National InstrumentsFRC Robot Modeling Toolkit

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

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!

Control Design Cycle—The Big Picture: The “V” Diagram

System Testing

System Definition

Targeting

Rapid Prototyping

Hardware-in-the-Loop Testing

V Diagram – 1. System Definition

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

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

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

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

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

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

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

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…

FRC Toolkit Overview

FRC Controller

Operator Interface

Dashboard Interface

USB Data Acquisition Device

USBDigital Data simulating encoders, limit switches, etc…

with FRC Modeling Toolkit

FRC Modeling Toolkit Overview

• Allows you to define the particular hardware to simulate

Toolkit Overview (cont.)

• Define the entire robot with easy to understand dataflow programming

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

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!