First fare 2011 creating custom dashboards with labview
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First fare 2011 creating custom dashboards with labview

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    First fare 2011 creating custom dashboards with labview First fare 2011 creating custom dashboards with labview Presentation Transcript

    • Dennis C. Erickson ~ Senior Mentor for Teams 1510 and 2898 1  
    • The  Real-­‐Time  screen  on  the  Driver   Station  is  called  the  “Dashboard”     It  can  be  modified  to  include   additional  functions  and  displays   2  
    • • Use  to  interface  local  sensors  and  the  joystick  to  the  communications  link  to  the  robot  process  • Also  has  capability  to  handle  digital  and  analog  commands  • Also  provides  for  a  real-­‐time  display  that  can  contain  status,  sensor  and  video  information  from  the  robot   3  
    • A  view  of  the  Driver  Station  first  introduced  in  2010  Instead  of  using  the  I/O  board  it  is  suggested  that  the  buttons  on  the  joysticks  be  used  as  commands  to  the  robot   4  
    • Allows  for  the  wireless  communications  between  the  driver  and  the  robot    Also  used  as  a  control  system  from  the  competition  director  computers  (watchdog,  start,  Autonomous,  TeleOp,  etc)   5  
    •  • Windows  XP  • 1.6  GHz  Atom  processor,  1  GB  RAM  • 16  GB  solid  state  hard  drive  • 8.9”  screen,  1024x600  resolution  • No  VGA  port   6  
    •  • Runs  with  an  executable  built  with  LabVIEW    • Does  what  the  Kwikbyte  DS  did  in  pre-­‐2010  years   7  
    • Operation  Tab:  Diagnostics  Tab:   8  
    • Auto  IP  address  setup,  Run  a  simulated  match,  Setup  Tab:   will  remap  joysticks   Can  simulate  analog  and  digital  I/O,  shows  states  IO  Tab:   of  I/O  hardware   9  
    • The  Stop  Button  • Connects  via  USB  • Performs  E-­‐Stop  not  disable        –Robot  must  be  rebooted  after  E-­‐stop        –Same  as  the  E-­‐Stop  on  the  field        –Space  Bar  acts  as  disable  • Must  be  connected  for  robot  to  be  enabled        –This  may  be  bypassed   10    
    • The  dashboard  data  may  be  re-­‐directed  to  Integrated  Dashboard   another  computer   The  top  half  of   this  display  can   easily  be   customized   11  
    • • Use  the  User  Message  Box  • Use  the  Dashboard.ctr    (The  Low    Dashboard  Data  VI)  • Use  the  High  Dashboard  Data  VI   12  
    • • There  is  a  User  Message  Box  where  one  line  messages  can  be  sent  from  the  robot  to  the  DS   Any Sensor 2.34 Any Sensor 1.23 Use  the  “User  Message.vi   Here  2  messages  in   lines  1  and  2  are  written   in  the  “User  Messages”   box.  Error  messages  can   be  included   13  
    • • Recommendations  that  might  be  included  in  your  message  box:   ü The  version  #  of  the  Robot  software  perhaps   with  the  most  recent  modification   ü The  battery  voltage  and  estimated  drive  time   left   14  
    • Use  the  Dashboard  Datatype.ctl  to  send  simple  data  to  the  Dashboard  from  the  Robot  using  the  “Build  DashBoard  Data.vi”,  specifically  the  “Set  Low  Priority  Dashboard  Data.vi”   Open  the   “Dashboard   datatype.ctl  from   the  Project  Explorer   15  
    • Adding  new  controls  to  the  .ctl   Add  a  new  control     or  controls  to   the  .ctl    and  save  it.   16  
    • The  rest  of  the  process  is  fairly  complex  and  would  take  up  more  time  than  we  have,  so  visit  the  website  for  a  complete  step  by  step  tutorial:    http://decibel.ni.com/content/docs/DOC-­‐8862     17  
    • • A  more  flexible  and  simpler  method  is  to  use  the  “Set  High  Priority  Dashboard  Data.vi”  •      18  
    • Step  1   Example  Block  Diagram  of  a  Robot  application.     In  2010  there  were   two  SubVIs   available  to   transfer  User  data   to  the  DS.  We  Use   the  High  Priority   SubVI  for  this   example.     Open  the  SubVI  for   Step  2   19  
    • Step  2   Block  Diagram  of  the  Build  Dashboard  Data  HI  SubVI  All  User  data  elements  that  are  to  be  transferred  to  the  DS  are  “Bundled”    and  the  result  “Flattened  to  a  String”    Then  that  String  is  sent  to  a  Special  SubVI  called  the  “Set  High  Priority  Dashboard  Data”  that  is  basically  a  memory  function    Note  that  the  inputs  can  be  local  variables,  global  variables  or  simply  hardwired  to  the  SubVI   20  
    • Step  3   Typical  Block  Diagram  of  a  Robot  application.     Create  a  Constant  of  the  output   of  the  Bundle.  This  will  provide   a  “DataType”  or  “Image”  to  be   used  later  in  the  Unflatten  from   String  process  in  the  DS   application     The  DataType  for  this  example   looks  like  this.     Note  that  this  constant  would   be  cut  from  this  block  diagram   and  pasted  into  the  DS   application.   21  
    • An  example  Front  Panel  for  a  Custom  Dashboard  –  The  Sensor  Panel  Tab   Step  4  In  this  particular  example  4  ultrasonic  sensors  are  displayed  (note  that  the  bar  indicators  are  Log  scaled  from  4  inches  to  120  inches),  5  kicker  strength  commands,  a  gyroscope  reading,  a  ball  locator  (from  2  photoelectric  sensors)  and  a  real-­‐time  image  of  the  target  are  displayed.   22  
    • An  example  Front  Panel  for  a  Custom  Dashboard  –  The  Misc  Data  Tab  This  tab  displays  data  from  modules  in  2  slots,  the  IP  address  of  the  robot,  and  strip  charts  showing  the  Joystick  X,  Gyro,    and  Target  information   23  
    • Another  example  Front  Panel  for  a  Custom  Dashboard  –  The  Drive  Panel  Tab   24  
    • Another  example  Front  Panel  for  a  Custom  Dashboard  –  The  Values  Panel  Tab   25  
    • Step  5  Example  Block  Diagram  showing  the  extraction  of  the  User  data  from  the  Robot.     This  is    a  portion  of  the  code  used   to  display  on  the  dashboard  the     User  data  from  the  robot     Note  that  the  application  receives   a  UDP  transmission,  and   unflattens  the  string  using  the   datatype  (image)  that  was  created   in  the  robot  application  and   unbundled  to  provide    the  5  front   panel  indicators     The  video  display  is  not  shown   here  for  clarity   26  
    • Step  6   On  the  DS,  Login  to  the  Developer  Account  or   bring  the  project  over  from  the  development   laptop  to  create  an  exe  file.  Note  that  these  steps   are  for  a  new  exe  only.  Note  that  in  this  example   the  VI  we  are  building  the  exe  file  for  is   “Dashboard  Main.vi”   • On  the  Project  Explorer   Screen,  right  click  on   Build  Specifications  -­‐>     New  -­‐>  Application  (EXE)  this   will  bring  up  the  Properties   screen   27  
    • Note  that  if  one  or  more  custom  Dashboards  already  exist,  simply  “Build  All”  and  that  will  complete  the  process  except  perhaps  for  being  sure  that  the  ini  file  is  corrected  (see  a  later  slide)   28  
    • In  the  Properties  Screen,  Information  list  box    “Target  Filename"  -­‐  give  it  something  meaningful,  e.g.,  “Dashboard  Team  1510  2010.exe”  Also  it  is  advisable  to  change  the  “Build  specification  name”  to  be  the  same  name    Note  that  for  an  existing  file,  right-­‐clicking  on  the  Properties  selection  brings  up  the  same  screen   29  
    • In  the  Category  list  box  click  on   "Source  Files“  and  Click  on   "Dashboard  Main.vi“  and  Click   on  the  right  pointing  arrow  that   will  highlight.  You  should  see   Dashboard  Main.vi  appear  on   the  right  hand  side  under   • "Startup  VIs"  Click  on  "Build"  at  the  bottom  to  create  the  exe.    After  it  is  built,  press  Done     30  
    • When  its  done  building  go  to  the  Destinations  list  box.  With  this  example  it  will  look  like  this:    C://Documents  and  SettingsMy  DocumentsLabVIEW  Databuilds2010  Game  Dashboard  Project  Dashboard  Team  1510  2010   31  
    • Clicking  on  this  button  shows  that  three  files  have  been  created:  Dashboard  Team  1510  2010.aliases,  .exe,  .ini.      Then  navigate  to  C:Documents  and  Settings/Developer//My  Documents/LabVIEW  Data/builds/2010  Game  Dashboard  Project//Dashboard  Team  1510  2010  and  Copy  all  3  files   Navigate  to  C:Program  Files FRC  Dashboard   and  Paste  all  three  files  to  that   directory   32  
    • Finally,  go  to:    C:Documents  and  SettingsAll  Users Shared  Documents   Make  a  backup  copy  of  the  file:  FRC  DS   Data  Storage.ini     Open  and  edit  the  file:   FRC  DS  Data  Storage.ini  in  Notepad  Youll  see  a  line:  DashboardCmdLine=""C:Program  FilesFRC  DashboardDashboard.exe"“  then  Change  the  name  of  the  Dashboard.exe  to  :  Dashboard  Team  1510  2010.exe  then  Save  and  exit  the  file.  Note  do  this  only  if  the  name  has  changed     33  Login  to  the  Driver  account  (Windows  Logo+L)  to  start  up  the  new  dashboard  and  see  if  it  works.  
    • Dennis C. Erickson - dcerickson1@comcast.net