programming workshop
DESCRIPTION
Programming Workshop. FIRST 2007. Presenter. Erik A. Cokeley Involved in FIRST for 10 years Mentor - Hightstown High School - Team 1089 NJIT - Junior Computer Science Major Experienced with the Microchip PIC Autonomous robots Program in C, C++, Assembly, Java - PowerPoint PPT PresentationTRANSCRIPT
Erik A. Cokeley - 2007
Programming Workshop
FIRST 2007
Erik A. Cokeley - 2007
Presenter– Erik A. Cokeley
– Involved in FIRST for 10 years• Mentor - Hightstown High School - Team 1089
– NJIT - Junior
– Computer Science Major
– Experienced with the Microchip PIC
– Autonomous robots
– Program in C, C++, Assembly, Java
– Familiar with the FIRST Default Code
– Familiar with Kevin’s Camera Code
Erik A. Cokeley - 2007
Workshop Outline– Resources– Software Installation– Some Gotchas– Review the Default Design– Loading your code into your robot– Operator Interface– Robot Controller– Other Hardware– Sensors– Some examples– Questions
Erik A. Cokeley - 2007
Resources• FIRST - www.usfirst.org
• Innovation FIRST - www.ifirobotics.com
• Kit & Manual
• Microchip - www.microchip.com
• ChiefDelphi – www.chiefdelphi.com
• ChiefDelphi Whitepapers - www.chiefdelphi.com/media/papers
• Kevin Watson – www.kevin.org/frc
• Blue Alliance - www.thebluealliance.net
• Me! - [email protected]
Erik A. Cokeley - 2007
Installation Procedure• Use CD from kit or download MPLab and C18 from
Microchip
• Install MPLab
• Click on the setup file for the C18 compiler
• Select the options that allow the IDE to be updated
• Try to compile Default Code– Unzip frc_code.zip
– Open FrcCode.mcw
– Select “Build All” in MPLab IDE
• Install ifi_loader
Erik A. Cokeley - 2007
Design Flow
• Competition Mode
• Autonomous Mode
• 26.2 ms
Erik A. Cokeley - 2007
IFI Loader
• Turn on Robot Controller
• Tether PC to RC’s Program Port– Use correct cable!
– USB to Serial Converter causes long load times
• Put Robot into Program Mode
• Load Default Code hex file– Select COM Port in IFI_Loader
– Browse for hex file
– Click upload
• Robot Ready to Go!
Erik A. Cokeley - 2007
Operator Interface (OI)
Erik A. Cokeley - 2007
Robot Controller (RC)
Erik A. Cokeley - 2007
Some Other Hardware
Erik A. Cokeley - 2007
Some Sensors
Analog vs. Digital• Camera• Gyro• Encoder• Potentiometer• Pressure switch• Touch switch• Line switch• Infrared• Hall Effect
Erik A. Cokeley - 2007
Some Examples
• Mapping Controls to Joysticks
• Autonomous Dead Reckoning
• Integrating the Camera
• Using a potentiometer to measure an analog voltage
Erik A. Cokeley - 2007
Questions?
