Table of Contents - NO GEARS, NO GLORY!€¦ · General roboRIO Overview What is a roboRIO? A...

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1

1.1

1.2

1.3

1.4

1.5

1.6

2

2.1

2.2

2.3

2.4

3

3.1

3.2

3.3

3.4

4

4.1

4.2

4.3

5

5.1

5.2

5.3

5.4

6

6.1

6.2

TableofContentsIntroduction

TheroboRIO

GeneralroboRIOOverview

ConfiguringtheroboRIO

ConnectingtotheroboRIOWirelessly

UploadingCodetotheroboRIO

TheCANBus

TheRobotSignalLight

ThePowerDistributionBoard(PDP)

ThePDP

120ACircuitBreaker

TheVoltageRegulatorModule

ThePowerConverter

TheD-Link

ThePhysicalLayer

AutomaticConfiguration

ManualConfiguration

TroubleshootingtheD-Link

DriverStation

Introduction

TheInterface

PrintingtoDriverStation

ACrashCourseonC++

Variables

Functions

ObjectUsage

TheJoystick

MotorControllers

GeneralOverview

Motors

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2

6.3

6.4

6.5

6.6

6.7

6.8

7

7.1

7.2

7.3

7.4

8

8.1

8.2

8.3

8.4

9

9.1

9.2

10

10.1

10.2

10.3

11

11.1

11.2

11.3

12

12.1

13

Jaguar

Victor888

Talon

TalonSRX

Spike

Fans

DriveCode

BoxonWheels

BoxonWheelsTemplatevsCustomProgram

CustomProgram(TankDrive)

CustomProgram(MecanumDrive)

Sensors

roboRIOAccelerometer

Microswitch

OpticalEncoder

Gyro

Camera

Hardware

SettinguptheCamera

LiveFeed

TheCode

UsingNIVisionAssistant

DevelopingCameraCode

Pneumatics

ThePhysicalLayer

PneumaticsCircuit

PneumaticsCode

Appendixes

AppendixA:GeneralWiringDiagram

Changelog

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3

TheElectricalBible-Beta

WelcometoourElectricalFIRSTopedia!

WecreatedthisguideinhopesofcombiningabasicunderstandingofalltheelectroniccomponentstheFRCrobotusesintoonecohesiveandcomprehensiveguide.ThisguidewasmadewiththepowerofGoogleDocs,GitBook,ourphones’camerasandendlessGooglesearches.

Thisguidehasbeenupdatedtoincludethe2015controlsystem.Ourolderdocumentcanbefoundhere,andincludesdocumentationonthecRIO.

SomethingtonoteisthatweprograminC++,soreferencestoclasseslike“Encoder”andoursamplecodesarewritteninC++.However,classesareinterchangeableinJavaandC++,andtherearetopicscoveredinthisguidethatarenotlanguage-exclusiveliketheroboRIOandtheDriverStationitself.Wehopethisisguideservestobeusefulforyou!

Team2853Electrical/ProgrammingTeam

IfyouareviewingthisonGitHub,pleaseusetheGitBooklink:https://mililanirobotics.gitbooks.io/frc-electrical-bible/content/index.html

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4Introduction

https://docs.google.com/document/d/1VjkKHTcF8Ad7jFQ6UhMruWDiEiJPYaobDACFQO4vjQI/

https://mililanirobotics.gitbooks.io/frc-electrical-bible/content/index.html

1.TheroboRIO

1.1GeneralroboRIOOverview

➠WhatisaroboRIO?

➠Connectors

➠WiringDiagram

1.2ConfiguringtheroboRIO

➠Installing/UpdatingNewFirmware

➠Imaging/ReimagingaroboRIO

1.3ConnectingtotheroboRIOWirelessly

1.4UploadingCodetotheroboRIO

1.5TheCANBus

➠Introduction

➠WiringtheCAN

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5TheroboRIO

GeneralroboRIOOverview

➠WhatisaroboRIO?

AroboRIOisamorerecentversionofthecRIO(compactReconfigurableInput/Output)thatwasintroducedtoFRCteamsinthe2015season.Itisafaster,smaller,andmorepowerfulversionofthepreviouscontroller.LikethecRIO,itactsasthebrainoftherobot,andconnectstoaD-Linkrouterusinganethernetcable.Additionally,theroboRIOcombinesthefunctionsofthedigitalsidecarincludingthedigitalandanalogmodulesofthepreviouscontrolsystem.TheroboRIOismorerobustthanthedigitalsidecar,andisprotectedfromshortsbetweenitsexternalpins.

Specs

BasicOverview

Dual-CoreARMCortex667MHzprocessor256MBRAM512MBNANDstoragememoryLinuxOperatingSystemwithreal-timeextensionsSupportsLABVIEW,C++,andJava

Physical/ElectricalCharacteristics

6.8Vto16Vinputpower(stagedbrownoutfrom4.5Vto6.8V)3.3Vuseroutput(with1.5Amaximum)5Vuseroutput(with1Amaximum)6Vservooutput(with2.2Amaximum)Operatingtemperature0°C-40°CStoragetemperature-20°C-70°C5.7inchesby5.6inches,weighs12ouncesI/OandCommunicationPorts

10dedicatedPWMchannels

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6GeneralroboRIOOverview

10DIOdedicatedchannels4bi-directionalRelayControlchannels2USBHostports1USBDeviceport1Ethernetport1CANPort1Integrated,3-axisaccelerometer12VRobotsignallightchannel

➠Connectors

WeidmullerConnectorsareusedtosupplypowertotheroboRIO,PCM(PneumaticControlModule),andVRM(VoltageRegulatorModule).Theconnectoracceptswiregaugesfrom16AWGto24AWG.WirescanbeinsertedintoorremovedfromtheWiedmullerconnectorbypushingdownonthewhitetabusingatinyflathead.

➠WiringDiagram

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Notes:

TheCANPortsontheroboRIOareusedtoconnecttothePCMandPDPTheroboRIOisconnectedtothePDPthroughitsinputpowerports.DonotconnecttheroboRIOdirectlytotherobotbattery.TheUSBDeviceportcanbeusedtoconnecttoacomputertoupdatetheroboRIOfirmwareandtoreimagetheroboRIO.TheLEDsindicatethecurrentstatusoftheroboRIO.TheroboRIOcanbemountedusingzip-tiesthroughthemountingfeatures.PleaseseetheAppendixforanexamplewiringofthewholecontrolsystem.

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ConfiguringtheroboRIOBeforeabrandnewroboRIOcanbeputintoaction,youmustfirstinstallthelatestroboRIOfirmwareandthenre-imagethesoftwareusingthelatestversion.Beforeyoubegin,ensurethattheNI(NationalInstruments)suiteisupdated.TheNIupdateaswellasinstructionsfordownloadingitcanbefoundbelow:https://wpilib.screenstepslive.com/s/4485/m/13503/l/144150-installing-the-frc-2015-update-suite-all-languages

➠InstallingandUpdatingtheroboRIOfirmware

PriortotheimagingoftheroboRIO,thefirmwareontheroboRIOmustbeupgradedtothelatestversion.Thisprocesswillprovidethebootloader,safemode,andfirmwarefortheroboRIO.Whileitispossibletodothisusinganethernetconnection,itisnotrecommended.Thefirmwarecanbeupdatedusingyoursystem’swebbrowserinthefollowingsteps:

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9ConfiguringtheroboRIO

https://wpilib.screenstepslive.com/s/4485/m/13503/l/144150-installing-the-frc-2015-update-suite-all-languages

1. Asshownintheelectricallayoutbelow,connecttheroboRIOtoyourcomputerusingaprinterUSBcableandsupplypowertotheroboRIO.

2. Thedrivershouldinstallautomatically.Oncethedownloadiscomplete,openawebbrowseronyourcomputer.

3. Intheaddressbarofthewebbrowser,type“172.22.11.2”andpressenter.

4. Clicklogin.“admin”willbetheusernameandleavethepasswordfieldblank.Then,click“UpdateFirmware”

5. LookfortheroboRIO(.cfgfileinyourNationalInstrumentsfolder.Thedefaultlocationofthisfileisunder“ProgramFiles\NationalInstruments\Shared\Firmware\cRIO\76F2”

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6. Click“BeginUpdate”

➠ImagingandReimagingtheroboRIO

TheroboRIOImageloadstheFPGA,operatingsystem,linuxfilesystem,anddefaultsettingsfortheroboRIO.NowthattheroboRIOhasthelatestfirmwareinstalled,itisnowpossibletoimagetheroboRIOinthefollowsteps:

1. EnsurethattheroboRIOisstillpoweredfromthePDP(PowerDistributionPanel)andisstillsecurelypluggedintothecomputerusingaprinterUSBcable.

2. LookfortheroboRIOImagingtool(.exefile)asshownbelow.ItislocatedwithintheNationalInstrumentsfilefolder,anditsdefaultlocationis“NationalInstruments\LabVIEW2014\project\roboRIO”

3. Doubleclicktorunthe“roboRIO_ImagingTool.exe”application,andthetheinterfacewillattempttoidentifyconnectedroboRIOdevices.

4. Enteryourteamnumberunder“SystemInformation.”SelectthelatestversionoftheroboRIOImage(indicatedbythehighestversionnumber)andthenameoftheroboRIOyouintendtoimage.

5. SelecttheFormatTargetoptionbutmakesurethattheConsoleOutandDisableRTStartupAppoptionsarenotselected.Click“Reformat”

6. OncetheImagingiscomplete,click“OK”onthecompletionmessageandRebootthe

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roboRIOusingtheResetbutton.

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ConnectingtotheroboRIOWirelessly1. ChangetheIPaddressandsubnetmaskofyourcomputer.TheIPaddressshouldbe

“10.xx.yy.100”,withxxandyybeingyourfourdigitteamnumber,andthesubnetmaskshould“255.0.0.0”

2. Connecttotheteam’swirelessrouter.It’sthateasy!

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13ConnectingtotheroboRIOWirelessly

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14ConnectingtotheroboRIOWirelessly

UploadingCodetotheroboRIOWiththeintroductionoftheroboRIOtoFRCteamsin2015,uploadingcodetotherobotismadeeasy!Here’sthesteps:

1. Establishanetworkconnectiontoyourrobotnetwork.Onyourcomputer,gotoyournetworkconnectionsandconnecttotherouterthatisconnectedtotheroboRIO.Don’tworryifyou’realreadyconnectedtoanothernetwork,asyouwillautomaticallydisconnectfromthatnetworkconnection.

Connectingtoanetwork

2. BuildyourProject.Clickthe“Project”optionandthenclick“BuildProject.”TouploadcodetotheroboRIO,itisonlynecessarytobuildtheprojectforuploadingcodethathasn’tbeenbuildinthepastorwasmodified,butit’sagoodhabittoalwaysbuildyourprojectsbeforeuploadingthemtotherobot.Therefore,werecommendedhavingyour

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15UploadingCodetotheroboRIO

projectsbeforeuploadingthemtotherobot.Therefore,werecommendedhavingyour“BuildAutomatically”settingenabled.

BuildinganEclipseproject

3. Runyourcode.PressCtrl+F11,andwhenpromptedhowyouwouldliketorunyourcode,selectthe“WPILibC++Deploy”optionandpressOK.Nowyou’redone!WaitfortheDriverStationtoshowthatcommunicationshasbeenestablished,andyou’llbeonyourwaytotestingyourcode!

Runningyourcodeusing“WPILibC++Deploy”

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TheCANBus

➠IntroductionAsofthe2015FRCgame,RecycleRush,teamsarerequiredtousetheCANbusontheroboRIOwhenconnectingtothePCM,PDP,TalonSRXs,andJaguars(R60-62).

ThissectionwillnotgooverhowtouseCANontheTalonSRX(youcanreadCTR’sTalonSRXUserguide)ortheJaguar,becauseourteamdoesnothaveexperiencewiththeseitems.

ByconnectingthecontrolsystemtogetherwithCAN,thePDPandPCMcancommunicatewitheachother.ThePDPprovidesmonitoringforeachofitsoutputs.AmainadvantageofthissystemisthatcompressorsandpressureswitchesnolongerneedtobeconnectedtoaRelaySpike.

➠WiringtheCAN

Whenwiring,werecommendtwistingthetwowirestogether.Therearenospecificbusesforinput/outputbutbyconvention,weusetheleftbusasinputandrightbusasoutput.

IfyouarenotusingtheroboRIOorPDPasterminalsfortheCANchain,terminatetheCANchainbyinsertinga120ΩresistorintotheWeidmullerterminals.

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18TheCANBus

TheRobotSignalLight

➠IntroductionTheRobotSignalLight(RSL)ismandatoryduringcompetitionandactsasasignaltowhethertherobotisconnectedtotheFCS,inteleopmode,etc.

➠WiringtheRSL

AseparatewireactsasajumperbetweenLaandLb.ConnectLato'S'andNtoGroundontheroboRIO.

➠RSLIndicators

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19TheRobotSignalLight

LightCode Meaning

SolidON Autonomousenabled

SolidONbutblinksoffevery1.5sec

Teleopenabled

Slowblink(900msON/900msOFF)

Systemdisabledbysystemwatchdog,userwatchdog,ordriverstationsettodisabled

Fast-slow(200msON/900msOFF)

Lowbattery(<12V)ornousercodeANDsystemdisabledeitherbysystemwatchdog,userwatchdog,orDriverStationsettodisabled.

Fast(200msON/200msOFF)

Systemerror;noDriverstationcommunication;badcRIOimage,badteamID,extensivecommunicationerrors

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20TheRobotSignalLight

2.ThePDP

2.1ThePDP

➠Wiring

2.2120ACircuitBreaker

2.3TheVoltageRegulatorModule

➠Wiring

2.4ThePowerConverter

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21ThePowerDistributionBoard(PDP)

ThePDP

ThePDPisaneweriterationofthePDBthatwasintheKitofPartsgiventoteamsinthe2015FRCseason.ThemaindifferencebetweenthetwoisthatthePDPisslightlysmaller,lighter,andhasupdatedconnectors,whichincludestheWeidmullerConnectorsusedontheCANbus.Ingeneral,thePDPservesthesamefunctionasthePDB,distributingpowertothesystem,butisimprovedtobetterreflecttheupdatesmadetotherestofthecontrolsystem.

Specs

Dimensions:7.586”x4.748”x1.442”tall(rough)Weight:1lband5.3oz4Mountingholes(oneateachcorner,smallerthan1/4-20andlargerthan10-32fasteners)Connectors

MainBatteryInput2BushinglugsThreadM6x1(size6mm)

PowerChannels(0-15)

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22ThePDP

8Red/8BlackWAGOConnectors30AmpChannels(4-11)8Red/8BlackWAGOConnectors40AmpChannels(0-3,12-15)6PositionWeidmullerConnectors(accept24-16AWG)

1x20ampfuse(usedforPCMandVRM)1x10ampfuse(usedforRoboRIO)

8x20/30ampThermalBreakerbySnapActionslots(channels4-11)8x40ampThermalBreakerbySnapActionslots(channels0-3,12-15)CAN

4PositionWeidmullerConnectors2YellowCANHigh2GreenCANLow

StatusLightsBothLightsarealwaysthesamecolor/blinkingpatternwiththeexceptionofbootingupFastGreenBlink-RobotisenabledSlowGreenBlink-RobotisdisabledSlowOrangeBlink-Robotisdisabled&StickyFaultpresent(lowvoltage,<6.5VSlowRedBlink-NoCANcommunicationBootStatuslights(COMMLEDonly)

Green/OrangeBlink-Deviceisinboot-loader/Field-upgradenecessaryBothLEDsoff-DeviceisNOTpowered

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23ThePDP

120ACircuitBreakerCurrentlyneedstobedocumented.

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24120ACircuitBreaker

TheVoltageRegulatorModule

➠GeneralVRMOverview

Imagecourtesyofhttp://khengineering.github.io/

➠WhatisaVRM?

TheVoltageRegulatorModule(VRM)isanewcomponentintroducedinthe2015FRCseasonaspartoftheKitofParts.Thisreplacesthe12Vand5VregulatorandspecialprotectedandunprotectedpoweroutputsontheoldPDB.ThepurposeoftheVRMistoactasaDCtoDCconverter,andbothboostandbuckvoltageregulation.TheVRMisrequiredwhenusingcomponentsthatrequirespecialprotectedpower.

Specs

Dimensions:2.220”x2.030”x0.784”Tall

Weight:1.8oz

4mountingholes(oneateachcorner,6-32fasteners)

Connectors(alluseWeidmullerconnectors,accepting24-16AWG)

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25TheVoltageRegulatorModule

http://khengineering.github.io/

4xconnectorsforregulated12V/2Amaxsurge/1.5Alimitpoweroutput

4xconnectorsforregulated12V/500mAmaxsurgepoweroutput

4xconnectorsforregulated5V/2Amaxsurge/1.5Alimitpoweroutput

4xconnectorsforregulated5V/500mAmaxsurgepoweroutput

2xconnectorsforunregulated12Vinput

StatusLights

5V/500mAStatusLEDOn-5VchannelsarepoweredOff-Breakerhastripped

12V/500mAStatusLEDOn-12VchannelsarepoweredOff-Breakerhastripped

LEDsnotaffectedwhen2Achannelsarelimited

Flickering-Lowvoltage(<4V)

➠Wiring

AllportsuseWeidmullerconnectors,accepting24-16AWG

Note:Therearetwoseparatepowersupplies,12Vand5V.ThereisjustenoughpowertorunbothaD-LinkandCameraonthe5Vrail,butyoumayneedtouseaseparate12Vto5Vadapter.

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26TheVoltageRegulatorModule

ThePowerConverter

Althoughwehavethevoltageregulatormodule,ifyouarelookingtopower>1camera,youwillneedapowerconvertersothecameracanoperateunderit'snecessaryvoltage.ThepowerconverterplugsintothePDPwitha20Acircuitbreaker.

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27ThePowerConverter

WiringthePowerConverter

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28ThePowerConverter

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29ThePowerConverter

3.TheD-Link

3.1ThePhysicalLayer

➠Introduction

➠TheVoltageRegulatorModule

3.2AutomaticConfiguration

➠2015ConfigurationPrerequisites

➠FRCConfigurationBridgeUtility

3.3ManualConfiguration

➠Setup:LANSettings

➠SetaDeviceName

➠SettheLANConnectionType

➠ConfiguretheIPv4Address,SubnetMask,andDefaultGateway

➠WirelessSettings

3.4TroubleshootingtheD-Link

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30TheD-Link

ThePhysicalLayer

➠Introduction

WecontroltherobotthroughaLogitechgamepadcontroller.Generally,wewouldn’twanttofollowtherobotaroundwithanethernetcable,sowesolvethisproblembyconnectingwirelessly.WeusetheD-Linkasamediumtocommunicatewiththerobotinthisfashion.

➠TheVoltageRegulatorModuleAsofthe2015FRCgame,RecycleRush,theDLinkisrequiredtobepoweredbythe5V/2AAKA“Radio”portontheVoltageRegulatorModule.YoucanreadmoreaboutittheThePowerDistributionPanelsection.

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31ThePhysicalLayer

TheD-Linkitselfisconnectedtoapoweradapterthatis:

5VOutputPowerCabletoD-LinkModelNo:AMS3-0502000FU

Barrel5.5/2.1mm

AndyMark-PowerConverter|

TheD-LinkconnectstothecRIOviaaStandardCAT-5EthernetCable.Itcanalsoactasthe“middle-man”withanEthernetcableconnectingtotheDriverStationlaptop.

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32ThePhysicalLayer

http://www.andymark.com/product-p/am-0899.htm

MakesuretherouterhaspowerMakesuretheethernetcablesarepluggedinsecurely(onbothends)

NOTE:Itdoesn’tmatterwhichLANPortstheethernetcablesarepluggedinto.However,byconventionweusuallymakesurethattheroboRIOconnectstoport2andacomputerplugsintoport1.

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33ThePhysicalLayer

AutomaticConfiguration

➠2015ConfigurationPrerequisites1. MakesurethattherouterisswitchedtotheAccessPointmodeyourequest(2.4Ghz,

5.0Ghz,Bridge).Asettingof2.4GhzisappropriateformostFRCteamsandshouldbeusedasthedefault.

2. EnsurethatyourcomputerhasJavainstalled.Ifyou’reunsureorneedtocheckordownloadtheJavasoftware,usethislink:http://www.java.com/en/download/index.jsp

3. AlsoensurethattheNISuiteisupdated,whichincludestheFRCBridgeConfigurationUtilitytoconfigurearoutertouseinFRC.TodownloadtheNewFRCSoftware,usethislink:http://wpilib.screenstepslive.com/s/4485/m/13503/l/144150-installing-the-frc-2015-update-suite-all-languagesNOTE:Toresettherouterpressandholdtheresetbuttonfor30secondstoperformafactoryresettowipeanypreviousconfigurations

➠FRCBridgeConfigurationUtilityNOTE:Iftherouterisnotbrandnew,itisnotnecessarytopressandholdtheresetbuttonfor30secondstoperformafactoryresettowipeanypreviousconfigurationsbecausetheFRCsoftwarewilldosoforyou.

1. TurnofftheWifionyourcomputer2. Makesurethephysicallayerontherouterissetupproperly.3. LaunchtheFRCBridgeToolsoftware.ItislocatedundertheNationalInstruments

folder,anditsdefaultlocationisC:\ProgramFiles\NationalInstruments\LabVIEW2014\project\FRCBridgeConfigurationUtility.exe

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34AutomaticConfiguration

http://www.java.com/en/download/index.jsp

http://wpilib.screenstepslive.com/s/4485/m/13503/l/144150-installing-the-frc-2015-update-suite-all-languages

4. UndertheNetworkInterfacespopupfromtheBridgeConfigurationUtility,Select“LocalAreaConnection”andpressOK.Iftherearenonetworkinterfacesshown,clicktherefreshbutton.

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5. UndertheFRCBridgeConfigurationUtility,TypeinyourFRCteamnumberaswellasapasswordtobesetunderthesectionfor“WPAKey.”EnsurethattheRadiooptionissettoDAP1522RevB,andthattheModeoptionissettothecurrentprerequisitesetting(defaultof2.4GHzAccessPointshouldbeused).Nowclick“Configure.”

6. WaituntiltheConfigurationProgressiscomplete,andthenpressOKonceitisdone!NotethattherouterSSIDcanbeconfiguredthroughtheD-Linkap

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ManualConfiguration

1. Openupyourwebbrowser(Firefox,Chrome,etc.)2. Intheaddressbar,typeintheIPaddressoftherouter.It’seither:

192.168.1.1,thedefaultIPaddress8OR10.xx.yy.1,wherexxisthefirsttwodigitsofyourteam’s#(itcanbeonedigitifyourteamhasathree-digit#)andyyisthelasttwoORtypeindlinkap/andhitenter.

3. You’llgetapromptfortherouternameandpasswordliketheoneshownbelow.Onabrandnewrouterorarouterthatwasreseted,thelogininfowillbethis:UserName:AdminNoPassword(bydefault)

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➠SetaDeviceName:Teamxxxx-yxxxx=Yourteamnumbertoavoidconfusion.y=Arbitrarybutuniquenumbertoyourroutertoavoidconfusion.Youshouldbaseitonthenumberofroutersyourteamowns.ExampleDeviceName:Team2853-1➠SettheLANConnectiontype:“StaticIP"➠ConfiguretheIPv4Address,SubnetMask,andDefaultGatewayIPAddress:10.xx.yy.1xx.yy=YourTeamNumberxxcanbothbetheonedigitifyourteamhasathree-digitnumberExampleIPAddress:10.28.53.1SubnetMask:255.0.0.0DefaultGateway:10.28.53.4

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➠WirelessSettings

EnableWireless:CheckmarktheBoxSettoAlways

WirelessNetworkName:Nameitto(whateveryouwant)

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WirelessSecurityMode:SecuritytoWPAPersonalWPAmodetoWPA2OnlyCipherTypetoAESPre-sharedkeyistheNetworkSecurityKey

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ManualConfiguration1. Openupyourwebbrowser(Firefox,Chrome,etc.)2. Intheaddressbar,typeintheIPaddressoftherouter.It’seither:

192.168.1.1,thedefaultIPaddressOR10.xx.yy.1,wherexxisthefirsttwodigitsofyourteam’s#(itcanbeonedigitifyourteamhasathree-digit#)andyyisthelasttwoORtypeindlinkap/andhitenter.

3. You’llgetapromptfortherouternameandpasswordliketheoneshownbelow.Onabrandnewrouterorarouterthatwasreseted,thelogininfowillbethis:

UserName:Admin

NoPassword(bydefault)


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42ManualConfiguration

➠SetaDeviceName:Teamxxxx-y

xxxx=Yourteamnumbertoavoidconfusion.

y=Arbitrarybutuniquenumbertoyourroutertoavoidconfusion.Youshouldbaseitonthenumberofroutersyourteamowns.

ExampleDeviceName:Team2853-1

➠SettheLANConnectiontype:“StaticIP”

➠ConfiguretheIPv4Address,SubnetMask,andDefaultGateway:

IPAddress:10.xx.yy.1xx.yy=YourTeamNumber

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xxcanbothbethefirstdigitifyourteamhasathree-digitnumberExampleIPAddress:10.28.53.1SubnetMask:255.0.0.0DefaultGateway:10.28.53.4

➠WirelessSettings

(red)EnableWireless:

CheckmarktheBoxSettoAlways

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(green)WirelessNetworkName:

Nameitto(whateveryouwant)-youmaywanttoimplementanamingsystemsoyoudon'tgetmultipleroutersconfused.

(blue)WirelessSecurityMode:

SecuritytoWPAPersonalWPAmodetoWPA2OnlyCipherTypetoAESPre-sharedkeyistheNetworkSecurityKey

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TroubleshootingtheD-LinkEnsurethatallnecessarycables(Powerand/orEthernetcables)arepluggedinsecurely.Ensurethattheswitchonthebackoftherouterissetto“AP2.4GHz”unlessyouhavespecificallysettherouteranditsconfigurationtoadifferentmode.EnsureyourrouterisnotlabeledBROKENwithelectricaltape.(Teamspecific)Tryresettingthepowerontherouter.Removeitspowersource,wait10seconds,thenplugthepowercablebackin.Sometimeswizardscomeandmagicallyfixtherouterwhenyoudothis.Trypoweringthroughanoutletusingthepoweradapterthatcamewithyourrouter.Tryresettingtherouter’sdata.Getatoothpickorsomeotherthinobject,thenuseittoholdtheresetbuttondownfor10seconds.Waitabout30secondsforittoreboot.Then,refertotheinitialconfigurationprocessabove.Routersdobreakdownanditspossiblethatit’ssimplybusted.However,thesethingsareexpensivesomakesureit’sbrokenbeforedeclaringthatyouneedtogetanewone.

AdditionalResources

GettingStartedwiththe2015ControlSystem

WPILib-GettingStartedwiththe2014FRCControlSystem

GettingStartedwiththe2013FRCControlSystem

D-LinkDAP-1522UserManual

AndyMarkProductPage

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46TroubleshootingtheD-Link

http://www.google.com/url?q=http%3A%2F%2Fwpilib.screenstepslive.com%2Fs%2F3120%2Fm%2F8559%2Fl%2F91405-programming-your-radio-for-home-use&sa=D&sntz=1&usg=AFQjCNFLhBihSjsyFtyx-v0KWLbu8OZgOw

http://wpilib.screenstepslive.com/s/3120/m/8559

http://www.mililanirobotics.org/Documentation/electrical/2013FRCControlSystem.pdf

http://www.mililanirobotics.org/Documentation/electrical/DAP-1522%20User%20Manual.pdf

http://www.andymark.com/DAP-1522-REV-B-p/am-0839.htm

4.DriverStation

4.1Introduction

4.2TheInterface

➠MainDisplay

➠OperationTab

➠DiagnosticsTab

➠SetupTab

➠Power&Can

➠Messages&Charts

4.3PrintingtotheDriverStation

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47DriverStation

IntroductionThisisyourinterface--neat,organizedsimplicity.Itisn’tnecessarytoknowhowtowritecodeinordertousetheDriverStation,yousimplyneedtoknowthefollowing:

1. Howtodeploycode(connectingtotherobotisagiven)

2. Whatdeployedcodedoes

ThisistheprogramthatallowstototestanduseyourcodeonFRCcomponents.TheDriverStationisthemiddle-manbetweenyouandtherobot!,thisisyourmiddlemanbetweenyourcodeandtherobot!

DriverStationdefinitelygotanupdate:revisedappearance,morefeatures,what’snottolove?TogetherwecanrelearnthisadjustedDriverStation,itshouldn’tbeallthatdifferentcomparedtoitslastiteration,dependingonhowyoulookatit.

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48Introduction

TheInterface

➠MainDisplayThisdisplayisindependentfromthesectionsleftandrightofthisdisplay,itwillalwaysbeinview(whileDriverStationisopenofcourse)evenifyouswitchtabsontheDriverStation(SeeTabSelection,alsoCharts&Messages)

1. YourTeam#,thiscanbeconfiguredpersonallyintheSetupTab(SeeTabSelectionSection:➠SetupTab)

2. CurrentvoltageofthebatteryinV(volts)hasavisualindicatortotheleftintheformofapictorialrepresentationofabattery(fillslikeabartorepresentamountofcharge).

3. LightsindicatingtheDriverStation’sstatusondetectingit:Redmeansthereisnoconnection,greenmeansaconnectionhasbeenestablished.Ifyouhoverovereachofthe3lines,atroubleshootingmessageappearsinthemessagestab(SeeCharts&Messages)iflightisred.

4. Displayscurrentmodeenabledordisabledunlessthefirsttwolightsarered,inorder,“NoRobotCommunication”,“NoRobotCode”(SeeTabSelection:➠OperationTabformodes)

➠TabSelection

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49TheInterface

Redboxesindicatetabselectionandthehighlightedtabisthecurrenttab,intheblueboxisthecurrentlydisplayedtab(automaticallydisplaysOperationsTabwhenDriver

➠OperationTab

1. Thedepressedbuttoniswhatstatetheperiodisin;canpress[]\toquicklyenable,canpressEnterbuttontoquicklydisableifthefirsttwolightsinMainDisplayarelit(Communications&RobotCode)

2. Availablemodes,currentmodeisdepressed(Teleoperatedbydefault),youcanswitchmodesbyclickingoneofthe3buttons

3. NEW:VisualindicatorofyourPCCPU%usageElapsedTimesinceyouclicked“Enable”untildisabled

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50TheInterface

➠DiagnosticsTab

1. WhattheDriverStationhascommunicationswith;ifpluggedthroughEthernetdirectlytosomething(routerorroboRIO),EnetLinkwilllightup.DSRadioisalegacyindicatorofpingstatusofanexternalradioat10.TE.AM.4(ComparedtolastDriverStation,thislightwillusuallynotbelitexceptunderspecificcircumstances[TESTING])Bridgewillbelitifconnectedtotherouter,RobotwillbelitifitcancommunicatewiththeroboRIO.FMSshouldbelitifatcompetitionsinceitismandatorytocommunicatewiththeFieldManagementSystem.Ifunlit,youcanhoveroverthemfortroubleshootingtipsinthemessagesbox(SeeMessages&Charts)

➠SetupTab

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51TheInterface

1. Configureyourteam#here,clickontheboxtypeitinandboom

2. PracticetimingcontrolshowlongCountdowntillstartofeachperiod,Autonomous,Teleoperated,andhowlongendgameis.DelayishowmuchtimeisinbetweenAutonomousandTeleoperated.

3. Typeofdashboardyouwanttobringup,defaultautobringsupFRCPCDashboard(ScreenStepsacknowledgesanissuewithsettingDashboardtypetoJavaorC++sotostartuptheSmartDashboardwouldrequiresettingthedefaulttoSmartDashboard),LabviewbringsupFRCPCDashboard,C++andJavashouldbringupSmartDashboard,andremoteisifthedashboardisonaseparatecomputer/device

4. FieldManagementSystemprotocol,protocolforDStoFieldManagementSystemcommunication;shouldbeautosetto‘15whichrequiredfor2015competition.Unlessyouwereparticipatinginweekzeroeventsin2014,thiswon’thavetobetouched

➠USBDevicesTab

1. USBSetuplistholdsallcompatibledeviceshookeduptotheDriverStation(AKA,Laptop,usually2,butwithUSBsplitter,youcanconnectmore)Ifyoupressabuttononaconnecteddevice,itshouldbeprecededbytwoasterisks(**)andhighlightedingreen.TherescanbuttonforcesasearchoforforUSBdevices.Whiledisabled,itautomaticallyupdatesUSBdevices.UsetherescanbuttonorpressF1toforcesearchduringamatch.

Locking&Rearranging

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52TheInterface

1. TorearrangeUSBdevices,drag&drop.Whenyoudrag&dropordoubleclickononeofthedevices,itunderlinesthedevicemeaningitis“locked”Lockeddevicesreservetheslotevenwhiledisconnecteduntilreconnected,representedbygreyedoutandunderlined.

➠Power&CAN

1. AmountoffaultsthatoccurredsincelastconnectiontoDriverstation;CommsmeanDStorobotcommunication,12VisBrownouts(SeeroboRiofordetails),6V/5V/3.3VareUserVoltageRailfaults(typicallyshortcircuits)

2. Utilization%isasitstatesandtheother4aretypesofCANfaultssincelastconnectiontoDriverStation

➠Messages&Charts

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53TheInterface

1. LogsisanindependentbuttonofthetabsonthissectionoftheDS

2. Clearsallmessagescurrentlyinthebox

3. MessageFilter:Fillediniconfiltersoutwarningsfrombeingpostedinmessagebox,Outlinepostseverything

4. Themessagebox,troubleshootingtipsappearhere,messageswillappearhere

Logs

LoadsuptheDSLogFileViewer,youcanviewmessages&eventdatainonedisplay,atoolusuallyusedfortroubleshooting.Thistoolhasitsownsectiontobeaddedelsewhere.

5.Chartstriptimefordatatorobotwithagreenlinevstherightaxis,lostdatapacketstotherobotisin“blue”vstheleftaxis

6.Graphsbatteryvoltagewithayellowlinevstheleftaxis,roboRIOcpu%usagewitharedlinevstherightaxis

7.Timescaleforthetimeaxisofthegraphs(12s,1m,5m)

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54TheInterface

PrintingtoDriverStationWiththe2015updateoftheDriverStation,amaximumof10linesofstrings(eachallowingfor21characters)canbemanipulatedtoprinttotheDriverStationconsole.NotethattheDriverStationLCDClasswasremovedentirely,andnowprintingisdonethroughtheSmartdashboard.

UnliketheDiverStationLCDprintconsole,itispossibletotypedirectlyintothestringfieldsaswellasreadthesestringswithinyourrobotcode.Someteamsmayfindthisusefulwhentestingtheirrobotcode.

StringscanbesenttotheSmartdashboardprintconsoleusingthefollowingcode:

SmartDashboard::PutString("DB/String0","Thisisastring");

SmartDashboard::PutString("DB/String1","Thisisanotherstring");

SmartDashBoard::PutStringiscallingtheSmartdashboardandallowsyoutosendstringstotheDriverStationprintingconsole.EachlineisassignedanamefromDB/String0toDB/String9fromtoptobottomthenlefttoright.Thesecondsetofquotationscanbemanipulatedtosendvariousstrings.

StringsthatareonorweresenttotheSmartdashboardcanthenberetrievedusingthefollowingcode:

std::stringdashData=SmartDashboard::GetString("DB/String0","myDefaultData"

std::stringdashData=SmartDashboard::GetString("DB/String1","myDefaultData"

HerewearecreatingastringwithinthecodecalleddashDatathatissettothestringthatwasinthefirstandsecondlineontheSmartDashboardprinterconsole.

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56PrintingtoDriverStation

5.ACrashCourseonC++

5.1Variables

➠DefiningVariables

➠Instantiating

➠Constants

5.2Functions

➠ArithmeticFunctions

➠RelationalOperators

➠LogicalOperators

5.3ObjectUsage

➠DefiningObjects

➠InstantiatingObjects

➠UsingMethods

5.4TheJoystick

➠SampleCode

➠Explanation

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57ACrashCourseonC++

VariablesAvariableisalocationinthecomputer’smemorywhichallowsyoutostoreavaluewhichcanlaterbereceived.Variablesareassignednames,whichallowyoutoquicklyandeasilyaccessthelocationinmemorywherethevariable’sdataisstoredwithouthavingtoknowtheactualmemoryaddress.

Whenyoudefineavariable,youmustalsodeclarethedatatypeofthatvariable.Thedatatypeofthevariabledetermineswhatkindofdatathevariableisholdingaswellashowmuchmemorymustbesetasideforthatvariable.Anexampleofadatatypewouldbeanintegerwhichisdeclaredwiththe‘int’command.Integervariablesstorewholenumbervalues.

Differentdatatypesrequireadifferentamountofmemory,butsincetheuseofC++inthiscompetitiondoesnotrequireyoutoknowthedetailstodatatypememoryitwillnotbereviewedinthissection.

ThetablestofollowwereadaptedfromSamsTeachYourselfC++in24Hours.

VARIABLETYPES VALUES

unsignedshortinteger 0to65,535

shortinteger -32,768to32,767

unsignedlonginteger 0to4,294,967,295

longinteger -2,147,483,648to2,147,483,647

integer -2,147,483,648to2,147,483,647

unsignedinteger 0to4,294,967,295

longlong -9.2quintillionto9.2quintillion

char 256charactervalues

boolean trueorfalse

float 1.2e-38to3.4e38

double 2.2e-308to1.8e308

➠DefiningVariablesDefiningavariableisveryeasy.Generally,theformatfordefiningavariableisthedatatypefollowedbythenameyouwanttoassignyourvariablefollowedbyasemicolon.

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58Variables

inttheExample;

booliAmAmazing;

Youmustrememberthattherearerulesandguidelinestonamingvariables.Amongprogrammers,thereispropernamingetiquettewhichallowssomeonewhoisreadingyourcodetoeasilyunderstandwhyyounamedavariableacertainway.Hereisalistofrulesandguidelinestofollowtosuccessfullynameavariable:

Rules:

1. Variablenamescanbemadewithanycombinationofletters

2. Variablenamescannotcontainspaces,symbols,orpunctuationmarks

3. Variablenamesmayincludeunderscores

4. Variablenamescannotbeginwithanumberbutmaycontainanumberelsewhereinthename

5. Variablenamescannotbethesameasreservedkeywords.Seebelowtableforacompletelistingofreservedwords.

6. C++iscasesensitivesokeepthisinmindwhilenamingvariables(intmyIntreferstoadifferentlocationthanintMyIntorintmyint)

Guidelines:

1. Constantsareusuallywritteninallcaps

2. Variablesareusuallystartedwithlowercaseandifanamecontainsmorethanoneword,thefirstletterofthenextwordiscapitalized(eg:intthisIsAnExample)

3. Variablesshouldbenamedsomethingthedescribeswhatthevariableisgoingtobeusedfor

4. Avoidgivingvariableslongnames,itisokaytoabbreviatelongwords

ReservedWords(C++)

alignas(sinceC++11)

alignof(sinceC++11)

and

and_eq

asm

auto(changedinc++11)

bitand

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59Variables

bitor

bool

break

case

catch

char

char16_t(sinceC++11)

char32_t(sinceC++11)

class

compl

const

constexpr(sinceC++11)

const_cast

continue

decltype(sinceC++11)

default(changedinC++11)

delete(changedinC++11)

do

double

dynamic_cast

else

enum

explicit

export(1)

extern

false

float

for

friend

goto

if

inline

int

long

mutable

namespace

new

noexcept(sinceC++11)

not

not_eq

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60Variables

nullptr(sinceC++11)

operator

or

or_eq

private

protected

public

register

reinterpret_cast

return

short

signed

sizeof

static

static_assert(sinceC++11)

static_cast

struct

switch

template

this

thread_local(sinceC++11)

throw

true

try

typedef

typeid

typename

union

unsigned

using(1)

virtual

void

volatile

wchar_t

while

xor

xor_eq

Adaptedfromcppreference.com

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61Variables

BelowisanexampleofhowtodefinevariablesintheC++language:

main()

{

inta;

intohMyLord;

charmyChar;

}

Todefinemorethanonevariableofthesamedatatype,youcanusethecommapunctuation.

main()

{

inta,b,c;

charohMahGlob,lumpySpacePrincess,partyTime;

booldownLieToMe,cats;

}

➠InstantiatingInstantiatingavariableisalsoknownasassigningavariablewithavalue.Theoperatorusedtoassignvaluestoavariableistheequalssign,(=).

Thevariablethatthedataisbeingassignedtoisalwaysontheleftside,whilethedatathatisbeingassignedtothevariableisontheright.Itisimportanttonotmixthisupbecausevariablescanalsobeassignedvaluesfromsimilarvariabletypes.Thisiscommonwhileusingmathfunctionswithothervariables.

main()

{

inta=5;

intb=10;

intc=a;

charcharacter=‘A’;

boolcounter=true;

}

➠Constants

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Sometimesinprogramming,wehavevariableswithdatathatwedonotwanttochangeatall.Althoughyoucouldeasilyjustnotchangethevariabledata,itissafertodeclareaconstantvariable.Aconstantvariableisavariablethatcannotbechangedonceitisinstantiated.

main()

{

constintTHIS_IS_A_CONSTANT=100;

}

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FunctionsInC++,therearebasicallythreetypesoffunctions:arithmeticfunctions,relationalfunctions,andlogicalfunctions.

➠ArithmeticFunctions

Thesetypesoffunctionsareyourbasicmathfunctionsandareusedinconjunctionwithnumericdatavaluesandvariables(int,double,float).Itisimportanttorememberthatorderofoperationsdoesapplytothesefunctions.

Youshouldbeabletorecognizethesefunctionsasyouhaveusedthemsinceelementaryschool.Theonlyonethatyoumaynotbefamiliarwithisthemodulusfunction,whichdividestwonumberstogetherandreturnstheremainder.Thisfunctioniscommonlyusedintrue-falsestatementsorloopstorecognizewhenanumericalvariablebeinganalyzedispositiveornegativeoramultipleofacertainnumber.Parenthesesareusedlikeinalgebratosaywhichoperationsshouldbedonefirstifthoseactionsdifferfromthedefaultorderofoperations.

Inprogramming,itisalsoquiteoftentousevariablesinconjunctionwitharithmeticfunctions.Tousevariablesinthisway,allyouneedtodoisusethevariable’sdefinednamewherenumberswouldusuallybeused.It’sthesameasbasicalgebra.

Sign Meaning

+ Addition

- Subtraction

/ Division

* Multiplication

% Modulus

= AssignmentOperator

(operatorhere) Parenthesis(orderofoperation)

++/-- Increment/decrementnumericvalueby1

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64Functions

main()

{

inta=5;

intb=10;

intc=a+b;

intd=c*a;

inte=a(3+b);

intf=b%2;

a++;

}

intaisassignedthevalue5andintbisassignedthevalue10.intc,isthesumofaandb.Becauseaandbareassignedthevalue5and10,respectively,ciscurrentlyatavalue15.Itcanbesubjecttochangeintheeventthevaluesaandbchange.intdistheproductofcanda,(15*5).inteistheproductofaandthesumof3+b.intfistheremainderofbdividedby2(itwillreturnavalueofeither0or1).

➠RelationalOperatorsRelationaloperatorsareusedtodeterminewhethertwonumbersareequal,orwhetheroneisgreaterorlessthantheother.Everyrelationalexpressionreturnseither1(true)or0(false).Theseoperatorsareusedinstatements(if,else,while)inordertocreateexpressionsthatsetconditionsforthatcodeinsidethestatement.Besurenottoconfusetheassignmentoperator(=)withtherelationoperatorofequality(==).

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65Functions

Name Operator Sample Evaluation

Equals == 100==50; false

50==50; true

NotEquals != 100!=50; true

50!=50; false

Greaterthan > 100>50; true

50>50; false

Greaterthanorequals >= 100>=40; true

50>=50; true

Lessthan < 100<50 false

50<50; false

Lessthanorequals <= 100<=50 false

50<=50 true

➠LogicalOperatorsLogicaloperatorsareusedinconjunctionwithrelationaloperatorstocreatemorecomplexstatementexpressions.

OPERATOR SYMBOL EXAMPLE

AND && 2:2

OR (2pipes) 2:3

NOT ! 2:4

AlogicalANDstatementevaluatestwoexpressions,andifbothexpressionsaretrue,thelogicalANDstatementistrueaswell.

AlogicalORstatementalsoevaluatestwoexpressions.Ifeitherorbotharetrue,theentireexpressionistrue.

ANOTstatementcompareswhetheraconditionisNOTwhatisstated(i.e.switchesthereturnvaluefromtruetofalseandviceversa).

Whenusinglogicaloperatorstoformstatements,makesureyouuseparenthesestomaketheorderofprecedenceclearertothecompilertoavoidanyerrors.Forexample,

if(x>5&&y>5||z>5)

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http://en.wikipedia.org/wiki/Vertical_bar

Thisstatementgoestoshowhowambiguousthesestatementscangetifparenthesesarenotused.Doyouwantthestatementtoreturntrueifx>5andy>5orwhenjustz>5,ordidyouwantthestatementtoreturntruewhenx>5andwheneithery>5orz>5?Ifyouwantedthelatter,thenyoushouldrewritethestatementtomakethingsclearer:

if((x>5&&y>5)||z>5)

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ObjectUsageInobject-orientedprograms(OOP),objectsarebasicallyobjectslikethatoftherealworld,andthushavecertainbehaviorsandcharacteristics.CharacteristicsofanobjectinOOPincludeanyvariablesorotherobjectsthataredeclaredintheclassthattheobjectiswrittenin.Behaviorsofanobjectaremethodsthattheobjectcontainsinitsclasscode.

WewillusetheJaguarclassfromtheWPIlibrarytohelpexplainthissection.Clickheretoviewit.

➠DefiningObjectsDefiningobjectsisasimilartodefiningvariables,butinsteadthedatatypeisreplacedbythenameoftheobject.Aftertheobjectnamecomesthenamethatyouassigntotheaddresslocationoftheobject.IntermsoftheJaguarclass,aJaguarobjectisdefinedas:

Jaguarjag1;

Jaguarjag2;

Jaguarexample;

RememberthateachJaguarobjectthatyoucreateisadifferentinstanceoftheobjectandthatdifferentspacesinmemoryarecreatedforinstancevariablesofeachJaguarobject.ThenameyougavetoaJaguarobjectistheonlythingyouhavetodistinguishbetweenJaguars.

➠InstantiatingObjectsInstantiatinganobjectisquitedifferentfromdefiningavariable.Wheninstantiatinganobject,youmustusethenewoperator.Followedbythenewoperatoristheobject’sconstructorsignature.Anobject’sconstructorsignaturemaylooklikethis:

Jaguar(UINT32channel)

Asyoucanseetheobjectnameisdisplayedalongwithsomecodeinsideparentheses.Thecodeinsidetheparenthesesiscalledaparameter.Parametersarewhereyoupassdataintotheobjectsothattheobjectcanuseit.Noticethatdatainparametersareseparatedbycommas.Intheabovecase,theobjectconstructorasksyoutoinputafloatandachannelnumber.Soanexampleinstantiationwouldlooksomethinglikethefollowing:

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68ObjectUsage

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classJaguar.html

jag1(1)

Where1isthenumberofaUINT32channel(thePWMOUTportthejaguaroccupiesonthedigitalsidecar).

Objectclassesoftenhavemultipleconstructorswhichaskfordifferentsetsofparameters.InthecaseoftheSolenoidclass,herearethefollowingconstructorsforaSolenoidobject.

Solenoid(uint32_tchannel)//ConstructorusingthedefaultPCMID

Solenoid(uint8_tmoduleNumber,uint32_tchannel)//ConstructorthatspecifiesthePCMID.

Youshouldseethattheonlythingdifferentistheparametersthatmustbecalled.ThefirstcallsforthePCMchannelonly(assumesthePCMIDas0).Tocallthefirstconstructorafterdefiningsol1,youwouldtype:

sol1(1)

whichmeanssol1isassignedtoPWMport1onthePCMandisautomaticallyassumedtobeonthePCMIDof0.

BecausetheroboRIOcansupportmorethanonePCM,anythingconnectedaPCMwithanIDthatisnot0willneedtousethesecondconstructor.

➠UsingMethodsInprogramming,objectsalonedonomorethantheydoinreality.Simplystating“theJaguarexists!”willnotmakeyourrobotmove,norwillmerelydeclaringitinyourcodemakeanythinghappen.

Therealworkisdonethroughmethods,auniquesetofcommandsthateachobjecthas.Thesearenotedbya.afterthenameofaparticularobjectandarealwaysfollowedby(),thoughoftentherearesomevaluespassedintotheparentheses.IntheJaguarclass,forexample,onemightseethefollowingcodefragment:

jag1.Set(0.5);

Thenameoftheobjectisjag1,whichhaspreviouslybeendeclaredtobeaJaguar.ThemethodisSet,which,asonemightexpect,setsthespeedofthemotor.The0.5insidetheparenthesesiscalledtheparameter,whichvariesdependingonthemethodused.Here,

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69ObjectUsage

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classSolenoid.html

itisafloatvaluefrom-1to1,inclusive,butoftenyoumustpassanint,bool,orevenanotherobjectasaparameter.Forobject-specificinformationonmethodsandparameters,seethesectiononthatparticularobjectorusetheWPILibrary.

Notethatjustaseachobjectwillhavemultiplemethods,differentobjectscanhavemethodsofthesamenameandmayormaynotdodifferentthings.TheVictorclass,forexample,alsohasaSetmethodthatfunctionsexactlythesame,buttheRelayclasstakesanentirelydifferentdatatypeandfunctionspurelyasanon/offswitch.

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TheJoystickLogitechGamepadF310

Logitechhasmadeahome-touch-feelycontrollerasitappearstobeastandardcontroller.Mostpeoplehaveplayedvideogameswithacontrollerlikethis,sothere’snothingnewtolearnaboutit.Onthebackisalittleslidebutton,makesureitissettotherightandtapeitlikethattopreventincidentsofbadjoystick.Makesuremodelightisoff.

AndyMark

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71TheJoystick

http://www.andymark.com/product-p/am-2064.htm

LogitechAttack3USBJoystick

ThisAttack3Joysticklooksawesome,doesn’titexudethefeelingofrobotics?Onehandtomovethesinglejoystick,theothertopressthebuttonsonthebottom.ThejoystickclassintheWPILibrarydoessupportthisjoystickandallifitsmanyinputs.

FIRSTChoice

JoystickClass(C++)

➠SampleCode

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72TheJoystick

http://firstchoicebyandymark.com/fc15-064

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classJoystick.html

#include"WPILib.h"

classRobot:publicSampleRobot

{

Joystickstick;

public:

Robot():

stick(0)//Usejoystickonport0.

{

}

voidOperatorControl()

{

while(IsOperatorControl())

{

if(stick.GetRawAxis(1)>.2)

{

}


{

}

if(stick.GetRawButton(1)==1)

{

}


{

}

if(stick.GetTop()==1)

{

if(stick.GetRawAxis(3))

{

}


{

}

}

}

}

};

START_ROBOT_CLASS(Robot);

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73TheJoystick

➠Explanation

Joystickstick;

DeclareoneJoystickobject.DeclaredbetweenclassRobotDemo:publicSampleRobotandpublic:RobotDemo(void):

stick(0);

InstantiateoneJoystickobjectinUSBportofcomputer(limitedto#ofUSBportsoncomputer).Instantiationoccursbetweenthepublic:RobotDemo(void):andthebraces({}).Ifnotthelastinstantiatedobjectinlist,itneedsacommaafterinstantiationstatementlikelisting.Ifitis,itdoesnotneedanypunctuationaftertheinstantiationbeforethebraces;nocomma,nosemicolon,noperiod,etc.Ifsyntaxnotfollowed,erroroccurs.

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74TheJoystick


{


{


{

}


{

}


{

}


{

}

if(stick.GetTop()==1)

{


{

}


{

}

}

}

}

JoystickfunctionsarethesauceforconditionsinOperatorControl.Bydoingcertainactionsonthejoystickobject(thisinstanceisusingaLogitechF310Gamepad),itexecutesthecodethatwouldbewritteninthebraces.Forexample,GetRawAxis(1)correspondstotheleftsticky-axis(upanddown)oftheF310Gamepadorthey-axisoftheExtreme3DProjoystick;the||(or)correspondstopositive(up)ornegative(down)input.Theaxisisusuallyassociatedwithdrivingtherobot.GetRawButton()onlyreturns1ifitisbeingpressed;GetRawButton(1)isthex-buttonontheF310GamepadorthetriggeroftheExtreme3DProjoystick.GetTopisthesmallerstickontheExtreme3DPro,anditonlyreturns1iftopisbeingusedor0ifnot,soextraconditionsforaxis3&4,y-axisandx-axisoftoprespectively.FortheF310Gamepaditwouldbeaxis6&5,y-axisandx-axisrespectively.

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75TheJoystick

6.MotorControllers

6.1GeneralOverview

6.2Motors

➠MotorControllerVarieties

6.3Jaguar

➠SampleCode

➠Explanation

6.4Victor888

➠SampleCode

➠Explanation

6.5Talon

➠SampleCode

➠Explanation

6.6TalonSRX

➠Wiring

➠CAN

➠SampleCode

➠Explanation

6.8Spike

➠SampleCode

➠Explanation

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76MotorControllers

6.9Fans

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77MotorControllers

GeneralOverviewMotorcontrollersarewhattheysoundlike;theyallowustocontroltheamountofpowersenttothemotor.TheyserveasthemiddlemenfromthePDBtothemotoritself.

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78GeneralOverview

Motors

CIMmotor

PhysicalSpecs

Size:2.5inchdiameter,4.34inchlongbodyOutputShaftsize:0.313+/-0.0004,with2mmkeywayWeight:2.82poundsMountingHoles:#10-32tappedholes(2),ona2"boltcircle

Performance

Voltage:12voltDCNoloadRPM:5,310(+/-10%)FreeCurrent:2.7ampsMaximumPower:337Watts(at2655rpm,172oz-in,and68amps)StallTorque:2.42N-m,or343.4oz-inStallCurrent:133amps

AndyMark

mini-CIMmotor

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79Motors

http://www.andymark.com/CIM-motor-FIRST-p/am-0255.htm

⅔powerofCIM,similarformfactorandsamemounting

PhysicalSpecs

OutputShaftsize:8mm(0.314in)with2mmkeywaySize:2.5”diameter,3.36”longWeight:2.16lbs

Performance

FreeSpeed:6,200rpm(+/-10%)FreeCurrent:1.5AMaximumPower:230WStallTorque:12.4in-lbs[1.4N-m]StallCurrent:86AMountingHoles:(4)#10-32tappedholesona2"boltcircle

Vex

WindowMotor

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80Motors

http://www.vexrobotics.com/217-3371.html

Makesureyouremovethelockingpins.

StallTorque:9.3NmFreeSpeed:92RPMFreeCurrent:2.5AStallCurrent:25A

Servo

ShouldnotbehookeduptoANYmotorcontrollersanddirectlytothePWMportintheroboRIO.

AndyMark

➠MotorControllerVarieties

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81Motors

http://wiki.team1640.com/index.php?title=Nisso-Denko_%28Window%29_Motor_Locking_Pins

http://www.andymark.com/SearchResults.asp?Search=servo

Itispossibletocontrolallthemotorsabove(excepttheservo)withthebelowmotorcontrollers;however,thebreakersusedhavetobeabletoprotectthewiresandprovideenoughpowerforthemotorused.Forexample,itispossibletoconnect16gaugewirewitha20ampCBtoatalon,butwouldnotprovideenoughpowerifconnectedtosayaCIM.Therearetwosidewiresthatconnecttoeachmotorcontroller:theM-/M+andtheV-/V+side.The‘M’standsforMotor,whichdenotesthewiresattachedhereshouldbetheonesalsoattachedtothemotor.TheothersideconnectstothePDB.Inbothcases,thepowergoestothe+andgroundtothe-.ThereisalsoathinslotwherePWMcablesplugintofromtheDigitalSidecar,withitsdirectionbasedonthesmallnotationsonthemotorcontrollers(often,groundisfacingthesidemarkedwitha‘B’).

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82Motors

Jaguar

Therearejumpersthatcanbeusedintwoplaces,themotorcoast/brake,andtheLimitSwitches.Themotorcoast/brakecontrolsifaftertherobotstopsitslowlydecelerates(coasts),orimmediatelydecelerates(brakes).Thejumpersaretobeinstalledinthelimitswitchareaiftherearenolimitswitchesbeingused.JaguarsusetheCANnetworkfolder.ThestatusLEDindicatesmanythingslikeoperation,fault,calibration,andotherconditionsusingyellow,red,andgreenlights.

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83Jaguar

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84Jaguar

➠SampleCode

JaguarClass(C++)

FRCElectricalBible

85Jaguar

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classJaguar.html

#include"WPILib.h"

classRobotDemo:publicSampleRobot{

Jaguarjaguar;

Joystickstick;

public:

RobotDemo(void):

jaguar(1),

stick(1)

{

}

voidOperatorControl(){

if(stick.GetRawButton(1)){

jaguar.Set(1.0);

}

elseif(stick.GetRawButton(2)){

jaguar.Set(-1.0);

}

else{

jaguar.Set(0);

}

}

};

START_ROBOT_CLASS(RobotDemo);

➠Explanation

Jaguarjaguar;

DeclareJaguarmotorcontrollerasjaguar;declaredbetweenpublicSampleRobotandpublic:RobotDemo

jaguar(1),

FRCElectricalBible

86Jaguar

InitializeJaguarmotorcontrollerasport#1inDigitalSidecar(PWMOut),initializedbetweenpublic:RobotDemoandthebraces({}).Ifitisnotthelastobjectinitialized,itneedsacommalikealist.Ifitisthelastobjectinitialized,nopunctuation;nocomma,nosemicolon,noperiod,etc.oryouwillgetanerror.



jaguar.Set(1.0);

}


jaguar.Set(-1.0);

}

else{

jaguar.Set(0);

}

}

Joystickclassisgoneintodepthinanearliersectionofthismanual.Motorcontrollersareputintoresultsofconditionsbecauseafree-spinningmotorisawasteofpowerandthereisnocontroloverthemotor(whichiswhyitisamotorcontroller)The.Setmethodoftheclassacceptsafloatbetween-1.0to1.0asaparameterandsetsthespeedofthemotortothatfloat.1.0isfullspeed“forward”,-1.0isfullspeed“backward.”Themotorwheninitializedbeginsat.Set(0).Theelsejaguar.Set(0)istostopthemotorbecauseunlessthemotorcontrollerissetto0,themotorremainsatthelast.Set()value.

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87Jaguar

Victor888

Thevictorissimilartothejaguar,butsacrificescomputingpowerforalighterweightandasmallersize.

FRCElectricalBible

88Victor888

Whenwiring,makesurethatthePWMispluggedinsothattheblackwireisfacingtheinside(towardsthefan).PayspecialattentiontotheM+M-V+andV-onthesidesoftheVictorwhenwiringittothemotorandthepowerdistributionboard.

Victor888UserManual

Victor888-VEXStore

➠SampleCode

VictorClass(C++)

#include"WPILib.h"


Victorvictor;

Joystickstick;

public:

RobotDemo(void):

victor(1),

stick(1)

{

}



victor.Set(1.0);

}


victor.Set(-1.0);

}

else{

victor.Set(0);

}

}

};


➠Explanation

FRCElectricalBible

89Victor888

http://www.mililanirobotics.org/documentation/electrical/Victor%20888.pdf

http://www.vexrobotics.com/217-2769.html

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classVictor.html

Victorvictor;

Declarevictormotorcontrollerasvictor;declaredbetweenpublicSampleRobotandpublic:RobotDemo

victor(1),

Initializevictormotorcontrollerasport#1inDigitalsidecarPWMOut.Thisisstatedbetweenpublic:RobotDemoandthebraces({}).Ifitisnotthelastobjectinitialized,itneedsacommalikealist.Ifitisthelastobjectinitialized,nopunctuation;nocomma,nosemicolon,noperiod,etc.oryouwillgetanerror.



victor.Set(1.0);

}


victor.Set(-1.0);

}

else{

victor.Set(0);

}

}

Joystickclassisgoneintodepthinanearliersectionofthismanual.Motorcontrollersareputintoresultsofconditionsbecauseafree-spinningmotorisawasteofpowerandthereisnocontroloverthemotor(whichiswhyitisamotorcontroller)The.Setmethodoftheclassacceptsafloatbetween-1.0to1.0asaparameterwhichsetsthespeedofthemotortothatfloat.1.0isfullspeed“forward”,-1.0isfullspeed“backward.”Themotorwheninitializedbeginsat.Set(0).Theelsevictor.Set(0)istostopthemotor;unlessthemotorcontrollerissetto0,themotorremainsatthelast.Set()value.

NOTE:The883,884and885modelshavebeendiscontinued,butthemanufacturer’sdocumentationcanbefoundbelow.

Victor883/885UserManual

Victor884UserManual

FRCElectricalBible

90Victor888

http://www.mililanirobotics.org/documentation/electrical/Victor%20883-885.pdf

http://www.mililanirobotics.org/documentation/electrical/Victor%20884.pdf

Talon

Thetalonisinterchangeablewiththejaguar.Ithasapeakoutputof100Aand60Acontinuouscurrent.Therearemountingholesforanoptional40mmfan.TheLEDonthetalonisastatusindicator.

TalonUserManual

➠SampleCode

FRCElectricalBible

91Talon

http://www.mililanirobotics.org/documentation/electrical/Talon%20User%20Manual.pdf

TalonClass(C++)

#include"WPILib.h"


Talontalon;

Joystickstick;

public:

RobotDemo(void):

talon(1),

stick(1)

{

}



talon.Set(1.0);

}

elseif(stick.GetRawButton(2))

{

talon.Set(-1.0);

}

else{

talon.Set(0);

}

}

};


➠Explanation

Talontalon;

Declaretalonmotorcontrollerastalon;declaredbetweenclass:SampleRobotandpublic:RobotDemo.

talon(1),

FRCElectricalBible

92Talon

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classTalon.html

Initializetalonmotorcontrollerasconnectedtoport#1intheDigitalSidecar(PWMOut);initializedbetweenpublic:RobotDemoandthebraces({}).Ifitisnotthelastobjectinitialized,itneedsacommalikealist.Ifitisthelastobjectinitialized,nopunctuation;nocomma,nosemicolon,noperiod,etc.oryouwillgetanerror.



talon.Set(1.0);

}


talon.Set(-1.0);

}

else{

talon.Set(0);

}

}

Joystickclassisgoneintodepthinanearliersectionofthismanual.Motorcontrollersareputintoresultsofconditionsbecauseafree-spinningmotorisawasteofpowerandthereisnocontroloverthemotor(whichiswhyitisamotorcontroller)The.Setmethodoftheclassacceptsafloatbetween-1.0to1.0asaparameterwhichsetsthespeedofthemotortothatfloat.1.0isfullspeed“forward”,-1.0isfullspeed“backward.”Themotorwheninitializedbeginsat.Set(0).Theelsetalon.Set(0)istostopthemotor;unlessthemotorcontrollerissetto0,themotorremainsatthelast.Set()value.

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93Talon

TalonSRX

TheTalonSRXisanewiterationoftheTalonmotorcontrollerseriesthatwasintroducedinthe2015FRCseason.TheSRXisuniqueasitisCANenabledandcapableofoperatingwiththeroboRIO,PCM,andVRM,whichalluseCANprotocols.BecausetheTalonSRXwasdesignedwithoutabuilt-inventilationsystem,youshouldmountitinanareawithadequateairflow.Theuserguiderecommendsmountingittotherobot’smetalframebecauseitwillactlikeagiantheatsink.

Specs

Dimensions:2.75”x1.85”x.96”tallWeight:.2lbsincludingwires15kHzoutputswitchingfrequency60AmpContinuouscurrent,100Amp2xMountingHoles(oneateachend,6-32fasteners)SupportsCAN(ControllerAreaNetwork),SPI(SerialPeripheralInterface),DigitalI/O,andUSART(UniversalSynchronous/AsynchronousReceiver/Transmitter)

➠Wiring

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94TalonSRX

➠Can

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95TalonSRX

TalonSRXUserManual

➠SampleCode

TalonSRXClass(C++)

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96TalonSRX

http://www.mililanirobotics.org/documentation/electrical/Talon%20SRX%20User%20Manual.pdf

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classTalonSRX.html

#include"WPILib.h"


TalonSRXtalonsrx;

Joystickstick;

public:

RobotDemo(void):

talonsrx(1),

stick(1)

{

}



talonsrx.Set(1.0);

}


talonsrx.Set(-1.0);

}

else{

talonsrx.Set(0);

}

}

};


➠Explanation

TalonSRXtalonsrx;

DeclareTalonSRXmotorcontrollerastalon;declaredbetweenpublicSampleRobotandpublic:RobotDemo

talonsrx(1),

InitializetalonSRXmotorcontrollerasconnectedtoport#1intheDigitalSidecar(PWMOut);initializedbetweenpublic:RobotDemoandthebraces({}).Ifitisnotthelastobjectinitialized,itneedsacommalikealist.Ifitisthelastobjectinitialized,nopunctuation;nocomma,nosemicolon,noperiod,etc.oryouwillgetanerror.

FRCElectricalBible

97TalonSRX



talonsrx.Set(1.0);

}


talonsrx.Set(-1.0);

}

else{

talonsrx.Set(0);

}

}

Joystickclassisgoneintodepthinanearliersectionofthismanual.Motorcontrollersareputintoresultsofconditionsbecauseafree-spinningmotorisawasteofpowerandthereisnocontroloverthemotor(whichiswhyitisamotorcontroller)The.Setmethodoftheclassacceptsafloatbetween-1.0to1.0asaparameterwhichsetsthespeedofthemotortothatfloat.1.0isfullspeed“forward”,-1.0isfullspeed“backward.”Themotorwheninitializedbeginsat.Set(0).Theelsetalonsrx.Set(0)istostopthemotor;unlessthemotorcontrollerissetto0,themotorremainsatthelast.Set()value.

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98TalonSRX

Spike

BindicatesthatthegroundsideofthePWMfacesinward

Spikesaremotorcontrollersusedindrivingsmallmotorsinforward,reverse,orstop(brake).Itusesa20Acircuitbreaker.Itcanalsobewiredtocompressorsandsolenoidsanditsindicatorlightsaredifferentformotorsandsolenoids,asshowninthetablebelow.

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99Spike

SpikeUserManual

➠SampleCode

RelayClass(C++)

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100Spike

http://www.mililanirobotics.org/documentation/electrical/2005%20Spike%20Blue%20Guide.pdf

http://mililanirobotics.org/documentation/electrical/WPILib2015C++/classRelay.html

#include"WPILib.h"


Relayspikeblue;

Joystickstick;

public:

RobotDemo():

spikeblue(1,Relay::kForward),

stick(1)

{

}

voidAutonomous(){

spikeblue.Set(Relay::kOn);

}


while(IsOperatorControl()){



}

else{

spikeblue.Set(Relay::kOff);

}

}

}

};


➠Explanation

Relayspikeblue;

Declarespikerelayasnamespikeblue.ThedeclarationoccursbetweenclassRobotDemo:publicSampleRobotandpublic:RobotDemo():

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101Spike

spikeblue(1,Relay::kForward),

Instantiatethespikerelaywiththeparameters[DigitalSidecarPort#],[directionofcurrent[kForward,kBackward,orkBothDirections]]Thisisinstantiatedbetweenpublic:RobotDemo():andthebraces({}).Ifitisnotthelastobjectinitialized,itneedsacommalikealist.Ifitisthelastobjectinitialized,nopunctuation;nocomma,nosemicolon,noperiod,etc.oryouwillgetanerror.

voidAutonomous(){


}





}

else{

spikeblue.Set(Relay::kOff);

}

}

}

TheJoystickclasshasalreadybeencoveredinaprevioussectionofthemanual.Controlscurrenttowhateverisontheothersideofthespike(onesideconnectedtothePDB).Inautonomous,ifthereissomethingwiredtothespikethatneedstobeturnedon,itcanbeSet(Relay::kOn).Toturnitoff,useSet(Relay::kOff).Notethatitwillnotshutoffautomaticallyandhencemanualoffcommand.InOperatorControl,therelaywilloftenbeinsertedinsidecontrolstatementstopreventlooserelayon/off.Usuallyturningitonifbuttonsetinifconditionispressedotherwiserelayoff.Orviceversaifneedbe.

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102Spike

Fans

Beforethepedanticcommentregardingourtableofcontents,no,fansarenotmotorcontrollers.Theyare,however,securedontopofmotorcontrollerstocoolthemdown;beingfansandall.TalonsandVictorshavemountingholesthatrequire6-32inchscrews.TheterminalsconnecttotheV+/-sideonthemotorcontroller(youdon’twantyourfansturningoffandoninunisonwithyourmotors).

FRCElectricalBible

103Fans

7.DriveCode

7.1BoxonWheels

➠TheCode

➠TheExplanation

7.2BoxonWheelsTemplatevsCustomProgram

➠TheCode

➠TheExplanation

7.3CustomProgram(TankDrive)

➠TheCode

➠TheExplanation

7.4CustomProgram(MecanumDrive)

➠Introduction&WheelConfiguration

➠MovementConfiguration

➠SampleTestingCode

➠TheExplanation

➠TestedandModifiedCode

➠TheExplanation

FRCElectricalBible

104DriveCode

BoxonWheelsYouhavenowopenedupabarebonestemplatetowriteyourrobotcode;congratulationsyou’vemadeaboxonwheels,nowtounderstandwhatyou’reboxonwheelsdoes,beforeyoudestroyitandcreateyourowncompletelyimprovedcode.Itisnecessarytounderstandtheclassesthatcreatedthisboxonwheelssoyouknowthatyoujustdidn’tcreateanotherboxonwheelsprogram,butitisagoodstart.

➠TheCodeThedriveprograminit’sentirety:

#include“WPILib.h”

//Lastmodified:January19,2014by:Alan

/*

ThisisademoprogramshowingtheuseoftheRobotBaseclass.TheSampleRobotclassisthebaseofarobotapplicationthatwillautomaticallycallyour

AutonomousandOperatorControlmethodsattherighttimeascontrolledbytheswitchesonthedriverstationorthefieldcontrols.

*/


RobotDrivemyRobot;//robotdrivesystem

Joystickstick;//onlyjoystick

public:

RobotDemo(void):

myRobot(1,2),//thesemustbeinitializedinthesameorder

stick(1)//astheyaredeclaredabove.

{

myRobot.SetExpiration(0.1),//youcaninitializethingsherelikegyrosatconstruction

}

//Driveleft&rightmotorsfor2secondsthenstop

voidAutonomous(void){

myRobot.SetSafetyEnabled(false);

myRobot.Drive(0.5,0.5);//driveforwardathalfspeed

Wait(2);//for2seconds

myRobot.Drive(0.0,0.0);//stoprobot

}

FRCElectricalBible

105BoxonWheels

//Runsthemotorswitharcadesteering

voidOperatorControl(void){

myRobot.SetSafetyEnabled(true);


{

myRobot.ArcadeDrive(stick);//drivewitharcadestyle(userightstick)

Wait(0.005);//waitforamotorupdatetime

}

}

//Runsduringtestmode

voidTest(){

}

};


➠TheExplanationBreakdownofthecodefollowsasso:

#include“WPILib.h”

ThisincludingoftheWPILibraryistheinclusionofaspellbookforalmosteveryclassneededfortherobot:motors,pneumatics,Axiscameras,etc.NOTE:Therewillstillbemuchtimespentusingthe“WPILibC++Reference”,buttheuseofthebasicmanualreducesmostofthetimespentbypresentingsample/properusagesothelearningprocessdoesnotneedtorepeatitselfandtimecanbebestallocatedelsewhere.

/*

ThisisademoprogramshowingtheuseoftheRobotBaseclass.TheSampleRobotclassisthebaseofarobotapplicationthatwillautomaticallycallyour

AutonomousandOperatorControlmethodsattherighttimeascontrolledbytheswitchesonthedriverstationorthefieldcontrols.

*/

Ifyou’vecommentedinprogramming,thenyouknowwhatyoushouldbedoing,ifyouarelazyandhavesomepersonalbeliefordogmathat,“Toughbeans,figureoutmygiantprogram,”youareimpedingtheprogressofyoursubteamandyouareabsolutelyterrible.

FRCElectricalBible

106BoxonWheels

However,ifyou’rejustinthemoodandhavestartedaprogram,commentwhatneedstobeunderstoodbecauseyouneverknowwhenyoumightbegonethenextdayandsomeoneelsehastorunyourprogram.

classRobotDemo:publicSampleRobot

Thisisyourphysicalrobot,RobotDemoisthenameoftheclass,SampleRobotisthe

{

RobotDrivemyRobot;//robotdrivesystem


Declarationoftherobotsparts,RobotDriveisasimplifieddrivesystemclassthatdeclaresmotorsforyouandhaspreprogrammeddrivefunctions;Joystickalsodeclaredlastbecauseitisapartoftherobot,buthowelseareyougoingtocontrolit?Withyourmind?ITHINKNOT!

public:

RobotDemo(void):

myRobot(1,2),//thesemustbeinitializedinthesameorder

stick(1)//astheyaredeclaredabove.

{

myRobot.SetExpiration(0.1),//youcaninitializethingsherelikegyrosatconstruction

}

RobotDemoistheconstructorofyourrobot,itwillnowinitializewhatyoudeclaredpreviouslyasportsinthesidecarformostofthedeclaredobjects,withtheexceptionofthejoystick.Asnoted,RobotDemohasthesamenameastheclassbecauseofhowobjectswork,anditisvoid,butyoudon’thavetoputvoidasinC++itautomaticallyassumesvoid.Thepairofbracesafteryouinstantiatetheportsofyourcontrollersallowsyoutoinitialize/runcommands(likesensors)attheverybeginning.

FRCElectricalBible

107BoxonWheels

//Driveleft&rightmotorsfor2secondsthenstop


myRobot.SetSafetyEnabled(false);

myRobot.Drive(0.5,0.5);//driveforwardathalfspeed

Wait(2);//for2seconds

myRobot.Drive(0.0,0.0);//stoprobot

}

ThisistheAutonomousmethodoftheRobotDemoclass,anditwasinheritedfromSampleRobot.ItwillonlyrunduringtheAutonomousperiodofthegame.SetSafetyEnabledistoprotecteveryoneincaseoflossofcommunicationorotherproblemswhensettotrueinthe().Drivesetsthespeedofthemotorsintheorderinitializedrespectively,fromavalueof(-1.0to1.0).Waitisamethodthatstopstheprogramfromreadinganyfurtherlinesforthetimespecifiedinthe()inseconds.Tostoptherobot,themotorsafterbeingsettomovemustbesetbacktozero.

//Runsthemotorswitharcadesteering


myRobot.SetSafetyEnabled(true);


myRobot.ArcadeDrive(stick);//drivewitharcadestyle(userightstick)


}

}

OperatorControlisamethodoftheRobotDemoclass,thismethodwasalsoinheritedfromSampleRobot.Thisiswherethecodeforyourtele-opordrivercontrolperiodgoes.SetSafetyEnabledwasalreadymentioned,butasareminder,it’sforthesafetyofallothersandtherobotincaseofcommunicationproblemswiththerobot.Thewhileloopistheretomakesurethatyouarealwaysincontrolduringtheperiod,withouttheloop,thecodewouldonlyrunonceandyourrobotwouldthenbecomeastationerybox.ArcadeDriveisthetypeofdriveusingarcadejoystick,therobotwillmoveaccordingtothejoystickinput.

//Runsduringtestmode

voidTest(){

}

FRCElectricalBible

108BoxonWheels

Thisiswhereyouwouldinputtestcodethatyouwouldn’tputintoeitherAutonomousorTele-opwithoutbeingsureitwouldworkfirstorifitwouldconflictwithotherpartsofthecodeinsidethosemethods.

};


START_ROBOT_CLASSsetsupa"userclassfactory",whichisafunctionthatreturnsapointernewinstanceofyourrobotclass.Italsocreatestheentrypointfunction,FRC_UserProgram_StartupLibraryInit.

FRCElectricalBible

109BoxonWheels

BoxonWheelsTemplatevsCustomProgramWhileBoxonWheelsTemplateisalreadymade,thereisnotalotofroomtoeditthisdrivecodeunlessyouareusingtwoLogitechExtreme3DProUSBJoysticks.IfyousearchintheWPILibReferenceforRobotDrive,theconstructorsanddrivemethodsaredesignedforsomethingliketheabove.Alsoyourchoicesof#ofmotorsfordriveisonlyeither2or4.IfyouwishtouseaLogitechF310Gamepad,youarebetteroffwritingyourowndrivecode.WhenImeancustom,deletetheunnecessarypartsofthetemplatethatwouldbenotconducivetothewordcustom.Belowisbarebonescodethatyoumaymodifytomeetyourowndesires.

➠TheCode

FRCElectricalBible

110BoxonWheelsTemplatevsCustomProgram

#include"WPILib.h”



Joystickstick;

public:

RobotDemo(void):

stick(1){

}

//Insertyourowncomment

voidAutonomous(void)

{

}





}

}


voidTest(){

}

};


➠TheExplanationHere’sapancakesandwichwithsprinkles.

#include"WPILib.h"

Thisisyourspellbook.Liveit,breatheit.


TheRobotDemoclass+SampleRobotfromthetemplategivesyoutheinheritedmethodstouseintheDriverStation,willneedit

FRCElectricalBible


Joystickstick;

Youwillalwaysneedajoystick,again,unlessyoucancontrolyourrobotwithyourmind,oritiscompletelyautonomous,makethejoystick.

public:

RobotDemo(void):

stick(1)

{

}

Instantiatethestick,youcan’tuseitifyoudon’tinstantiateit.Thebraceshavetobethere,partofthecompiling.Whenyoustartaddinginmotorsandsensors,theirexpirations/initializationwillbesetinthosebraces.


}

Stillneedautonomoussection,partoftheinheritance.Ifyouuseitornotisuptothatyear’sgame,butyoustillneedthis!




}

}

Thisiswhereyouwritethegodcode,whereyouletyourdriverfeellikeakingmovingtherobot...withyourcode:DMakesurethecodethatwillletthedriverexecutecommandsisinthewhileloop,wouldn’titsuckthattheycanonlydoitoncebecauseitwasnotintheloop?Beforetheloopiswhenyoucaninstantiatespecificthingssuchastheresolutionofanaxiscamera.

voidTest(){

}

Testingspaceforsmallportionsofquestionablecode.Alsopartofinheritance,required.

FRCElectricalBible


};


Closesbracefromthebeginningoftheclass.START_ROBOT_CLASS(RobotDemo);noticehowRobotDemoisintheparameter,isn’tthattheclass?Sothisisalsoimportantforitrunstheclass.

FRCElectricalBible


CustomProgram(TankDrive)AnexampleofwherethedriverusestheLogitechF310Gamepad,butbecauseofthewaytheRobotDriveclassismade,itispreferabletomakeone’sowncode.

➠TheCode

#include"WPILib.h"//WPILibrary.h

#include"Math.h"//Math.hrequiredforfabsfunction



TalonfrontLeft,frontRight,backLeft,backRight;//TalonMotorControllers

Joysticklogitech;//LogitechF310Gamepad/Controller

public:

RobotDemo(void):

frontLeft(1),

frontRight(2),

backLeft(3),

backRight(4),

logitech(1)

/*

*Setmotorexpirationtopreventunwarrantedmovementifconnectionlostor

*disabled

*/

{

frontLeft.SetExpiration(0.1),

frontRight.SetExpiration(0.1),

backLeft.SetExpiration(0.1),

backRight.SetExpiration(0.1);

}


}

/**

*Runsthemotorswithtanksteering

*/

FRCElectricalBible

114CustomProgram(TankDrive)



if(fabs(logitech.GetRawAxis(2))>0.2){

/*leftjoystick,forward&back*/

frontLeft.Set(logitech.GetRawAxis(2)*-.65);

backLeft.Set(logitech.GetRawAxis(2)*-.65);

}

else{

frontLeft.Set(0);

backLeft.Set(0);

}


/*rightjoystick,forward&back*/

frontRight.Set(logitech.GetRawAxis(4)*.65);

backRight.Set(logitech.GetRawAxis(4)*.65);

}

else{

frontRight.Set(0);

backRight.Set(0);

}

Wait(0.005);//wait0.005secondsbeforerepeatingloop

}

}

/**

*Runsduringtestmode

*/

voidTest(){

while(IsTest()){

}

}

};


➠TheExplanation

#include"WPILib.h"//WPILibrary.h

#include"Math.h"//Math.hrequiredforfabsfunction

FRCElectricalBible


WPILib.hisalwaysourspellbook.Math.hisadifferentlibrarythatisgenerallyusedinC++formathfunctions.Asstatedinthecomment,itisusedforthefabs(floatabsolutevalue)functionthatappearsinthetankdriveportionofthiscode.


{

TalonfrontLeft,frontRight,backLeft,backRight;//TalonMotorControllers

Joysticklogitech;//LogitechF310Gamepad/Controller

RobotDemoclasswithinheritedmethodsfromSampleRobotmakestemplatingeasier.Thetalonsareoneofseveralmotorcontrollersexplainedinanearliersectionofthismanual.RobotDriveintheoriginaltemplatedeclarestheminthebackground,butthenyouarelimitedtoit’sdrivemethods.Thiscustomprogramusesalogitechgamepadwhichisonejoystickobject.IfyoulookintheWPILibreference,itwillshowthattousethetankdrivemethodoftheRobotDrive,youneedtwojoysticks.

public:

RobotDemo(void):

frontLeft(1),

frontRight(2),

backLeft(3),

backRight(4),

logitech(1)

//Setmotorexpirationtopreventunwarrantedmovementifconnectionlostordisabled

{

frontLeft.SetExpiration(0.1),

frontRight.SetExpiration(0.1),

backLeft.SetExpiration(0.1),

backRight.SetExpiration(0.1);

}

Nowintheconstructor,themotorcontrollersareinstantiatedintheportsofthedigitalsidecarcorrespondingtothenumberintheparentheses.ThejoystickisinstantiatedusingtheUSBport.Asmentionedinthecomment,insidetheotherbraces,thereareSetExpirationstopreventcontinuedmovementineventofdisablementorlostconnection.Itdoesthisbyshuttingdownpowertotheobjectthathasexpired;nowaslongasyou’reconnected,themotorsare“fed”andtheexpirationsrefresh.

FRCElectricalBible


/**

*Insertowncomment

*/


}

Autonomouscodegoeshere.Howeverthiscustomprogramistoshowtankdrivenotfullautopilot.

/**

*Runsthemotorswithtanksteering

*/




/*leftjoystick,forward&back*/

frontLeft.Set(logitech.GetRawAxis(2)*-.65);

backLeft.Set(logitech.GetRawAxis(2)*-.65);

}

else{

frontLeft.Set(0);

backLeft.Set(0);

}


/*rightjoystick,forward&back*/

frontRight.Set(logitech.GetRawAxis(4)*.65);

backRight.Set(logitech.GetRawAxis(4)*.65);

}

else{

frontRight.Set(0);

backRight.Set(0);

}


}

}

Thishereisthejuicypart,thisistankdrive.Forthosewhodonotknowtankdrive,onejoystickcontrolsonesideofthedrive,sowhenonestickispushed,onlyonesidemovesandtheotherjoystickcontrolstheotherrespectiveside.Thisiswherethefabsfunctionis

FRCElectricalBible


usedtoshortencodinglines.Normallytherewouldhavetobetwoconditionsinthoseifsfortankdrivetowork;ifthejoystickisgreaterthanathresholdORifthejoystickisbelownegativethreshold.Itwouldlooklikejoystick.GetRawAxis(2)>0.2||joystick.GetRawAxis(2)<-0.2.Comparedtowhatisinthere,itismucheasiertocode,butlessunderstandable.Reasoningiswhenyoutiltthejoystickbackitisnegative,butitdoesnotpass>0.2.Usefabsorabsolutevalue(forfloats,justabsforints),lesscoding.

/**

*Runsduringtestmode

*/

voidTest(){

while(IsTest()){

}

}

};


Closesbracefromthebeginningoftheclass.START_ROBOT_CLASS(RobotDemo);noticehowRobotDemoisintheparameter,isn’tthattheclass?Sothisisalsoimportantforitrunstheclass.

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CustomProgram(MecanumDrive)

➠Introduction&WheelConfiguration

TheMecanumDriveallowstherobottomoveforward,backward,andstrafe.Thisispossibleduetothenatureofthewheels,whichslipbecauseoftherollersonthem.Theywillnaturallytravelina45degreemotioninthedirectionthattheentirewheelisrotating.Whenworkingwithmecanumwheels,itisimportanttoconsidertheweightdistributionoftherobotframebecausemecanumwheelsaredesignedforrobotswithanevenweightdistribution.Anunevenweightdistributionwillcausewheelssupportingmoreweighttohavemoretractionthanthewheelssupportinglessweight.Thisdifferenceintractionwillmodifytheeffectiverotationofeachwheel,andtheeffectofthemecanumdriveislost.

Leftconfiguration

RotatingForwards:motion45degreesnorthofeastRotatingBackwards:motion45degreessouthofwestUsedby:Wheel1,frontleft,andWheel4,backright.

RightConfiguration

RotatingForwards:motion45degreesnorthofwestRotatingBackwards:motion45degreessouthofeast

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119CustomProgram(MecanumDrive)

Usedby:Wheel2,frontright,andWheel3,backleft.

➠MovementConfiguration

DrivingForward

Wheels1,2,3,and4arerotatingforwardtoallowthedriveframetodriveforward.

DrivingBackward

Wheels1,2,3,and4arerotatingbackwardtoallowthedriveframetodrivebackward.

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StrafingLeft

Wheels2and3arerotatingforward,Wheels1and4arerotatingbackwardtoallowthedriveframetostrafetowardtheleft.

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StrafingRight

Wheels1and4arerotatingforward,Wheels2and3arerotatingbackwardtoallowthedriveframetostrafetowardtheright.

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TurningClockwise

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Wheels1and3arerotatingforward,Wheel2and4arerotatingbackwardtoallowthedriveframetorotateclockwiseaboutitscenter

TurningCounter-Clockwise

Wheels2and4arerotatingforward,Wheels1and3arerotatingbackwardtoallowthedriveframetorotatecounter-clockwiseaboutitscenter

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➠SampleTestingCode

#include"WPILib.h"

#include“Math.h”


VictorleftFront;//Initializingmotor1;front-leftmotor

VictorleftBack;//Initializingmotor3;back-leftmotor

VictorrightFront;//Initializingmotor2;front-rightmotor

VictorrightBack;//Initializingmotor4;back-rightmotor

Joysticklogitech;//LogitechGamepadController

public:

RobotDemo():

leftFront(1),//leftFrontmotorusesPWMport1

leftBack(2),//leftBackmotorusesPWMport2

rightFront(3),//rightBackmotorusesPWMport3

rightBack(4),//rightBackmotorusesPWMport4

logitech(1)//LogitechGameControllerwithDriverstationport1

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{

}


intleftFrontPolarity=1;//Thesevariablesflipthesignvalueof

intleftBackPolarity=1;//themotorsinthesituationthattheyare

intrightFrontPolarity=-1;//flipped

intrightBackPolarity=-1;


floatx=0;//x-axismotion-right(+),left(-)

floaty=0;//y-axismotion-forward(+),backward(-)

floatz=0;//z-axismotion-clockwise(+),counterclockwise(-)

if(fabs(stickOne.GetRawAxis(1))>.2)

z=stickOne.GetRawAxis(1);//z-axisthreshold


y=-(stickOne.GetRawAxis(2));//y-axisthreshold

if(fabs(stickTwo.GetRawAxis(1))>.2)

x=stickTwo.GetRawAxis(1);//x-axisthreshold

//y-axismotion

if(fabs(y)>fabs(x)&&fabs(y)>fabs(z))//Activatesifyislargest{

leftFront.Set(y*leftFrontPolarity);

rightFront.Set(y*rightFrontPolarity);

leftBack.Set(y*leftBackPolarity);

rightBack.Set(y*rightBackPolarity);

}

//x-axismotion

if(fabs(x)>fabs(y)&&fabs(x)>fabs(z))//Activatesifxislargest{

leftFront.Set(x*leftFrontPolarity);

rightFront.Set(x*rightFrontPolarity*-1);

leftBack.Set(x*leftBackPolarity*-1);

rightBack.Set(x*rightBackPolarity);

}

//z-axismotion

elseif(fabs(z)>fabs(y)&&fabs(z)>fabs(x)){

leftFront.Set(z*leftFrontPolarity);

rightFront.Set(z*rightFrontPolarity*-1);

leftBack.Set(z*leftBackPolarity);

rightBack.Set(z*rightBackPolarity*-1);

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}

//Otherwisesticksarenotpushed

else{

leftFront.Set(0);

leftBack.Set(0);

rightFront.Set(0);

rightBack.Set(0);

}

Wait(0.005);

}

}

};



#include"WPILib.h"

#include"Math.h"

classRobotDemo:publicSimpleRobot

{





Joysticklogitech;//LogitechGamepadController

Hereweinstantiatethe4motorcontrollersweareusingtomanipulatethe4mecanumwheelsontherobotundertheVictorclass(hereweusedVictormotorcontrollers).WealsoinstantiatedourLogitechGamepadControllerundertheJoystickclass.

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public:

RobotDemo():





logitech(1)//LogitechGameControllerwithDriverstationport1

{

}

Wefurtherdefineourconstructorsbyassociatingeachpieceofhardwaretotheirrespectiveports.TheVictorClass,whichisacategoryofmotorcontrollers,utilizePWMportswhiletheJoystickClassutilizedfortheLogitechGamepadControllerutilizesthedriverstation(USB)ports


{

DriverStationLCD*screen=DriverStationLCD::GetInstance();





Thesevariablesareinplacetocontrolthepolarityofthemotors(whethertheyrotateforwardsorbackwardswhenpushingtheleftandrightsticksinacertaindirection).Thismakesiteasiertofixthecodeintheeventofamotorbeingreversed.





Thissplitstheaxesofthemotionsothattheycanbeassignedbasedonhowthethumbsticksarepushed.Thepushingtheleftthumbstickonit’sy-axiswillgiveay-value(+=forward,-=backward),pushingtheleftstickonit’sx-axisgivesaz-value(+=clockwise,-=backward),andpushingtherightstickonit’sx-axisgiveax-value(+=right,-=left).

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Thissectionassignsavaluetotheaxesbasedontheorientationofthethumbsticks.Athresholdisplacedsothattinyaccidentalmovementsdonotcausetherobottodrift.

//y-axismotion

if(fabs(y)>fabs(x)&&fabs(y)>fabs(z))//Activatesifyislargest{





}

Iftheleftstickispushedmoreonit’sy-axis(forward/backward)thanitortherightstickispushedontheirx-axis,thentherobotwillmoveforwardorbackwardsdependingonthedirectionofthethumbstick.Pushingforwardwillmakeallwheelsrotateforwardandpushingbackwardsmakesallwheelsrotatebackward.Also,thespeedofthemotorsdependsonhowmuchtheleftthumbstickispushedalongthey-axis.

//x-axismotion

if(fabs(x)>fabs(y)&&fabs(x)>fabs(z))

//Activatesifxislargest{

leftFront.Set(x*leftFrontPolarity);




}

Iftherightstick’sx-axismagnitudeisgreaterthananyoftheleftstick’saxes,thentherobotwillstrafeeitherrightorleft.Pushingthethumbsticktotherightmakestheleftfrontandrightbackmotorsrotateforwardwhiletheothertworeverse(usedthevectordiagramto

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determinedirection).Pushingthethumbsticktotheleftmakestheoppositehappen,withtherightfrontandleftbackrotatingforwardwhiletheleftfrontandrightbackreverse.Again,thespeedofthemotorsdependsonhowlargethemagnitudeoftherightthumbstick’sx-axisis.

//z-axismotion






}

Ifthemagnitudeoftheleftstick’sx-axisisgreaterthanit’sowny-axisandtherightthumbsticksx-axis,thentherobotwillrotate.Iftheleftstickispushedtotheright,theleftwheelswillrotateforwardandtherightwheelswillrotatebackwards,makingitturnclockwise,muchliketankdrive.Theoppositehappenswhenyoupushthesticktotheleft.

else{

leftFront.Set(0);

leftBack.Set(0);

rightFront.Set(0);

rightBack.Set(0);

}

Thissetsallthemotorsto0whenthejoysticksarenotpushedinanassigneddirectionorarenotpushedpastthethreshold

AlternateCode(putthisinplaceofalloftheifelsestatements)

leftFront.Set(x-y-z);

leftBack.Set(-x-y-z);

rightFront.Set(x+y+z);

rightBack.Set(-x+y+z);

Thiscodeisusedasasimplificationoftheonepostedearlier.However,thereisafundamentaldifferenceinhowthesetwooperate.Intheoriginalcode,youcanonlymoveinspecificdirections,likeforward,backwards,right,left,androtate,whereasinthisversionyoucanmoveinanycombinationofthethreeaxes.Thisisachievedbybypassingifstatementsandjustusingadditionandsubtraction.Thiswayalsoallowsyoutobypasstheissueof

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makingaspecificvariableforpolarity,asyoucanjustchangethe+or-forthespecificmotor.Inthissituation,theleftmotorswerereversed,soitwasnecessarytochange+yto-yand+zto-zasitisnow.Youalsohavetoswitchthesignofthexvariable.Iftheleftmotorswerenotreversed,thecodewouldbeleftFront.Set(-x+y+z)andleftBack.Set(x+y+z).However,thereisanissuethatexistswithinthiscodeasitispossibleforthesetvalueforeachmotortoexceed1ifyouweretorotatewhilemovinginanotherdirection.

➠TestedandModifiedCode

//Thisistemporarycodethatwillbereplacedinthebibleuponfinalcodecompletion

#include"WPILib.h"

#include"Math.h"

classRobotDemo:publicSimpleRobot{





JoystickstickOne;//LogitechGamepadController

JoystickstickTwo;//LogitechGamepadController

public:

RobotDemo():





stickOne(1),//LogitechGameControllerwithDriverstationport1

stickTwo(2)//Joystickwithdriverstationport2

{

}








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//y-axismotion

//Activatesifyislargest

if(fabs(y)>fabs(x)&&fabs(y)>fabs(z)){





}

//x-axismotion

//Activateswhenxislargest

elseif(fabs(x)>fabs(y)&&fabs(x)>fabs(z)){

if(x>0){

//Executesifxisgreaterthandeadbandof0.5

if(fabs(x)>=0.5){

leftFront.Set(x*leftFrontPolarity*1.1);

rightFront.Set(x*rightFrontPolarity*-0.95

leftBack.Set(x*leftBackPolarity*-1.1);


}

elseif(fabs(x)>0.35){


rightFront.Set(x*rightFrontPolarity*-0.9);



}

}

elseif(x<0){

if(fabs(x)>=0.5){



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}






}

}

}

//z-axismotion






}

//turnleftwhenpressing5

elseif(stickOne.GetRawButton(5)){

leftFront.Set(0.5);

rightFront.Set(0.3);

leftBack.Set(0.3);

rightBack.Set(0.3);

}

//turnrightwhenpressing4


leftFront.Set(-0.3);

rightFront.Set(-0.5);

leftBack.Set(-0.3);

rightBack.Set(-0.5);

}


else{

leftFront.Set(0);

leftBack.Set(0);

rightFront.Set(0);

rightBack.Set(0);

}

x=0;//x-axismotion-right(+),left(-)

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y=0;//y-axismotion-forward(+),backward(-)

z=0;//z-axismotion-clockwise(+),counterclockwise(-)

screen->PrintfLine(DriverStationLCD::kUser_Line1,"X:%f"

screen->PrintfLine(DriverStationLCD::kUser_Line2,"Y:%f"

screen->PrintfLine(DriverStationLCD::kUser_Line3,"Rotation:%f"

screen->UpdateLCD();

Wait(0.1);

}

}

voidTest(){

while(IsTest()){

//Forwardpolaritytest

if(stickOne.GetRawButton(6))

leftFront.Set(.3);

elseif(stickOne.GetRawButton(7))

leftBack.Set(.3);


rightFront.Set(-.3);


rightBack.Set(-.3);

else{

leftFront.Set(0);

leftBack.Set(0);

rightFront.Set(0);

rightBack.Set(0);

}

}

}

};



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#include"WPILib.h"

classRobotDemo:publicSimpleRobot{







Hereweinstantiatethefourmotorcontrollersweareusingtomanipulatethe4mecanumwheelsontherobotundertheVictorclass(hereweusedVictormotorcontrollers).Wealsoinstantiatedourtwojoysticksthatwillbecontrollingthemotionoftherobots

public:

RobotDemo():





stickOne(1)//Logitechattack3withDriverstationport1

stickTwo(2)//Logitechattack3withDriverstationport2

{

}

Here,wefurtherdefineourconstructorsbyassociatingeachpieceofhardwaretotheirrespectiveports.TheVictorClass,whichisacategoryofmotorcontrollers,utilizePWMportswhiletheJoystickClassutilizedfortheLogitechAttack3utilizesthedriver-stationports.

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Thetophalfofthissectionismeanttobeinpreparationforthesituationwhereoneormorewheelsneedtohavetheirpolarity(goingforwardsorbackwards)flipped.Thebottomhalfismeanttoinstantiateandconstructthevariablesthatwillberepresentingourvariousaxesofmotion.Thesewillbeusedtocontrolthevoltagesenttoeachindividualmotor.








Thissectionservestwomainpurposes.Thefirstoneissettingathresholdforallaxesofmotion.Thejoysticksmustbepushedpastavalueof.2inorderforitsvaluetobeconsideredvalid.Thisismeanttopreventtherobotfromdriftingduetothejoysticknotperfectlyrestingat0.Thesecondfunctionistoassigneachaxisofmotiontoajoystickdirection.Inourscenario,wepreferredtomakepushingstickOneleftandrightrotatethevehiclecounterclockwiseandclockwiserespectively.PushingstickOneforwardsandbackwardscorrelatestoforwardsandbackwardsmotion.PushingstickTwototherightandleftcorrelatestostrafingrightandleft.

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//y-axismotion

//Activatesifyislargest

if(fabs(y)>fabs(x)&&fabs(y)>fabs(z)){





}

Thefirstlineisdedicatedtodeterminingifthey-component(frontandback)ofstickOne’spositionisgreaterinmagnitudethanitsz-component(leftandright)andstickTwo’sx-component(leftandright).Thisismeanttomaketherobotonlymoveinonedirectionatatime.Therestoftheblockisdedicatedtomakingtherobotmoveforwardandbackwards.Sinceallwheelsrotateinthesamedirection,nothingneedstobeflipped.

//x-axismotion

//Activatesxwhenlargest

elseif(fabs(x)>fabs(y)&&fabs(x)>fabs(z)){

if(x>0){

if(fabs(x)>=0.5){


rightFront.Set(x*rightFrontPolarity*-0.95



}



rightFront.Set(x*rightFrontPolarity*-0.9);



}

}

Muchlikethetop,thissectionisonlyactivatedwhenthex-componentofstickTwo’spositionislargerthananyofstickOne’s.However,thissectionisdifferentasourrobotwouldrotateslightlyclockwiseanddriftslightlybackwards.Toaddressthis,wehadtomanuallyaddmultiplierstocertainmotorstomakethemmoveslowerorfasteratcertainintervals.Wealsohadtoseparateleftstrafingandrightstrafingbecausetheybehaved

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differently.Intheblockabove,weonlyseetherightstrafingportionofthecode.Thissectionissubdividedintotwomoresections,whenthewheelsaresuppliedatleasthalfoftheirmaximumvoltage(>=.5)andwhentheyaresuppliedonlyalittlebitofvoltage(.5>v>0.35).Thiswasduetoourdrivereactingdifferentlyatdifferentvoltages.You’llseemultiplierslike1.1,-0.95and0.9intheabovecode,thisisbecausesomewheelswererotatingslower/fasterthanothers.Multiplierswithmagnitudesbelow1aremeanttoslowthespeedofthatspecificmotor.Multiplierswithmagnitudesabove1aremeanttospeedthemup.Differentsigns(+or-)aremeanttoreversethedirectionofthewheelinorderforthevectorstomakethecardmoveinthedesireddirection.

elseif(x<0){

if(fabs(x)>=0.5){





}






}

}

}

Thisisthesameastheportionbeforethis,butforstrafingtotheleft.Sincethismotionhaddifferenterrorsthatstrafingtotherightdid,wehadtoeditthemultipliersuntiltherobotstrafednicely.

//z-axismotion






}

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Thissectionofthecodeisforrotatingtherobot.Again,thisisactivatedonlywhenthemagnitudeofstickOne’sz-component(howmuchtotheleftorrightitis)islargerthanboththexandycomponents.Inordertorotate,therightsightmustalwaysbegoingthedirectionoppositeofwherethejoysticktellsitto.Thisiswhytheyhavea-1appliedintheirstatements.PushingstickOnetotherightmakestherobotrotateclockwiseandpushingittotheleftmakesitrotatecounterclockwise.

//turnleftwhenpressing5


leftFront.Set(0.5);

rightFront.Set(0.3);

leftBack.Set(0.5);

rightBack.Set(0.3);

}

//turnrightwhenpressing4


leftFront.Set(-0.3);

rightFront.Set(-0.5);

leftBack.Set(-0.3);

rightBack.Set(-0.5);

}

Thissectionofthecodeisjustaquickpresetthatwefoundtobeuseful.Theymaketherobotmoveforwardsandrotateslightlywheneitherthe4or5-buttonispressed.Pressingthe5-buttonmakesitturnrightandpushingthe4-buttonmakesitturnleft.


else{

leftFront.Set(0);

leftBack.Set(0);

rightFront.Set(0);

rightBack.Set(0);

}

Thepurposeofthissectionistoensurethatwhenthejoysticksareattheirrestingpositionsorverynearitthatthemotorswillnotrotatethewheels.

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x=0;//x-axismotion-right(+),left(-)

y=0;//y-axismotion-forward(+),backward(-)

z=0;//z-axismotion-clockwise(+),counterclockwise(-)

SincethisportionofthecodeisoutsideoftheIsOperatorControlwhileloop,thismakessurethatthemotorswillNOTrotatethewheelswhentherobotisnotundercontrolofthedriver.

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8.Sensors

8.1TheroboRIOaccelerometer

➠GeneralOverview

➠Specifications

➠TheCode

➠TheExplanation

8.2MicroSwitch

➠Use

➠Wiring

➠Programming

8.3OpticalEncoder

➠Use

➠Assembly

➠Mounting

➠Storage

➠Wiring

➠Programming

8.4TheGyro

➠GeneralOverview

➠Specifications

➠Wiring

➠Programming

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141Sensors

roboRIOAccelerometer

➠GeneralOverview

OneofthemanyfeaturesthatcomeswiththeRoboRIOisthebuilt-in3-axisaccelerometer,whichhasthepotentialtoreplacetheADXL345accelerometerthatalsocomesinthe2015KitofParts.Thepurposeofthisdeviceistodeterminetheproperaccelerationofanobject,whichisitsaccelerationrelativetofreefall.Thiscanbeusedtodeterminehowmuchtherobotistiltedorawaytomonitormotion.

➠SpecificationsAxes:3(x,y,andz)SampleRate:800SamplespersecondResolution:12bitsRange:±8g(gravity)Noise:3.9mgmstypicalat25°C

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142roboRIOAccelerometer

➠TheCodeThisisthecodeweusedtodeterminethedirectionofeachaxisaswellasthestabilityofthereturnedvalues.

#include"WPILib.h"

classRobot:publicSampleRobot{

BuiltInAccelerometeraccelerometer;

constdoublekUpdatePeriod=0.005;//5milliseconds/0.005seconds.

public:

//setstherangeoftheaccelerometertobe+or-8G(unitsofgravity)

Robot():accelerometer(Accelerometer::Range::kRange_8G){

}


doublexAcceleration;//accelerationonthex-axis

doubleyAcceleration;//accelerationonthey-axis

doublezAcceleration;//accelerationonthez-axis

doublepreviousX=0;//Previousrecursiveaverageonx-axis

doublepreviousY=0;//Previousrecursiveaverageony-axis

doublepreviousZ=1;//Previousrecursiveaverageonz-axis

while(IsOperatorControl()&&IsEnabled()){

xAcceleration=accelerometer.GetX();//returnsx-axisaccel

yAcceleration=accelerometer.GetY();//returnsy-axisaccel

zAcceleration=accelerometer.GetZ();//returnsz-axisaccel

SmartDashboard::PutNumber("X-AxisG:",xAcceleration);

SmartDashboard::PutNumber("Y-AxisG:",yAcceleration);

SmartDashboard::PutNumber("Z-AxisG:",zAcceleration);

SmartDashboard::PutNumber("RecrusiveX-AxisAverage:",((xAcceleration*0.1)+(0.9*previousX)));

//returnsarecursiveaverageforthex-axis

SmartDashboard::PutNumber(“RecursiveY-AxisAverage:",((yAcceleration*0.1)+(0.9*previousY)));

//returnsarecursiveaverageforthey-axis

SmartDashboard::PutNumber(“RecursiveZ-AxisAverage:”,((zAcceleration*0.1)+(0.9*previousZ)));

//returnsarecursiveaverageforthez-axis

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previousX=(xAcceleration*0.1)+(0.9*previousX);

previousY=(yAcceleration*0.1)+(0.9*previousY);

previousZ=(zAcceleration*0.1)+(0.9*previousZ);

Wait(kUpdatePeriod);//Waitashortbitbeforeupdatingagain

}

}

};


➠TheExplanation

BuiltInAccelerometeraccelerometer;

DeclaretheRoboRIOaccelerometerasBuiltInAccelerometer;declaredbetweenpublicSampleRobotandpublic:RobotDemo

public:

//setstherangeoftheaccelerometertobe+or-8G(unitsofgravity)

Robot():accelerometer(Accelerometer::Range::kRange_8G){

}

InitializestheroboRIOaccelerometerwitharangeof+/-8Gs,whichistheaccelerationinunitsofgravity(9.81m/s).Thisisthemaximumrangethatthedeviceiscapableof.Thereisnoneedtoinputpwmportsastheaccelerometerisbuiltin.


doublexAcceleration;//accelerationonthex-axis

doubleyAcceleration;//accelerationonthey-axis

doublezAcceleration;//accelerationonthez-axis

doublepreviousX=0;//Previousrecursiveaverageonx-axis

doublepreviousY=0;//Previousrecursiveaverageony-axis

doublepreviousZ=1;//Previousrecursiveaverageonz-axis

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InthissectionweinitializethevariablesthatwewillbeusingforoutputontheSmartDashboard.Sincetheaccelerometerhas3axes,weneedavariableforeachone(x,y,andz).Thepreviousaxisvariablesareusedtodeterminearecursiveaveragethatisexplainedlaterinthisdocument.Theyaremeanttostorethevalueoftherecursiveaverageofallpreviouslyreturnedvalues.previousXandpreviousYareequalto0becausethatistheexpectedvaluewhentheroboRIOisatrestandonaperfectlyhorizontalsurface.previousZisequalto1becausetheroboRIOisnotinfreefall,whichiswhatanaccelerometermeasuresaccelerationinreferenceto.


xAcceleration=accelerometer.GetX();//returnsx-axisaccel

yAcceleration=accelerometer.GetY();//returnsy-axisaccel

zAcceleration=accelerometer.GetZ();//returnsz-axisaccel

SmartDashboard::PutNumber("X-AxisG:",xAcceleration);

SmartDashboard::PutNumber("Y-AxisG:",yAcceleration);

SmartDashboard::PutNumber("Z-AxisG:",zAcceleration);

Here,thevariablesxAcceleration,yAcceleration,andzAccelerationarebeingsettothecurrentvaluesoftheaccelerometerpertainingtothex,y,andzaxis.Afterupdatingthesevalues,theyarethensenttotheSmartDashboardtobereadintheformofarunningvalueoratable.

SmartDashboard::PutNumber("RecrusiveX-AxisAverage:",((xAcceleration*0.1)+(0.9*previousX)));

//returnsarecursiveaverageforthex-axis

SmartDashboard::PutNumber(“RecursiveY-AxisAverage:",((yAcceleration*0.1)+(0.9*previousY)));

//returnsarecursiveaverageforthey-axis

SmartDashboard::PutNumber(“RecursiveZ-AxisAverage:”,((zAcceleration*0.1)+(0.9*previousZ)));

//returnsarecursiveaverageforthez-axis

previousX=(xAcceleration*0.1)+(0.9*previousX);

previousY=(yAcceleration*0.1)+(0.9*previousY);

previousZ=(zAcceleration*0.1)+(0.9*previousZ);

Wait(kUpdatePeriod);//Waitashortbitbeforeupdatingagain

}

}

};


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Herewecalculatetherecursiveaverageforeachaxiswhichcanbeusefulduringtesting.Thepurposeofhavingthisrecursiveaverageistoeffectivelyreducethesensitivityofthereturnedvaluestofluctuations.Thisallowsyoutogetamoreaccurateandstablereadingforeachaxisoftheaccelerometer,andcouldbeusedtotestforvaryinganglesthattheaccelerometeristilted.

Thissimplerecursiveaveragealgorithmisdonebytaking.1ofthecurrentvalueforanaxisandaddingitto.9ofthepreviousaverage.Thisessentiallymeansthatwehaveaconstantlychangingaverage.Notethatthesensitivityofthisalgorithmcanbeadjustedbychangingthe“0.1”and“0.9”values.However,rememberthatthetwomultipliersmustaddtoavalueof1,becausetheaveragewilltendtocontinueincreasingordecreasingdependingonhowthemultipliersareadjusted.Ifyouhaveamultipliersof.01and.99,thecurrentaveragewillbemuchlesssensitivetochangeastheweightofeachnewnumberisdrasticallydecreased.

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Microswitch

➠Use

Themicroswitchisusuallyusedtokeepsomethingfromoverextendingorsurpassingsomedistance.Whentheswitchnotpushed,theswitchisNC(normallyclosed),returning1.Whentheswitchpushed,theswitchisNO(NormallyOpen),returning0.

➠Wiring

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147Microswitch

TheswitchispluggedintotheDigitalIOsectionoftheroboRIOviaaPWMcable.

➠Programming

DeclaredandinstantiatedasaDigitalInput

WhenswitchNC,returns0WhenswitchNO,returns1

Declaration:DigitalInputswitch;

Instantiation:switch(1)//portnumberinthedigitalsidecar

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148Microswitch

UsingMicroswitch:switch.Get();//returnseither0or1

//ABarebonesCode

#include"WPILib.h"

//Lastmodified:February7,2014by:Vivian


DigitalInputlimitSwitch;

public:

RobotDemo(void):

limitSwitch(1){

}


}



{

if(limitSwitch.Get()==1){

//youcandothingshereiftheswitchispressed

}

}

}

voidTest(){

while(IsTest()){

}

}

};


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149Microswitch

OpticalEncoder

➠UseTheopticalencoderisthemostcommontypeofencoderinFRCthatusesoneormoreLEDspointedatastriporslitcodewheelandtwodetectors90degreesaparttomeasuretherotationspeedofawheelorothershafts.TheencoderpicturedtotheleftisaUSDigitalE4P(am-0174)opticalencoder.

Specs

MaxRPM:10,000RPM100-360cyclesperrevolution400-1440pulsesperrevolutionMinimumshaftlength:.375”(⅜)ShaftDiameter:.079”to.250”Weight:.018lbs

➠Assembly

1. Placebaseovershaft.Securebasetomountingsurfaceusingeitherthetwoscrewsonthebaseoramountingpad.

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150OpticalEncoder

Mountingthebasewithoutamountpad

Mountingpadplacedunderthebaseifused.

2. Placehubdiskassemblyontoshaftwithpattern-sidedowntowardsbase.Itshouldnotbecompletelypresseddown.

3. Usethespacer(lipfacingdownwards)topushthehubdiskassemblytotheappropriatelocationontheshaft.Thediskshouldnotbetouchinganythingbesidestheshaftandthespacer,andthereshouldbeaconsiderablegapbetweenthediskandthebase.

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151OpticalEncoder

4. Removethespacerwhileensuringthatthediskstaysinplace.

5. Placethehousingontopoftheencoder.Usingyourthumbandfinger,squeezeearstogethertoensurethatthecoverfullylatches.

➠MountingItiseasiestiftheopticalencoderisplacedontheoutputshaftasthereisadirectcorrelationbetweentherotationoftheshaftandthemovementofwhateveritcontrols.Alsoensurethattheopticalencoderisperfectlycenteredaroundtheshaft.

➠StorageTheopticalencodercangetscratchedeasilysoitshouldbestoredinaspecialcasetopreventscratchingorinaplacethatwillnotscratchthesurfaceofthedisk.

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152OpticalEncoder

➠Wiring

Thewiringfortheopticalencoderusestwochannels(DigitalIO;A/B)forthePDPsofourwireshavetobesolderedtotwoPWMs.

Orange:Power------------------------------->PWM2Power

Blue:ChannelA------------------------------>PWM1Signal

Brown:Ground------------------------------->PWM2Ground

Yellow:ChannelB---------------------------->PWM2Signal

➠Programming

//CodeUsedforTestingwithroboRIO

#include"WPILib.h"

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153OpticalEncoder

/**

*EncoderTestUsingMotor

*/

classRobot:publicSampleRobot{

Encoderencoder;

Joysticklogitech;

Talontalon;

//updateevery0.005seconds/5milliseconds.

doublekUpdatePeriod=0.005;

public:

Robot():

encoder(1,2,false,Encoder::k4X),

logitech(0),//Initializelogitechonport0.

talon(0)//InitializetheTalononchannel0.

{

encoder.SetSamplesToAverage(5);//Usedtoreducenoiseinperiod

encoder.SetDistancePerPulse(1.0/360);//ThismakesitsothatGetDistancewillreturn1whentheshaft

//makesafullrotationandthatGetRatewillbeinRevspersecond

}


encoder.Reset();


talon.Set(logitech.GetY());

//getsthey-axisontheLEFTlogitech

while(encoder.GetDistance()<2){

talon.Set(-0.2);

SmartDashboard::PutNumber("EncoderDistance",encoder.GetDistance());

//printsdisplacementinrevolutions

SmartDashboard::PutNumber("EncoderRate",encoder.GetRate());

//printsrateinRevspersecond

Wait(kUpdatePeriod);

}

}

}

};


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154OpticalEncoder

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155OpticalEncoder

Gyro

➠GeneralOverviewThegyromeasuresangularchangesonthetopsurfaceaxis.Thevoltageoutputdependsontheangularchangeitdetects.Itcanalsomeasuretherateofangularchange.Itnormallywouldbeusedintandemwiththeaccelerometer,sincetheaccelerometercandetectabsoluteanglevsangularmotion.Thegyrobestfunctionsatthecenteroftherobot’saxisofrotation.Whenmountingit,keepthegyroawayfromanythingthatmightfrythegyro,soitisbesttoelectronicallyisolateitfromthemainmountingboard.Noteworthyisthatitalsocontainsatemperaturesensor,usefulfordetectingheatwithintherobotsystemduringoperationifathermaldetectorisnotavailableorduringamatch.

➠SpecificationsThegyroacceptsa+5Vforpower,canrecordupto250O/s,hasanominaloutputof2.5Vatstandstill,adds7mV/O/s.Boardcarriesafiltersetto400Hz.Containsintegratedtemperaturesensorwhichacceptsa+5Vforpowerwithnominaloutputat2.5Vat25OC,adds9mV/OC.

➠Wiring

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156Gyro

WirestotheroboRIOAnalogINportsusingafemale-to-femalePWM.Ground,Power,Signalfromoutsideinrespectively.

WirestotheGyrosensorwiththeotherendofthefemale-to-femalePWM.Ground,Power,Signalfromoutsideinrespectively.

➠Programming

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157Gyro

#include"WPILib.h"

classRobot:publicSampleRobot

{


Gyrogyro;//Gyrosensor

doubleangleTurn=0.0;

doubleangleRate=0.0;

doubledriftRate=0.0;

public:

Robot():

stick(0),//thesemustbeinitializedinthesameorder

gyro(0)//astheyaredeclaredabove.

{

gyro.InitGyro();

}


gyro.Reset();



gyro.Reset();

Wait(2);

driftRate=gyro.GetAngle();

SmartDashboard::PutNumber("driftrate",driftRate);

}

angleTurn=gyro.GetAngle();

angleRate=gyro.GetRate();

SmartDashboard::PutNumber("Gyroangle",angleTurn);

SmartDashboard::PutNumber("Rateofturning",angleRate);

Wait(0.05);

}

}

};


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TheD-Link

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159Camera

TheD-Link

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160LiveFeed

TheD-Link

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161Pneumatics

TheD-Link

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162Appendixes

ChangelogJanuary10,2016,modifiedbyVivian

UpdatedPDPchapterAddedSensorschapterMadeformattingchangestoDriveCodechapterAddedManualConfigurationtoD-Linksection

February23,2015,modifiedbyVivian

AddedDriveCodeFixedTableofContents

February5,2015,modifiedbyVivian

AddedDriverStationDocumentationAddedMotorControllerDocumentation

February2,2015,modifiedbyKayliandAlex

AddedPDPDocumentationAddedD-LinkDocumentation

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163Changelog

Date post:	06-Jun-2020
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