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Unread 16-10-2014, 21:10
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Re: Vision Processing with Raspberry Pi

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Originally Posted by matan129 View Post
In addition, you have mentioned differences between the cRio (which I have now and I can test on before the kickoff) and the new RoboRio - are these changes going to affect dramatically the code? (I mean more then just changing the line that reads the UART input to the new one, for example)
Most likely not. According to the guys who wrote the libraries they are trying to keep them as close to before as possible. In fact if you use the RS-232 port on the RoboRio with the R-PI and a UART to RS-232 converter it may be nearly identical.

A note on the differences between TTL UART and RS-232. RS-232 will likely be more reliable than UART due to the differences in how they signal and I would suggest using UART to 232 conversion.
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Unread 17-10-2014, 17:10
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Re: Vision Processing with Raspberry Pi

This is a question, not an answer :-)

Is it possible to use networking (TCP/UDP) on the robot when using a co-processor? I know how to do all the networking stuff, but am unsure as to the rules regarding IP addressing, field management, etc.
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Unread 17-10-2014, 17:32
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Re: Vision Processing with Raspberry Pi

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Originally Posted by phurley67 View Post
This is a question, not an answer :-)

Is it possible to use networking (TCP/UDP) on the robot when using a co-processor? I know how to do all the networking stuff, but am unsure as to the rules regarding IP addressing, field management, etc.
Are you asking if it is ok to send a udp message from, say a PI, to the roboRIO?

Here is a crude diagram of how we do it:
http://ratchetrockers1706.org/team/t...robot-control/
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Unread 17-10-2014, 17:34
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Re: Vision Processing with Raspberry Pi

Quote:
Originally Posted by phurley67 View Post
This is a question, not an answer :-)

Is it possible to use networking (TCP/UDP) on the robot when using a co-processor? I know how to do all the networking stuff, but am unsure as to the rules regarding IP addressing, field management, etc.
If you are asking if it is legal then the answer is yes it has been legal.
Quite a few robots have been fielded like that.

Just do it properly so you do not shoot yourself in the foot.
Remember that if you miss enough FMS packets at the cRIO/RoboRio your robot will get disabled until you get an FMS packet.
Per the linked topic there's lots of good information in the Einstein report that will help you if you want to try it.
NotInControl's post in the linked topic also seems to be fine advice.

Last edited by techhelpbb : 17-10-2014 at 17:40.
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Unread 19-10-2014, 18:22
phurley67 phurley67 is offline
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Re: Vision Processing with Raspberry Pi

Given that there are no rules against using TCP/IP I would personally tend toward that over the RS-232 route. It will be much faster, more modern examples and easier to test off robot.

If you do decide to use TCP/IP and have questions regarding C/C++ or Labview and network programming feel free to ask, I have been hacking that stuff out for longer than I care to admit.
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Unread 19-10-2014, 19:39
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Re: Vision Processing with Raspberry Pi

Team Spectrum 3847 has put up a fantastic resource on Vision processing using the RPi. It is the basis for our object recognition software.

It is written in Python, but it makes the entire process easy to understand.
They have set up a TCP socket request receiver to communicate with the cRio/RoboRio.

We have modified this socket receiver to make TCP communication with the cRio easy and stable. We even were able to modify CheesyVision to work with the cRio and LabView with a modified version of the Socket Request Receiver.
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