FTC NEW TECHNOLOGY - HARDWARE. FTC Kickoff September 12, 2015

Transcription

1 FTC NEW TECHNOLOGY - HARDWARE FTC Kickoff September 12, 2015

2 Agenda Hardware Overview Individual Device Specs Configuring Phone and Hardware Tips

3 New Electronic Modules New USB-enabled modules from Modern Robotics Power Module Legacy Module DC Motor Servo Core Device Interface (Advanced Sensor Module) Legacy Module Allows use of NXT-compatible devices

4 Support for Legacy Devices

5 New USB-Enabled Controllers

6 Hardware Specifics ZTE Speed 1.2GHz Quad core 2000mAh battery 1GB RAM 8GB Flash storage, expandable Sensors: Accelerometer, Proximity, Compass, GPS, Camera Android Kit Kat (4.4) Be careful not to let the phone upgrade to Lollipop (5.0+)! This is known to cause problems.

7 Hardware Specifics Core Power Distribution Module Contains 20A replacable fuse Dedicated On/Off switch (don t forget to turn on) USB 500mA max per connector, 4A max for all 9-15V DC, 18A max Required by game rules to be connected to Robot Controller Phone Comes with Tamiya connector to battery by default Recommend replacing battery and Core Power Distribution Tamiyas with Powerpoles

8 Hardware Specifics Core Legacy Module Supports NXT LEGO sensors, HiTechnic sensors, Matrix controllers, and HiTechnic Motor / servo controllers LEGO Motors not supported Special modes on some ports check specs at Modern Robotics Website

9 Hardware Specifics Core Device Interface 26 Ports for sensors Digital (logic 0 or 1) x8 Analog (0-5V sampled to ) x8 PWM (16-bit timer with 1 µs resolution) x2 I2C Bus (NOT NXT I2C, 100kHz 27 byte buffer) x6 (expandable) Analog Output (±4V at 1mA, DC, sine, square, triangle wave, 0-8kHz) x2

10 Hardware Specifics Core Motor Controller Two 9-15V DC Motors Motor encoder connections Probably will want at least two of these, unless you don t plan on using more than 2 motors Operational modes: Controlled power motor speed and direction Constant speed maintain speed even if load on motor changes Run to Position use with encoder, run to a certain position and then maintain it Brake or float at 0% power Reset current encoder value Hardware support for reversing direction Allows you to use one number in code to set both motors so that their rotation causes the robot to move forwards / back instead of spin Monitor Battery voltage from 0-20V with 20mV resolution

11 Hardware Specifics Core Servo Controller x6 6V DC servos 1.5A max (5A max total) 8-bit positioning Pin 1: GND; Pin 2: +6V; Pin 3: Control pulse

12 Hardware Specifics - Sensors IR Seeker V3 I2C (100kHz) 30 samples / sec 2.4m range Optical Distance Sensor Analog (0-5V) 1000 samples / sec 0.5-8cm range Touch Sensor Digital sensor

13 Which should I use? Legacy vs. Core modules New Core modules can be purchased a la carte at Legacy Modules Pros: Can save money by reusing existing hardware Make use of HiTechnic or LEGO sensors not available from Modern Robotics (yet?) Cons: Additional access time by software to read and write values More susceptible to static, I2C lockups Core Modules Pros: USB Interface is much more reliable than the custom I2C used by the NXT Motor / Servo controllers support the same number of motors/servos as legacy controllers Use Powerpole connectors More reliable and less prone to accidental disconnect

14 WiFi Direct Android devices use WiFi Direct to connect/pair Robot controller acts as group owner Pairing is initiated from FTC Driver Station app Some important tips In general, devices should NOT be connected to any other wireless networks Occasionally, it helps to clean up old, unused remembered WiFi direct connections

15 Hands on Hardware setup

16 ftc kickoff presentation FTC BASIC SETUP FOR ZTE SPEED

17 Unboxing Setup Remove the SIM card from the phone by removing the rear panel of the phone. Once removed then push the SIM card in and release to pop it out. Put the rear panel on again and power on the phone. While the phone is turning on take off the plastic screen cover.

18 First Time Phone Setup When your phone first turns on you will be prompted with setup options. Go through these settings and connect to your wifi network. Once you have entered your password a series of errors will pop up because it cannot connect to the Sprint network. Do not worry, you have already taken the SIM out. Once you reach the android home screen press google play store. Then enter either an existing or create a new google account. You don t have to put in any payment info if you press skip.

19 Making Sure the Phone Does Not Update Click on the apps button in middle of the bottom bar and swipe to the left. Find settings and open it. 1. Turn on Airplane mode and make sure Wifi is on 2. Scroll down and select apps 3. Swipe left twice so you are under the all tab and scroll down to Google Services Framework 4. Select the app and uncheck the Show Notifications box 5. Click Back twice

20 Enable the Phone to Communicate with Android Studio 1. Scroll to the bottom and select About Phone 2. Scroll to the bottom again and tap SW Version 7 times 3. Select the new Developer Options tab and Enable USB Debugging 4. Go back and select the Connect to PC tab 5. Select Install Driver 6. Click back

21 Display Settings 1. Select the Display tab 2. Click Brightness and turn off auto brightness 3. Move the slider down to ¼ brightness 4. Select Sleep and change the auto sleep to 30 minutes 5. Uncheck the Autorotate Screen box

22 Install the Drivers 1. Get the USB cord out of the box and plug your phone into the computer 2. On your phone select OK to allow USB debugging 3. On your PC click Run AutoRun.exe and click Next through the wizard 4. Wait for drivers to install 5. Verify USB Debugging is on 6. Select Charge Only

23 Installing the FTC Driver Station and FTC Robot Controller You must download the FTC apps from the google play store. Just search ftc on the google play store and the first two results are the apps you will need.

24 Setting up the Driver Station and Robot Controller apps If you have completed the previous slides you can pair your two phones by following these pictures. Note that to pair the two phones the robot controller app has to be open when the pairing search is made. Driver Station Robot Controller

25 Setting up Your Robot Controller App for Your Robot Once you have your phones paired go through these steps to prepare your robot for operation. [Name] Your screen should look like this

26 FTC Basic Setup for ZTE Speed Developed by: Austin Motz (FTC Team 10030) Rory Tekulve (FTC Team 6133) Dimple Dhawan (FTC Team 6133) Nils Dawson

27 Let s try to Launch the Robot Controller app Create a configuration file Navigate the menus and screens comfortably

28 Naming Motors The name of the motors in your robot controller app must match the name in your program. To change the name of the motors in your app you must edit the Active Robot Configuration. Then, tap the controller the motor or servo is connected to. Ensure the box is checked next to the motor and type a name for the device. The name must EXACTLY match the name in your program for it to work.

29 Let s try to Launch the Driver Station app Connect gamepad (and verify Gamepad type) Assign driver number Navigate menus and screens comfortably

30 Setting up the Controllers To connect the driver controllers you must select which controller is driver 1 and 2. Driver 1 must press START and A at the same time to setup the controller. Driver 2 must press START and B at the same time to setup the controller. Then select the program you want the robot to run from the Select Op Mode menu. Then press the start button to make the robot start executing the program.

31 Why Do We Configure? We need to tell the robot controller what devices are connected to the Android phone App has the ability to scan and detect USB modules, but you still have to tell it what devices are connected to the modules. The names you provide in the configuration file are the names that you will use to reference a device in your op mode.

32 Serial Numbers Each device that is attached to the USB hub (Power Module) has its own serial number When the Robot Controller scans the bus to look for devices, it identifies devices by serial number. USB does not use the port number of the hub to identify a module.

33 General Tips Use available tools to help troubleshoot issues with a bot Ping time (indicates network quality and robot controller availability) Battery voltage Log files (via app or using ADB to pull from device) Telemetry Make sure cables are secured and strain relief Make sure Android device is properly mounted Secure Protected But not obscured by too much metal (it s a wireless device)

34 Hardware Tips Remember to designate which driver a gamepad represents ( START plus A or B ) Make sure the FtcRobotController app is the default app for your Modern Robotics hardware modules Power on my robot and its modules before connecting the Android device to the Power Module Monitor the power levels on the main robot battery and each Android device Make sure the device names in your configuration file match the names exactly in your op mode