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Team 1912 Combustion Ignition Team Manual An Introduction To First Labview

This document provides an introduction to programming robots for FIRST using LabVIEW. It outlines the key components of a LabVIEW-based robot code including the front panel, block diagram, and WPI library. It describes the general structure and purpose of different types of VIs (virtual instruments) like Begin, Autonomous, Tele-Op, and Timed Tasks. It also discusses best practices for documentation, testing, and the deployment process for getting code onto an actual robot.

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47 views

Team 1912 Combustion Ignition Team Manual An Introduction To First Labview

This document provides an introduction to programming robots for FIRST using LabVIEW. It outlines the key components of a LabVIEW-based robot code including the front panel, block diagram, and WPI library. It describes the general structure and purpose of different types of VIs (virtual instruments) like Begin, Autonomous, Tele-Op, and Timed Tasks. It also discusses best practices for documentation, testing, and the deployment process for getting code onto an actual robot.

Uploaded by

dearprasanta6015
Copyright
© Attribution Non-Commercial (BY-NC)
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Download as PDF, TXT or read online on Scribd
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Team 1912 Combustion Ignition Team Manual An Introduction to FIRST LabVIEW Written by Rachel Holladay

Programming in FIRST
Language Choices LabVIEW, Java, C++ Used for Robot Control Autonomous: decisions made based on senors or preprogrammed movements Tele-op: decisions made based on operator input from the drivers

Two part System

Front Panel

Looks like a display board, user interface Controls allow you to input data Indicator allow you to extract data Home to the actual code Full of loops, conditionals, statements Most of the work is done here

Block Diagram

General Structure

Graphical, object are represented by icons Circuitry system data follows along wires VI 'Visual Instruments' Easy to learn, hard to master

Basics: WPI Library

Created by the Worcester Polytechnic Institute Contains all the specialty FIRST subVIs

Includes eight subcategories

Robot Drive Sensors Acuators Driver Station Camera Communications Utilities

Framework

The main structure that holds FRC code together, allows it to run smoothly on the robot etc. You must work within the framework and YOU SHOULD NEVER EDIT THE FRAMEWORK Otherwise the FMS (field management system) will be unable to connect to you robot and it will not move. Ever.

Project Explorer

All files are stored in pre-made projects Acts as file directory Holds all files needed for robot control All specialty made Vis must be added

Vis: Robot Main

The main combining point of focus for the project Should not be edited under any circumstances Mainly helps the FMS system understand and runs the code DO NOT EDIT THIS

Robot Main

VIs- Begin

Called once at beginning, to open I/O, initialize sensors and any globals, load settings from a file, etc. First thing run on robot boot up Opens and assigns all variables and hardware

EX) Opens a joystick and assigns it to USB 1 EX) Opens a motor and assigns it to PWM 1 with a true inversion

Begin

VIs- Finish

Called before exiting, so you can save data, clean up I/O, etc. Doesn't actually run in competition Does the inverse of begin, it closes everything

EX) Closes the joystick, motor, etc.

If you open something in Begin, close it in Finish, it's just neat practice

VIs- Autonomous

Automatically started with the first packet of autonomous and aborted on the last packet. Write this Team VI to loop for the entirety of the autonomous period. Runs autonomous code for 15 second period Can either be based on sensor input or based on dead reckoning Framework provides an example of a simple dead reckoning driving maneuver

VIs - Tele-Op

Called each time a teleop DS packet is received and robot is enabled. Main body hold Tele-Op code Normally holds drive code and any Challenge related code, such as an arm or kicker Framework provides arcade drive

Tele-Op

VIs Timed Tasks

Called each time a teleop DS packet is received and robot is enabled. Also called Periodic Tasks Runs during Autonomous and Tele-Op Great for things you want running for both

EX) This is where you enable a compressor

Some people heavily use Tele-Op, others prefer Timed Tasks. Its a personal thing really

Timed Tasks

VIs- Vision

A parallel loop that acquires and processes camera images. Holds any code related to your camera Often gets neglected because the camera is a very commonly neglected element Framework provides a camera feed on the dashboard, which is a neat feature

Vision

The Re-Imaging Tool

Used to wipe/clean the cRIO clean of software Often fixes corrupted files or helps restore the cRIO to the default, blank slat Assigns robot IP address (10.xx.yy.2)

Puts code on the robot only temporarily Code will be lost once the robot is turned off Great for when only testing code Code can be pushed with the run arrow an infinite amount of times

Builds a package of the code and then deploys the code on to the robot Will stay on the robot permanently even after turned off Does take a few minutes to do An executable must run for competition To remove or change a new executable must be pushed down or the cRIO must be reimaged

Making an Executable

Driver Station

Used to enable and control the robot Various tabs for a variety of indicators The robot must have communications and code before enabled and can run

Dashboard

Gives more indicators including a camera image feed. You can create a custom dashboard to view particular barometers

Classmate Clamshell

A smaller portable computer given in the KoP Two mode of operation:


Developer: acts as a regular computer Driver Station: automatically pulls up the Driver Station and Dashboard. Used in competition

This computer should not be used as the main programming laptop. A separate computer should be used.

Good Practices

Keep I/O log for documentation Limit closed loop and sensor control Plan out code before coding When possible, break things into steps The best programmer understands their mechanical environment and is embedded within the design and implementation process. That and (hopefully) stays on schedule..

Tip Jar

An excellent way to teach yourself LabVIEW is through a series of videos produced by NI, the Tip Jar. This useful set of almost 20 videos includes topics that range from "Debugging Your FRC code" to "LabVIEW intro for C++ Programmers" http://www.lvmastery.com/tipjar

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