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Unread 03-03-2012, 22:57
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Re: Control System Design Contest Proposal

Quote:
Originally Posted by Greg McKaskle View Post
I'm doing my best to follow this thread, and I may ask clarifying questions or point things out from time to time.

Logging was mentioned. The DS now has a Charts tab that displays the packet loss and trip time for communications -- same as the field has. It displays CPU usage, RAM, flash, and system voltage. It doesn't have any current data available to log. The robot flash is capable of logging info, but I'm not sure how much data or what data should be logged by default.

The DS also logs the mode that the field or DS asked to be run and if the robot code is instrumented, it logs what code actually ran on the robot.

The DS data is saved on the DS and a log viewer is in the Program Files/FRC Driver Station folder.

Greg McKaskle
What concerns me is that during several matches last year we had a situation where the robot clearly lost communications. Completely several times over several matches. During those times the field was actually behaving irradically, music timed wrong, events happening off queue (this was not a major competition thank goodness more a local expo).

We tried to use the DS (driver's station) information but it wasn't clear that it was representative that all messages sent were effectively received properly. What I'm looking for is a way to be sure from both the robot and the driver's station that everything we are communicating is getting to where it should. Packet statistics and packet CRCs might help (UDP is obviously gonna need some form of tracking more than TCP which is reliable). I just am not confident of how all this information with what we already have confirms that everything sent to the robot is getting to the cRIO. Is there some documentation I can refer to on this?

We have experimented with logging back to the DS from the robot but we found that the additional traffic and the additional programming had several undesirable results. I'm sure that has application, but for some problems keeping the path to be written to a log short and as simple as possible is desirable. We looked earlier to see if we can access robot flash from Java. Can you point us in the direction of how we can learn more about that?

Thanks.
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