Software SubsystemSoftware Subsystem

Scot MarshallScot MarshallLead Manufacturing Test Engineer Lead Manufacturing Test Engineer Constellation Project / Orion CEVConstellation Project / Orion CEV

Lockheed Martin Space SystemsLockheed Martin Space SystemsMichoud OperationsMichoud Operations

Team 1913, Covington High SchoolTeam 1913, Covington High SchoolCovington, LACovington, LA

scot@LaFRC.orgscot@LaFRC.org

www.www.LaLaFFRRCC.org.org

Software and Programming Software and Programming 20072007

What is It?What is It?Where Does it Go?Where Does it Go?

What are the Tricks?What are the Tricks?How do We Make It Work?How do We Make It Work?

What Else Do We Need to Know?What Else Do We Need to Know?

Where Does the Software Go?Where Does the Software Go?PC – RobotPC – Robot

IFI Loader (1IFI Loader (1stst))Dashboard ViewerDashboard ViewerC18 CompilerC18 Compiler

PC – CameraPC – CameraCMUcam2 Rev. ACMUcam2 Rev. A

PC – DesignPC – DesignAutoCadAutoCadSolidWorksSolidWorksLabViewLabViewMPLAB CBOT CompilerMPLAB CBOT CompilerEZ CEZ C

Robot ControllerRobot ControllerMaster Code (1Master Code (1stst))Program CodeProgram Code

ProgProg

Where does the software come from?Where does the software come from?

CDs in KitCDs in KitMPLAB CBOT – Robot Code CompilerMPLAB CBOT – Robot Code CompilerLabView – Control System SimulationLabView – Control System SimulationAutocad - Mechanical Desktop; 3D modellingAutocad - Mechanical Desktop; 3D modellingSolidWorksSolidWorks

http://www.ifirobotics.com/http://www.ifirobotics.com/IFI LoaderIFI LoaderRobot Master CodeRobot Master CodeRobot Default CodeRobot Default Code

http://java.com/en/download/index.jsphttp://java.com/en/download/index.jspJava for CMUcam2 Camera PC DisplayJava for CMUcam2 Camera PC Display

http://microchip.comhttp://microchip.comC-18 Compiler UpdatesC-18 Compiler Updates

MPLab IDE 7.20MPLab IDE 7.20

EasyCEasyC

www.IFIRobotics.comwww.IFIRobotics.com

IFI Robotics Web DownloadsIFI Robotics Web Downloads IFI_Loader v1.1.0 (zip, 2-3-2006) Must be

used with the 2006 Robot Controller.FRC DDT Code v2.2/v2.4 (zip, 1-25-2005) for use with the IFI Loader Dynamic Debug Tool only, instructions included.Program Port Y-Cable (pdf, 2-1-2005) see Printf statements while connected to the Breaker Panel, wiring diagram for Y-Cable.Device Reader Ver1.0.1 (zip, 4-7-2006) For reading/restoring Code in a RC, instructions included. NOTE: Uninstall before installing.

2004 Programming Reference Guide (pdf, 12-04-2004)FRC 2004 RC Default Code Reference Guide (pdf, 1-7-2004)

2007 RC Code (zip,1-12-2007) Contains both Default/User and Master Code.

Frequently Asked Questions (FAQ) C Programming This information is available at

http://www.ifirobotics.com/rc.shtml#Programming

IFI Loader v1-1-0IFI Loader v1-1-0Verifies COM port connection PC-to-RobotVerifies COM port connection PC-to-RobotLoads Robot Master Firmware v.13 Loads Robot Master Firmware v.13

Download from http://www.ifirobotics.com/Download from http://www.ifirobotics.com/Zipped file Zipped file FrcCode_2007_8722FrcCode_2007_8722

– FRC_MASTER_V13.BINFRC_MASTER_V13.BIN

Loads Robot Default/User CodeLoads Robot Default/User CodeZipped file Zipped file FrcCode_2007_8722FrcCode_2007_8722

– 27 other files including:27 other files including:– user_xxx.c and user_xxxxx.huser_xxx.c and user_xxxxx.h– ifi_xxxxx.c and ifi_xxxxx.hifi_xxxxx.c and ifi_xxxxx.h– main.cmain.c– FrcCode.mcp and FrcCode.mcwFrcCode.mcp and FrcCode.mcw– Frc_xxxxFrc_xxxx

Robot Default CodeRobot Default Code

Use IFI LoaderUse IFI Loader

One segment of code is user modifiableOne segment of code is user modifiable

Other segments must not be changedOther segments must not be changed

Use 2007 version of default codeUse 2007 version of default code

IFI suggests placing the robot code in a IFI suggests placing the robot code in a directory named directory named C:\mcc18\Projects\C:\mcc18\Projects\

This is because the Microchip compiler This is because the Microchip compiler has a 64 character path/filename limit. has a 64 character path/filename limit.

Robot Default Code I/ORobot Default Code I/O

See Controller Reference GuideSee Controller Reference Guide

Tables for DEFAULT code for each input Tables for DEFAULT code for each input and outputand output

Port 1 Hardware/Software Port 1 Hardware/Software

Port 2 Hardware/Software Port 2 Hardware/Software

CMUcam2 SoftwareCMUcam2 Software

Requires Java 10 or higher to runRequires Java 10 or higher to runwww.java.comwww.java.com

CMUcam2CMUcam2

Getting StartedGetting Started (zip, 4.65 Mb)  1-18-2005, (zip, 4.65 Mb)  1-18-2005, Updated the Start_Here-CMUcam2_fe-r2.pdfUpdated the Start_Here-CMUcam2_fe-r2.pdfSpecificationsSpecificationsDescriptionDescriptionCamera Board MarkingsCamera Board Markings (zip, 114Kb) (zip, 114Kb)Basic Trouble-ShootingBasic Trouble-Shooting (pdf) 1-18-05 (pdf) 1-18-05 TTL-232 Board Basic Trouble-ShootingTTL-232 Board Basic Trouble-Shooting (pdf) 2-3-05 (pdf) 2-3-05

Additional information available for the camera at:Additional information available for the camera at:

http://www.kevin.org/frc/http://www.kevin.org/frc/

CMUcam2 (2006)CMUcam2 (2006)

MPLab IDEMPLab IDESoftware Development EnvironmentSoftware Development EnvironmentEdits user code segmentEdits user code segment

Download from http://www.ifirobotics.com/Download from http://www.ifirobotics.com/Zipped file Zipped file FrcCode_2007_8722FrcCode_2007_8722

user_routines.cuser_routines.cuser_routines.huser_routines.h

Edits and Compiles Robot Default CodeEdits and Compiles Robot Default CodeOpen Open FrcCode.mcwFrcCode.mcw from unzipped Default folder from unzipped Default folder FrcCode_2007_8722FrcCode_2007_8722

So it will correctly compile, remember to So it will correctly compile, remember to store the default folder at:store the default folder at:

C:\mcc18\Projects\C:\mcc18\Projects\

Default Assignments & ValuesDefault Assignments & Values

Operator InterfaceOperator Interface

Robot ControllerRobot Controller

Backup ChartsBackup Charts

Useful WebsitesUseful Websites Innovation First Inc. (IFI Robotics)Innovation First Inc. (IFI Robotics)

http://www.ifirobotics.comhttp://www.ifirobotics.comSystem OverviewSystem OverviewRobot ControllerRobot ControllerOperator InterfaceOperator InterfaceRadio ModemsRadio ModemsBreaker PanelBreaker PanelVictor 884Victor 884SpikeSpike

CMU Cam2CMU Cam2

AccessoriesAccessories

Dashboard Dashboard ViewerViewer

Robot PartsRobot Parts

Legacy DocsLegacy Docs