National Instruments FRC Robot Modeling Toolkit

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National InstrumentsFRC Robot Modeling Toolkit
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Topics

• The Big Picture The V-Digram Design Process
• Applying the V to Robotics
• Introduction to LabVIEW
• Introduction to FRC Toolkit
• Putting it all together

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In the Beginning

• Testing your FRC Controller software had to wait
  until the robots construction was complete.
• As a result, not much time could be devoted to
  writing/testing the robots code.
• Programmers cried out for a solution!

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Control Design CycleThe Big Picture The V
Diagram
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V Diagram 1. System Definition

• Specify requirements of control system based on
  needs. All functionality and performance
  requirements should be included.

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V Diagram 2. Rapid Prototyping

• Develop all algorithms needed to meet
  requirements and implement prototype controller.
  Test input/output characteristics and validate
  prototype with real system.
• Tools
• Simulation software
• Real-time system with I/O for prototyping
• Data acquisition software and hardware

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V Diagram 3. Targeting

• Generate code for target processor from validated
  control algorithms. Coding may be done by hand
  or by using automatic code generation tools.
• Tools
• Automatic code generation

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V Diagram 4. Hardware-in-the-Loop Testing

• Test and validate actual controller against a
  simulated system on real-time hardware.
• Tools
• Simulation software
• Real-time system with I/O for prototyping
• Data acquisition software and hardware

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V Diagram 5. System Testing

• Test and validate controller with actual system.
  Verify all system requirements and then proceed
  to production testing.
• Tools
• Data acquisition software and hardware

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Applying the V to Robotics

• Problem
• waiting for the build team
• Solution
• simulate the robot and get cranking on the code!
• Write your REAL code for the controller
• Model your robot in a simulation environment
• Test your REAL code against the simulated robot
• Taunt the build team with your completed code!
• To do this, we use LabVIEW and the FRC Modeling
  Toolkit

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What is LabVIEW?

• Graphical dataflow programming environment
• Used by scientists and engineers for testing and
  automation
• Allows users to create Virtual Instruments
• Also known as VIs
• Interfaces with a wide variety of buses and
  devices
• Introduction material at www.ni.com/academic
• gtgtCurriculum Resourses

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What is the FRC Modeling Toolkit?

• A set of LabVIEW VIs that can be used to
• Monitor the state of the Robot Controller
• Simulate a robot configuration (including
  sensors)
• Model sensors to help understand how they operate
• FRC VIs use an improved dashboard reader to
  determine the state of the IFI Robot Controller
• FRC Vis can be used to model a robot,
  characterizing its behavior to act very close to
  the completed robot.
• FRC VIs can use the USB-6009 DAQ device to
  generate feedback signals to the embedded
  controller to simulate sensors such as encoders,
  gyros, etc

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FRC Toolkit Overview

• FRC Controller

Dashboard Interface
Operator Interface
USB
Digital Data simulating encoders, limit switches,
etc
USB Data Acquisition Device
with FRC Modeling Toolkit
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FRC Modeling Toolkit Overview

• Allows you to define the particular hardware to
  simulate

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Toolkit Overview (cont.)

• Define the entire robot with easy to understand
  dataflow programming

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Where to Get These Tools

• For the toolkit as well as some tutorials, go to
• http//www.chiefdelphi.com/forums/showthread.php?t
  50742
• ftp//ftp.ni.com/pub/frc/
• For help related to LabVIEW, the FRC Modeling
  Toolkit, or Data Acquisition in general go to the
  ChiefDelphi LabVIEW forum
• http//www.chiefdelphi.com/forums/forumdisplay.php
  ?f149

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Installation Instructions

• Installing the FRC Robot Modeling/Simulation
  Toolkit
• 1. Install LabVIEW 8.20 AND the supplied Driver
  CD as directed. NI Pilot Program teams should
  have received LabVIEW 8.20 and the Driver CDs
  with their USB-6009 shipment. All other teams
  will receive LabVIEW 8.20 in their FRC Kit of
  Parts. Sorry, this toolkit is not compatible with
  LabVIEW 8.0 that teams received last year - cheer
  up, however, teams can download and install an
  evaluation copy of LabVIEW 8.20 from here once
  your copy arrives in your Kit of Parts, you can
  use its activation code to activate your copy -
  no need to uninstall and reinstall!
• 2. If LabVIEW is already installed, please close
  down LabVIEW if it has already been started.
• 3. Extract the contents of the FRC Toolkit ZIP
  file into the LabVIEW 8.2 directory - this should
  overwrite the contents of the user.lib directory
  already created in that folder. If you installed
  LabVIEW in the default location, that directory
  is "C\Program Files\National Instruments\LabVIEW
  8.2\".
• Using the FRC Robot Modeling/Simulation Toolkit
• 1. Install LabVIEW 8.20.
• 2. If not installing the Driver CDs, download and
  install NI-VISA 4.0 for Windows.
• 3. Download and complete the FREE online "Learn
  LabVIEW in 3 Hours" course.
• 4. Watch Tutorials 1 and 2.
• 5. Download and Install the FRC Toolkit Software.
  
• 6. Model your robot!