I think it's legal as long as you keep in mind the ports that are available on the field.
If you look at one of the more recent team updates:
Quote:
The Arena
The Player Stations
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).
|
We took this to mean that we could freely use ports 1130 and 1140 to communicate data via UDP from our Dashboard to our robot and back.
In fact, this is how we're implementing our vision tracking algorithms right now. Our PC receives the Image, processes it and generates a list of targets, then that list of targets is prioritized and sent back to the robot for tracking.
-Andy