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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 robot’s construction was complete.
• As a result, not much time could be devoted to writing/testing the robot’s code.
• Programmers cried out for a solution!
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Control Design Cycle—The Big Picture: The “V” Diagram
System Testing
System Definition
Targeting
Rapid Prototyping
Hardware-in-the-Loop Testing
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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
• Solutionsimulate 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
– >>Curriculum 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
Operator Interface
Dashboard Interface
USB Data Acquisition Device
USBDigital Data simulating encoders, limit switches, etc…
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?f=149
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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!