Intro to roboRIO Presented by Rohawktics Team #3824
Overview What will be covered ● Hardware (20 min) ○ What is new? ○ What is the same? ○ How do you wire the new hardware? ● Software (20 min) ○ What has changed?
Overview - continued What will be covered ● Demonstration (45 min) ○ IDE, systems requirement (Java 8) ○ Getting started examples (2 or 3 examples) ■ Discuss mDNS vs old style IPs ■ roboRIO embedded Web server ■ How to port old code to new platform ○ Working robot ■ CAN, PDP, PCM, new Talon’s, basic drive, compressor ○ Debugging ○ WPILib JavaDocs ○ SFX, Robotbuilder ● Q & A (20-30 min)
What is New? (Hardware) ● The roboRIO is new (smaller, more integrated design) ○ DIO - Digital Input/Output (10) ○ PWM output (10) ○ Analog inputs (4) ○ Relay control outputs (4) ○ RS-232 (1) ○ Ethernet (1) ○ USB - Universal Serial Bus(3) ○ I2C - Inter Integrated Circuit (1) ○ CAN - Controller Area Network (1) ○ SPI - Serial Peripheral Interface (1) ○ Expansion connector for additional PWM/Analog In and DIO
What is New? (Hardware) (cont…) ● Intelligent power distribution board with CAN communicates for status, voltages and currents. ● Intelligent Pneumatic Controller Module (PCM) on the CAN bus for pump control and relay outputs with built-in pump power relay and shut off switch input. The robot may have multiple PCMs. ● New Talon-SRX and Victor-SP motor controllers, which are smaller and do not require special cooling. ○ Talon-SRX - PWM and CAN, closed loop PID built in ○ Victor-SP - PWM with selectable Brake/Coast ● New voltage regulator module
What is the Same (Hardware)? ● The battery and connectors are the same. ● The Modem is not changing. ● You are still allowed to use talons, victors, and jaguars for motor control. ● It is the same pneumatic system (pump, shutoff valve, storage tanks, etc.). ● The robot signal light did not change.
How Do You Wire the New Hardware?
What has Changed? (Software) ● Eclipse is now the IDE for Java and C++. ● mDNS is now used for resolving host IP addresses roboRIO-[team #].local ● CAN bus is used for communications between the roboRIO, the Power Distribution Panel (PDP), and the Pneumatic Control Module (PCM). CAN IDs should be set to zero for the PDP and PCM unless using more than one PCM, then the second PCM should have a CAN address of one.
What has Changed? (cont…) ● If you use example projects, package name should be fine. Package name can be set in the Build.properties file. ● Diagnostics are available through a webpage on the roboRIO through HTML. The logon user name is “admin” - no password required by default. ● Start/stop methods on gyros, counters, and encoders have been removed. Those devices now start automatically on creation of the device ● AnalogChannel is now AnalogInput to mimic DigitalInput
What Has Changed? (Software) ● The OS on the RoboRIO is Linux, so you can use other vision libraries like OpenCV. ● The AnalogModule and DigitalModule classes no longer exist. ● Cypress Board no longer works with WPIlib ● The Compressor class has been replaced by an updated version that uses the PCM. ● The Kinect sensor support classes are no longer in WPILib. ● the PowerDistributionPanel class supports the sensing features of the PDP. The instantiated object reads the currents from each of the motor channels. ● The BuiltInAccelerometer class supports the accelerometer built into the roboRio.
What Has Changed? (cont…) ● Analog triggers and Interrupts are now supported. ● The AnalogPotentiometer class return angles in degrees rather than voltages that need to be converted. ● The DriverStationLCD class and the LCD display of the Driver Station has been removed. NetworkTables/SmartDashboard can be used to display text. ● The Gazebo robot simulator can simulate the software of robot programs. ● The full set of doxygen-based library API documentation: http://first.wpi.edu/FRC/roborio/development/docs/ ● Java 8 is on the RoboRIO
Reference of software changes: https://wpilib.screenstepslive.com/s/4485/m/13809/l/144988-2015-text- based-language-software-notes
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