samantha module and field control system dave hackett ftc mentor valley forge, pa

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Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Page 1: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

Samantha

Module and Field Control System

Dave HackettFTC Mentor

Valley Forge, PA

Page 2: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 3: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 4: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Samantha Components• Samantha Module

– A Wi-Fi device that allows a team to control its robot remotely

– Attaches to NXT using USB cable– Receives commands from game controllers

connected to the Field Control System

• Samantha Field Control System (FCS)– Software and hardware setup that allows FTC

robots to engage in competition– Consists of:

• Laptop w/Samantha FCS Software • Wi-Fi router• USB cables and hubs• Logitech Game Controllers• External monitor for timer display

Page 5: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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FCS Configuration Overview• Configure Samantha Field Control System

software and hardware– Download and install FCS software– Connect and configure FCS router– Connect remaining hardware to laptop

• Configure Samantha module– Prepare FCS flash drive with network

configuration and firmware– Flash Samantha module

• Prepare NXT– Name, Tele-Op program, required programs

• Run FCS software– Connect robot via Samantha module

• Resources– Read: FCS User's Guide for teams– Watch: FTC Video Tutorial - Setting Up the Field Control System

Page 6: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 7: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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FCS Software• Download latest Samantha Field Control System software

• http://www.usfirst.org/roboticsprograms/ftc/fcs• Install it on the FCS Laptop

Page 8: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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FCS Router• Connect an Ethernet cable between router Port 1 and FCS laptop• Manually configure the router

– DHCP enabled– Network Mode: Wireless B Only– SSID: <e.g., FTC_FIELD>– Channel: choose quietest channel

• inSSIDer• http://www.metageek.net/products/inssider

– Wireless Security• Security Mode: WPA2 Personal• Passphrase: <a strong password – remember for later use>

• Resources– Read: Router Configuration Guide for Teams

Page 9: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 10: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Configure Wi-Fi Settings• Required

– USB flash drive• 2 GB maximum (FAT file system)

– Network information• SSID (same as on FCS router)• Network Authentication: WPA2-PSK• Encryption: AES• Network Key (same as on FCS router)

• Samantha Competition Network Config– “FTC_FIELD” Wireless Network Settings– Settings in FTCNTKY folder on flash drive– SamoCfg.exe /Primary

• Samantha Network Config• “FTC_PIT” Wireless Network Settings• Settings in SMRTNTKY folder on flash drive• SamoCfg.exe

Page 11: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Samantha Firmware• Samantha Firmware

– Samantha.hex– C:\Program Files (x86)\Samantha

Field Control System\Samantha– Use version that came with FCS

• Copy Samantha.hex to FCS flash drive

Page 12: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Flash Samantha Module

1. Power off Samantha module

2. Remove USB cable from Samantha module

3. Insert FCS flash drive

4. Press and hold red button

5. Power on the Samantha module

6. Wait for Red LED, then release button

7. Wait for LED sequence Red, White, Blue, White, Red to occur twice

1. One sequence is for firmware

2. The other is for network information

8. Wait for Red LED

9. Power off Samantha module

10. Remove flash drive

11. Reconnect the USB cable

12. Power on Samantha module

13. White LED illuminates when your network recognized

• Resources– Watch: FTC Video Tutorial - How to update Samantha's Firmware

• Wait for LED sequence Red, White, Blue, White, Red to occur twice

• Flash the Samantha module with firmware and network settings

Page 13: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 14: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Prepare NXT• Name your NXT

– Use your FTC Team number– Append hyphen and letter on additional NXTs (e.g. 0010-A, 0010-B)

• Install programs required at Tournaments– Program Chooser– Samostat

• Define the default Tele-op program– FTCConfig.txt

• Configuration file on NXT • Used by FCS to start the named program at the

beginning of the Tele-op period– Setting

• Run Program Chooser• Define within programming environment

• Help the FCS Operator and the FTA help you!– Use meaningful names for autonomous and Tele-op programs

Page 15: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 16: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Start Samantha FCS Software• Start Samantha Field Control System software• Assign Controllers window opens first

– Connect USB Logitech controllers to corresponding team and position• Red 1/Driver 1, Red 1/Driver 2, Red 2/Driver 1, etc.

– “Rescan” will search for new Logitech controllers– “Reset All” will clear all assigned Logitech controllers

Page 17: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Select Teams• Choose button shows list of

available robots• The first time Samantha module

is connected to FCS, press Red button on Samantha module to pair

• Additional Red, Yellow, Green messages indicate– Batteries strength– Autonomous program status– Tele-op program status– Various connection statuses

http://www.usfirst.org/sites/default/files/docs/Samantha_FCS_Readme/Samantha_FCS_Readme.html

• Resources– Read:

Page 18: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Agenda

• Overview• Configure Field Control System• Configure Samantha Module• Prepare NXT• Field Control System Software• Additional Information

Page 19: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Program Chooser• Creates a configuration file (FTCConfig.txt) on NXT that

tells the FCS the program to start at the beginning of the Tele-op period

• Required to be installed on NXT at Tournaments• Compile and install on NXT

– RobotC• No longer installed by default• Sample Programs> Try Me Program Source\

Program Chooser.c– LabVIEW

• FTC 2012-2013 Toolkit

Page 20: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Samostat• Wi-Fi status and network verification• Required to be installed on NXT at

Tournaments• Samantha FCS folder

– RobotC: samostat.c– LabVIEW: samostat.vi

• Also in RobotC Sample Programs• Displays

– Firmware version– IP address of Samantha– Connection counters– Detected Wi-Fi networks

• Left most character– blank: not connected to network– asterisk (*): connected to network

• Second left most character– blank: infrastructure network– ampersand (@): ad hoc network

Page 21: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Mounting Best Practices• Mount Samantha module as high as possible• Do not bury Samantha module behind a mass of metal• Use as short a USB cable as possible, usually 12”• Ensure good strain relief for USB cable

– The ½” gear hub the right size is a good choice to use as a spacer• Samantha Mounting Best Practices Report

– Mounting Samantha module laterally results in the best overall signal strength

Page 22: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Power Connections• Robot Power Management Using Anderson Powerpole® Connectors

– http://www.usfirst.org/sites/default/files/uploadedFiles/Robotics_Programs/FTC/FTC_Documents/Anderson-Powerpole-Guide.pdf

– Thanks to Purple Gears / FTC Team 2901• Wire directly to switch and battery

– Samantha Mounting Best Practices

Check for an expanded female connector

Page 23: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Samantha Light Codes• The LEDs are:

– The Red LED used as an indicator for the power connection– The White LED used as an indicator for the Wi-Fi connection– The Blue LED used as an indicator for the NXT connection

• Status Monitoring and Troubleshooting– The LEDs are also used for status monitoring and

troubleshooting– The LEDs 'blink' individually or in sequences or patterns that

signify the conditions of operation or faults

• Resources– Read:

– Watch: FTC Video Tutorial - Samantha Troubleshooting

http://www.usfirst.org/sites/default/files/docs/Samantha_Module_Readme/Samantha_Module_Readme.html

Page 24: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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SAMANTHA Debug Log• Stores communications between

the FCS and Samantha modules• Automatically created

– My Documents\Samantha FCS\Debug Log

• New log file each time FCS started

Page 25: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA

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Samantha Information Web Page• Connect to Samantha module via web browser• On FCS, press Details button then click on IP Address• May assist with troubleshooting issues (FCS vs. NXT)

Details Window Web Page InformationDetailsButton

Page 26: Samantha Module and Field Control System Dave Hackett FTC Mentor Valley Forge, PA