Originally Posted by Greg McKaskle (Post 1366848)

Speaking of USB cameras, the roboRIO has several USB host ports and there are UVC drivers installed. My testing has been through IMAQdx, the NI driver for camera buses such as USB. We've done testing with a variety of USB cameras, even some set up for stereo. We've also done a bit of testing with the industrial USB3 cameras running on the USB2 bus. Some of the mfg drivers are OK with this and it allows for higher end sensors, lenses, filters and the like. And of course IP cameras such as Axis also work. WPILib only supports Axis, but IMAQdx supports some others.

Greg McKaskle

Originally Posted by NotInControl (Post 1365400)

The radio we have been using thus far are ASUS N-53. Wheather this is what will be rolled out with the final system is unclear at the moment. It is a USB wifi dongle and supports softAP mode (think wifi theter on your mobile device) as well as regular client mode. This hardware is not set in stone.

Originally Posted by jbsmithtx (Post 1368089)

So does this mean we no longer need freshman to chase the robot with an ethernet cord on the practice field?

Sounds great, but this seems odd, because FIRST recently tightened up on all their robot network regulations. But indeed, this would be very cool. Maybe a better solution to the problem at hand?

Originally Posted by Joe Ross (Post 1368090)

Realize that the current dlink bridge also supports AP mode, but is not allowed to be used in AP mode at competition.

Originally Posted by jbsmithtx (Post 1368097)

So does this mean that we would have to render our camera useless during practice (and still tether at competition)

Originally Posted by BBray_T1296 (Post 1368105)

Another question. On the current CRIOs, we are able to support more than one digital sidecar (if, say, we happen to need more than 10 PWM ports) by simply slipping another digital breakout into an empty slot. With the DSC integrated into the RoboRIO, what would the procedure be to "add" more ports?

Originally Posted by jbsmithtx (Post 1368097)

So does this mean that we would have to render our camera useless during practice (and still tether at competition)

Or would we have to have a switch on-board still? Makes the dongle seem useless...
:confused:

Really hoping we can do some sort of "secure" wireless tether...

Originally Posted by BBray_T1296 (Post 1368105)

Another question. On the current CRIOs, we are able to support more than one digital sidecar (if, say, we happen to need more than 10 PWM ports) by simply slipping another digital breakout into an empty slot. With the DSC integrated into the RoboRIO, what would the procedure be to "add" more ports?

Originally Posted by NotInControl (Post 1368144)

In a nutshell, what you are asking is not implied. There are two USB host ports (plug in keyboards, usb camera's etc) and 1 USB device port (emulates an ethernet port and allows you to flash firmware and program over). There is also an Ethernet Port for network connectivity.

IF FIRST sticks with the USB dongle route, the other usb host port is availble. If you choose to use a USB camera, you can thether over the USB device port or over ethernet. If you choose to use an IP camera, you can thether over the USB device port. IF you have an ethernet switch on board and plug your camera into that (rules notwithstanding) possibilities are endless.

I doub't "secure wireless thether" will be used. Any possible cause of interference to a real match is not a good idea. Just Plug in, keep calm and carry on!



The expansion slot (Middle of RobRio) has a 32 pin connector, 10 of those pins can be used as additional for PWM (The details of how this interface is control through software I am not sure of yet, so I can not answer questions on it), but the quick answer is there is some room for growth.

Similar case for digital IO, where pins on the expansion port can be used for additional DIO. However, as for analog, I am not sure if there are ports on the expansion slots which can be used as Analog in or out, but you have access to SPI and I2C interfaces, so just use those if you need to expand analog sensors. You can always use an analog channel with tresholding to get a digital reading.

(I typically see a lot more digital channels used then analog IO on robots). You can reduce IO by knowing when not to use quadrature encoders, vs pots, vs other sensors.

But as for your hypotetical, if you start needing more then 10 individual PWM I would be concerned. Remember, all motors in a single gearbox can split the same PWM signal because they are all being commanded to do the same exact thing at the same time.

Even if you have some special swerve/crab drive, I do not see the need for that many PWM signals on a robot.

What I am saying is, with a little re-thinking you should be able to get your bot to live within the 10pwm/10dio/8 analog channels a majority of the time with little need to expand, but the option to expand is built-in.

Hope this helps,
Kevin