Recent Projects

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• The LabVIEW project window allows you to see all of the code that will run on your robot. The FRC software includes a template project with everything you need to start.

Software Orientation : cRIO Robot ProjectSet Up

All the code you need to change is in the Team Code

folder

Robot Main will communicate with the Field control system

and run your team code(Don’t edit)

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Software Orientation: Team Code• This is the Autonomous Independent VI, create your

autonomous program here. This is one of the Vis you will need to edit.

Instructions Included

Edit this code

Set Up

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Software Orientation : Driver Station• The driver station your robot control utility for practice and competition for all

FRC Teams. Open this to connect to your robot and run the code you written.

Set Up

This should be your team #Different Tabs for More

Functionality

All Lights should be green to run

Robot Statistics

Find out more about it here: https://decibel.ni.com/content/docs/DOC-26297

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Software Orientation : Dashboard• The Dashboard is a customizable display and control utility you can use

to read the current status of controllers, sensors, motors, and more

Set Up

Controller Inputs& Motor Status

Different Tabs for More Functionality

New Record and playback featureCamera View

Learn how to add your own features: https://decibel.ni.com/content/docs/DOC-26296

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Software Orientation : cRIO Imaging Tool• This utility allows you to set up your

cRIO controller

Set Up

Connect to I/O using the sidecar and bumper boards

Connect to your computer via ethernet

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IP AddressesSet Up

Both the driver station computer and the cRIO need to have unique IP addresses.

IP always end in .2

IP always end in .5

Control Panel>Network&Sharing>Adapter settings>Properties>IPV4

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Step1: From the LabVIEW Getting Started Window, select New >> FRC cRIO Robot Project to create a new LabVIEW project. (Step 0: Open LabVIEW for FRC!)

If you plan to use real hardware the cRIO and D-Link will need to be properly set up before attempting the rest. You could run the project in simulation

Set UpDrive a Robot: Step 1 Open the Template Project

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Step2: Fill in the New Project dialog box. Give the project a meaningful name, use your team number to replace xx.yy in the ip address, and pick the type project you want to make.

Set UpDrive a Robot: Step 2Configure your cRIO Robot Project

Choose the project type that sounds most similar to your robot.

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Step3: To open Robot Main.vi double click on it in the project window. The front panel should launch. Hit Ctrl+E to open the block diagram and look at the code.

Set UpDrive a Robot: Step 3Open the Template Project

The code you need to edit is in the Team Code folder

If you add new Vis be sure they are under the cRIO

To drive your robot open Robot Main

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Step4: If you have a cRIO connected make sure it is selected . If you don’t have an actual robot to drive around you can still simulate one. Select the …lvproj/My Computer target to open the simulator

Set UpDrive a Robot: Step 4Select a Target

Real cRIO(not connected here)

Simulated cRIO

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Step5: Click on the white run arrow at the top left of Robot Main. The robot project will be deployed to the cRIO/Simulator. Once LabVIEW is finished deploying the code you will need to open up the driver station. The LED’s should all be green. Click TeleOp button and then Start.

Set UpDriving a Robot: Step 5Deploy Code

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• Software Set Up Guide• LabVIEW Development Suite for FRC 2014• Imaging cRIO & Windows IP Configuration• Troubleshooting cRIO connections• Driver Station Tutorial• Custom Dashboard Tutorial• Robotics Framework Tutorial• Robot Simulation Tutorial

• Forum Support• NI.com/FRC – year round

• Phone Support• 1(866)511-6285 from 1pm to 7pm (CST) - During build season only

FRC LabVIEW Quick Start

Guide

Set Up

Set Up Resources

All links available atNI.com/FRC

Click

ni.com/FRC

FRC LabVIEW Quick Start Guide

Set Up

LabVIEWBasics

Vision,& PID

Advanced Programming

• What is LabVIEW?

• LabVIEW development environment

• LabVIEW programming fundamentals

• Tools and Troubleshooting

• Teleop and Autonomous Code

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What Is LabVIEW?— A graphical programming environment used to develop sophisticated

measurement, test, and control systems.

LabVIEWBasics

Rich User Interface(Front Panel)

Graphical Drag and Drop Code (Block Diagram)

Powerful built-in analysis libraries and tools

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The LabVIEW EnvironmentLabVIEW

Basics

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Parts of Robot Main.viLabVIEW

Basics

Project Explorer

Front Panel(User Interface)

Block Diagram(Code)

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Project Explorer

LabVIEW file extensions:LabVIEW project —.lvprojVirtual instrument (VI) — .viCustom control — .ctl

LabVIEWBasics

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Parts of a VI – Front PanelThe front panel is the VIs graphical user interface with inputs and outputs.

Controls (inputs) buttons, knobs, slides...

Indicators (outputs) numeric display, graphs, LEDS…

LabVIEWBasics

LED Indicator

Boolean (On/OFF)Control

Numeric Indicator

Slider Control

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Controls PaletteLabVIEW

Basics

Browse Sub-PalettsControl

Pin to keep openRight-Click on Front Panel (not the block diagram) to open the control palette

Search for Controls

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Parts of a VI – Block DiagramThe block diagram is the code for each VI. In LabVIEW graphical blocks are connected with wires to control the execution.

LabVIEWBasics

Function

Loop

Terminal(Front Panel Objects)

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Functions PaletteLabVIEW

Basics

•Right-Click on the Block Diagram (not the front panel) to open the functions palette

•Contains the VIs, functions, and constants you use to create the block diagram.

•FRC Specific Palettes include the WPI Robotics Library, FIRST Vision, and PID

Search for functions by name

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Same Name

TerminalsTerminals allow you to read and write to front panel controls and indicators.

LabVIEWBasics

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Dataflow Programming

• Order of execution is controlled by how the wires are connected

• Each function will execute when all of the inputs are ready.

• Parallel code executes at the same time

Turn on Highlight Execution

LabVIEWBasics

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LabVIEW Toolbar• The tools you need to run, debug, clean up and edit your code

LabVIEWBasics

Run Tools Front Tool Arrange Tools

Debug Tools

Clean UpBroken Arrow(Errors found)

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Wires (Data types)

• Wires transfer data between block diagram objects.• Wires are different colors, styles, and thicknesses, depending on their

data types.

Scalar

Floating-pointnumber

Integernumber

String Boolean

1-D Array

2-D Array

LabVIEWBasics

Broken Wire(type mismatch)

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Wires (Data Types)• Here are some other examples of wires in LabVIEW

• Floating point• Integer• Boolean• String• Array – note wire thickness• Cluster (group of other datatypes)

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Loops• Allow same piece of code to run multiple times• Exit conditions different for each

While Loop For Loop

Run until stop condition met

Run N times

Iteration Counter

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Troubleshooting: Driver Station Diagnostics

• The Diagnostics tab in the FRC Driver Station can display important warning and error messages for troubleshooting

LabVIEWBasics

Reboot cRIO

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Context Help

• Displays basic information about wires and nodes when you hover over with your mouse.

• Turn Context Help On/Offo Click the yellow ? on the top right

corner of your VIo Press <Ctrl-H>o Select Help»Show Context Help

from the LabVIEW menu.

LabVIEWBasics

Click for more info

Click ? To Open Context Help

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LabVIEW Help

• Contains detailed descriptions and instructions for most palettes, menus, tools, VIs, and functions.

• Open LabVIEW Help by− Selecting Help»LabVIEW Help from

the menu

− Clicking the Detailed help link in the Context Help window

− Right-clicking an object and selecting Help from the shortcut menu.

− Press F1

LabVIEWBasics

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Find Examples

• Find FRC templates in the Support Tab>>Find FRC Examples…

• Or Help>>Find Examples and browse to the FRC Robotics Folder

LabVIEWBasics

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Debugging: Correcting Broken VIs

Broken Run arrow VI cannot be compiled VI cannot be executed

LabVIEWBasics

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Debugging: Probes• Use the Probe tool to observe intermediate data

values and check the error output of VIs and functions, especially those performing I/O.

• Specify to retain the values in the wires so that you can probe wires for data after execution.

LabVIEWBasics

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Breakpoints• When you reach a breakpoint during execution, the VI pauses

and the Pause button appears red.• You can take the following actions at a breakpoint:

• Single-step through execution using the single-stepping buttons.• Probe wires to check intermediate values.• Change values of front panel controls. • Click the Pause button to continue running to the next breakpoint or

until the VI finishes running.

LabVIEWBasics

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Telop Code

Begin.vi Teleop.vi Finish.vi

When Modifying The FRC Robot Project Template, do not modify Robot Main.vi

Modify the code within the Team Code Folder within the ProjectThis code is called upon in Robot Main.vi

LabVIEWBasics

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Autonomous Code• Similar to Teleop, Autonomous executes code by references

Begin.vi Autonomous Independant.vi

LabVIEWBasics

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• Learn LabVIEW - Video Training• LabVIEW Environment Overview• Creating custom controls• LabVIEW Dataflow• LabVIEW Tools• LabVIEW Data Structres• LabVIEW Debugging• WPI Library Overview

• Forum Support• NI.com/FRC – year round

• Phone Support• 1(866)511-6285 from 1pm to 7pm (CST) - During build season only

FRC LabVIEW Quick Start

Guide

Set Up Resources

All links available atNI.com/FRC

Click

LabVIEWBasics

ni.com/FRC

FRC LabVIEW Quick Start Guide

Set Up

LabVIEWBasics

Vision,& PID

Advanced Programming

• NI Vision

•PID Control

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FRC LabVIEW Quick Start Guide

Set Up

LabVIEWBasics

Vision,& PID

Advanced Programming

•Customizing Dashboards

•Dashboard Record and Playback

•Event Error Logs

•Performance

•Autonomous Strategies