LabVIEW for FRC Power Point presentation

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LabVIEW for FRC Doug Norman National Instruments January 6, 2012

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Overview • Introduction to LabVIEW • FRC edition of LabVIEW • What’s new for FRC LabVIEW 2012

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Part 1 - What is LabVIEW? • Speak G 

Graphical programming language

• Go with the flow 

Dataflow programming

• Easy writing Easy to learn  Powerful debugging tools 

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LabVIEW Programs Are Called Virtual Instruments (VIs) Each VI has 2 Windows Front Panel • User Interface (UI) – Controls = Inputs – Indicators = Outputs

Block Diagram • Graphical Code – Data travels on wires from controls through functions to indicators – Blocks execute by Dataflow

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LabVIEW Nodes • • • • • • • •

While loop For loop Boolean logic PID Control Arrays Signal processing Mathematics Timing

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LabVIEW Types • Floating point • Integer

• Boolean • String

• Array – note wire thickness • Cluster

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LabVIEW Tasks • • • •

Multiple tasks in parallel Data flow still applies Loops 1, 2, and 3 will run Loop 4 runs after 3 stops

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Debugging Techniques • Finding Errors Click on broken Run button. Window showing error appears.

• Execution Highlighting Click on Execution Highlighting button; data flow is animated using bubbles. Values are displayed on wires.

• Probes Right-click on wire to display probe and it shows data as it flows through wire segment. You can also select Probe tool from Tools palette and click on wire.

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Context Help Window • Help»Show Context Help or press • Hover cursor over object to update window

Additional Help – Right-Click on the VI icon and choose Help, or – Choose “Detailed Help.” on the context help window

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Part 2 - FRC Version of LabVIEW • • • • • •

CompactRIO with custom FPGA image Vision and Robotics palettes Custom Getting Started Window Wizards to create robot and dashboard code FRC specific examples FRC specific tutorials

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CompactRIO with Custom FPGA

(note wrong module order)

• Custom FPGA image for specific I/O modules • Analog, digital, and solenoid modules • Read sensors, control motors and actuators

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FRC Vision and Robotics Palettes • Vision – manage and analyze images • WPI Robotics – Robot Drive, Sensors, Actuators, I/O, Driver Station, Camera, Communications, Utilities. This contains most of what you will use to program your robot.

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Custom Getting Started Window

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FRC Wizards for Robot and Dashboard

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FRC Specific Examples

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Part 3 - What’s new for FRC LabVIEW 2012 • • • • • • •

Thumb Drive Installer Based on LabVIEW 2011 Supports NI cRIO-FRC II Faster RT deployment Driver Station VIs Camera VIs Compressor VIs

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Getting Started Window cRIO Imaging Tool Axis Camera Setup Tool Driver Station Dashboard Examples Tutorials

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NI Software on a Thumb Drive

• NI LabVIEW for FRC installs from a thumb drive • Extra 3.5 GB partition for team use

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New Palette VIs • Get Robot Battery Voltage • Report Robot Code State • Kinect VIs • Camera Loop VIs • Compressor Loop VI

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Getting Started Window – Utilities Page

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cRIO Imaging Tool • Works for both: NI cRIO-FRC  NI cRIO-FRC II 

• Same image for both • Shows installed modules • cRIO switches: Read NI cRIO-FRC  Read/Write NI cRIO-FRC II 

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Axis Camera Setup Tool • Connection choice • Directions • Troubleshooting

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Driver Station

• Charts tab – performance and logging • Log Viewer – C:\Program Files\FRC Driver Station 

Driver Station Log File Viewer.exe

• Kinect Status • Space bar = E-Stop 26

Dashboard

• Kinect Skeleton Tab – displays skeleton image • Camera Image Tab – now uses mjpeg file type

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New Examples • • • • • • •

EZ1 MB1010 Sonar – Analog EZ1 MB1010 Sonar – Digital CAN Motor CAN Speed Control CAN Tank Drive CAN Position Control CAN Current Control

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Tutorials • • • • •

Set up cRIO Set up Axis Camera Set up Robot Radio Develop Robot Project Editing Team Code

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Custom Dashboard Integrating Examples Integrating Vision CAN Jaguar

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Conclusion • • • •

LabVIEW is easy to learn yet very powerful Many custom VIs, examples and tools for FRC New and improved features for FRC 2012 To learn more, visit ni.com/first

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