Software SubsystemSoftware Subsystem

Scot Marshall, Staff Test Scot Marshall, Staff Test Engineer Engineer

Lockheed Martin Space SystemsLockheed Martin Space SystemsMichoud OperationsMichoud Operations

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

scotmar@bellsouth.netscotmar@bellsouth.net

Software and Programming Software and Programming 20062006

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 What Else Do We Need to

Know?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 – CameraCMUcam2CMUcam2PICASAPICASA

PC – DesignPC – DesignAutoCadAutoCadLabViewLabViewMPLAB 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 SimulationPicasa – Google Digital CameraPicasa – Google Digital Camera

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.comCompiler UpdatesCompiler Updates

IFI Robotics Web DownloadsIFI Robotics Web Downloads IFI_Loader v1.0.12 (zip, 1-3-2006) Must be used with

the 2006 Robot Controller.IFI_Loader v1.0.10 (zip, 11-17-2004)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 (zip, 2-1-2005) for reading and restoring Code in a RC (can not modify the code), instructions included.

This information is available athttp://www.ifirobotics.com/rc.shtml#Programming

IFI Robotics Web DownloadsIFI Robotics Web Downloads 2005 RC User Default Code ver2.2 (zip, 1-12-2005) No

camera code, works with MPLAB & Compiler that came in 2005 FIRST kit.2005 RC User Default Code ver2.4 (zip, 1-12-2005), with camera code - works only with C18 Compiler (ver 2.4) from Microchip.2005 RC Master Code version 10 (zip, 1-10-2005), "How To" instructions included.2005 RC Master Code version 11 (zip, 4-15-2005), "How To" instructions included. (Corrects possible motor jump at "Link")Frequently Asked Questions (FAQ) C Programming

This information is available athttp://www.ifirobotics.com/rc.shtml#Programming

IFI Robotics Web DownloadsIFI Robotics Web Downloads 2004 Programming Reference Guide

(pdf, 12-04-2004)FRC 2004 RC Default Code Reference Guide (pdf, 1-7-2004)2004 RC User Default Code (zip, 2-26-2004)

This information is available athttp://www.ifirobotics.com/rc.shtml#Programming

IFI Loader v1-0-12IFI Loader v1-0-12

Verifies COM port connection PC-to-RobotVerifies COM port connection PC-to-RobotLoads Robot Master Firmware v.11Loads Robot Master Firmware v.11

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

– FRC_MASTER_V11.BINFRC_MASTER_V11.BIN– master-firmware-update-frc.pdfmaster-firmware-update-frc.pdf

Loads Robot Default CodeLoads Robot Default Code

Robot Default CodeRobot Default Code

Use IFI LoaderUse IFI LoaderOne segment of code is user modifiableOne segment of code is user modifiableOther segments must not be changedOther segments must not be changed

Robot Default Code I/ORobot Default Code I/O

See Controller Reference GuideSee Controller Reference GuideTables 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

CMUcam2CMUcam2Getting 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

CMUcam2CMUcam2

MPLab IDEMPLab IDE

Software Development EnvironmentSoftware Development EnvironmentCreates user code segmentCreates user code segment

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

– FRC_MASTER_V11.BINFRC_MASTER_V11.BIN– master-firmware-update-frc.pdfmaster-firmware-update-frc.pdf

Loads Robot Default CodeLoads Robot Default Code

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 Cam2AccessoriesAccessoriesDashboard Dashboard ViewerViewerRobot PartsRobot PartsLegacy DocsLegacy Docs

HIGHLIGHTS: What’s new?HIGHLIGHTS: What’s new?

• FRC Control System OverviewFRC System Quick StartRC Reference Guide2005 OI Reference Guide (pdf) 11-21-05

I am not looking for trade secrets, or a jump on how the game is to work this year. I I am not looking for trade secrets, or a jump on how the game is to work this year. I am interested in the mechanics and sequence of getting all the software where it am interested in the mechanics and sequence of getting all the software where it needs to go and verifying it is operating correctly. I just want to tell the teams how to needs to go and verifying it is operating correctly. I just want to tell the teams how to get their robot and laptop up and running. Last year there were some seriously quirky get their robot and laptop up and running. Last year there were some seriously quirky sequences, patches and extra downloads that were required just to get the compiler sequences, patches and extra downloads that were required just to get the compiler to compile the default code, and I don’t think that that is any kind of fair to rookie to compile the default code, and I don’t think that that is any kind of fair to rookie teams.teams.I want to tell them what they have to get from where, how to install it, in what order it I want to tell them what they have to get from where, how to install it, in what order it has to be installed, what else they have to do to make it run, what they can do when it has to be installed, what else they have to do to make it run, what they can do when it does, and how they would know if it is even downloaded, unzipped, installed, and does, and how they would know if it is even downloaded, unzipped, installed, and functioning correctly.functioning correctly.Can I get the file names, versions, how it is going to be packaged, what will have to Can I get the file names, versions, how it is going to be packaged, what will have to be downloaded off of what website, what works with what, needs what before it can be downloaded off of what website, what works with what, needs what before it can be used, what is independent, does it still need a loader, do we still operate in an be used, what is independent, does it still need a loader, do we still operate in an MPLAB IDE environment, Autodesk AutoCad (Ought-to-Cad), 3-D modeling, etc.MPLAB IDE environment, Autodesk AutoCad (Ought-to-Cad), 3-D modeling, etc.I would be happy to sign a non-disclosure agreement. I am trusted with proprietary I would be happy to sign a non-disclosure agreement. I am trusted with proprietary data at work and understand the safeguards.data at work and understand the safeguards.