Would it be legal to do vision processing in the Dashboard and sending the results to the cRIO? If so it seems like the easiest solution. The Dashboard already receives a camera image, and its computation power is hardly used while driving the robot. I'm just not sure about the rules (couldn't see any that disallow it but may have missed it or didn't look well enough).
Just for convenience, here's the port list from this year's manual:
Quote:
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Originally Posted by the manual as of 29.1.12
2.2.9 The Player Stations
One Player Station is located between the Inbound Station and Corral. The remaining two Player Stations are located on the opposite side of the Corral. The Player Station on the end of the Alliance Wall is 51 in. wide, while the other two Player Stations are 72 in. wide. All three Player Stations have the components detailed below.
Attached to the Alliance Wall in each Player Station is an aluminum shelf to support the Operator Consoles for the FRC team in that Player Station. The support shelf measures at least 48 in. wide by 12 in. deep. There is a 3 ft long by 2 in. wide strip of Velcro tape (“loop” side) along the center of the support shelf that may be used to secure the Operator Consoles to the shelf. Each setup location includes a competition cable (to provide Ethernet connectivity) that attaches to the Ethernet Port of the Operator Console. The cable provides communications with the Robot.
Each Player Station also includes a power adaptor cable that may be used to power the Classmate laptops that were provided to teams in the Kit of Parts starting in 2010. Emergency Stop (E-Stop) buttons for each Robot are located on the left side of each Player Station shelf. Arena components (including team number displays, competition arena hardware, alliance lights, control hardware cabinets and clock displays) are also located above the Player Stations and below the shelf.
Once plugged in to the Field Management System via the Ethernet cable provided, the ports that the teams will be able to access on the playing field are as follows:
– TCP 1180: This port is typically used for camera data from the cRIO to the DS when the camera is connected to port 2 on the cRIO. This port is bidirectional on the field.
– TCP 1735: SmartDashboard, bidirectional
– UDP 1130: Dashboard-to-Robot control data, directional
– UDP 1140: Robot-to-Dashboard status data, directional
– HTTP 80: Camera connected via switch on the robot, bidirectional
– HTTP 443: Camera connected via switch on the robot, bidirectional
All these ports are open on the playing field, so a team can use them as they wish if they do not employ them as outlined above (i.e. TCP 1180 can be used to pass data back and forth between the robot and the DS if the team chooses not to use the camera on port 2).
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So yeah, questions:
1. Is port 1130 used in the default code? Is it used in any optional SubVIs that make things easier? (I don't really need it to be easier)
2. Would it be legal to do vision processing in the Dashboard and sending the results to the cRIO? (If it's legal, is it legal during Autonomous/Hybrid as well?)