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Unread 04-05-2008, 20:24
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Re: The 2009 Control System Q&A Thread

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Originally Posted by jhersh View Post
Also, with these PWM signals, not just the resolution is important, but also the range. This also needs to be a good fit for the devices you are controlling. In a test I did with one 322HD, the servo responded outside of its spec'd 0.9us to 2.1us range, which means the new control system's PWM signal can give you more range out of the servos than you could get previously.
Just FYI, as shown in that IFI post I linked, even the standard IFI signals range from .9ms to 2.1ms. And the user controlled ones could, in fact, be configured for nearly whatever range and resolution we liked. So this isn't actually an improvement, per se.
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The encoders, pwm generators, etc are running at just over 150kHz on the FPGA. This means that any signal you have going in to or out of the NI-9403 should not have 2 transitions in the signal closer together than 6.625us. It's true that we would all like to be able to have faster transitions, but the trade-off for cost, space, and channel density seem like a good thing.
Erm. That was sarcasm. I'm fairly confident we won't actually be limited by the input frequency, especially given the current update rate of our motor controllers.
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Unread 11-06-2008, 16:00
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Re: The 2009 Control System Q&A Thread

Q: Which module is the PWM output one?

Q2: If we don't have the new distribution block, can we use/ alternate the old electronic system and connect the CRio through it to the current motors?
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Unread 11-06-2008, 18:24
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Re: The 2009 Control System Q&A Thread

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Originally Posted by Bomberofdoom View Post
Q: Which module is the PWM output one?
The PWM signals come out of the 9403. There is a break-out board that attaches to it that will provide the needed buffering.

Quote:
Originally Posted by Bomberofdoom View Post
Q2: If we don't have the new distribution block, can we use/ alternate the old electronic system and connect the CRio through it to the current motors?
The cRIO controller needs 24V to run. The new power board has a power supply on it to provide that 24V even when the battery voltage droops. With the exception of needing 24V, the rest of the old electrical system can be used to power motors. If for instance you were doing a bench test and powered the cRIO with a 24V power supply plugged into the wall and the motors were powered through the old breaker panel, it would work just fine.

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Unread 16-06-2008, 15:24
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Re: The 2009 Control System Q&A Thread

Joe,

On The FIRST Community website, the tutorial: "NI CompactRIO Project and Building Source Distributions" refers to adding Targets. As I read it, this requires LabView Real-Time or one its sister programs. Will we be able to download a module to our existing LV 8.5 to enable us to do this?
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Unread 17-06-2008, 00:21
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Re: The 2009 Control System Q&A Thread

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Originally Posted by Jon236 View Post
Joe,

On The FIRST Community website, the tutorial: "NI CompactRIO Project and Building Source Distributions" refers to adding Targets. As I read it, this requires LabView Real-Time or one its sister programs. Will we be able to download a module to our existing LV 8.5 to enable us to do this?
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You are correct. You will need LabVIEW RT if you choose to program the controller in LabVIEW. I believe the LabVIEW RT module will come on a DVD with the rest of the software needed. I don't know that it will be available as a download.

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Unread 30-12-2008, 00:10
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Re: The 2009 Control System Q&A Thread

Q: As stated in the 2009 Control System Manual section 3.1.1, the Driver Station runs 'Linux'. As Linux (probably in addition to other software on the driver station) is governed by at least the GPL v2 (particularly section 3), and as US FIRST is distributing the software, where may I download the source code for the GPL'd products utilized by and distributed for the Driver Station?

Last edited by codes02 : 30-12-2008 at 00:22.
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Unread 30-12-2008, 03:03
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Re: The 2009 Control System Q&A Thread

Hello codes02,

Thank you for asking, unfortunately, this site might not be the best place to bring this (possible) omission up. I would recommend emailing frcteams@usfirst.org, FIRST's contact email for matters relating to the FIRST Robotics Competition, to get a response from those who are better able to fix any oversight.

Thanks,
Sam
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Unread 11-01-2009, 04:32
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Re: The 2009 Control System Q&A Thread

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Originally Posted by Samuel H. View Post
Hello codes02,

Thank you for asking, unfortunately, this site might not be the best place to bring this (possible) omission up. I would recommend emailing frcteams@usfirst.org, FIRST's contact email for matters relating to the FIRST Robotics Competition, to get a response from those who are better able to fix any oversight.

Thanks,
Sam
In case anyone was wondering, I sent an email to FIRST as soon as I read Samuel's post (thank you for the prompt response).

As it has been 11 days, and I have received no reply, I sent resent the same message to them a few minutes ago.
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