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Unread 08-07-2017, 10:36 AM
KSPRUL KSPRUL is offline
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FIRST Carrier board/Enclosure for the TX1/TX2

Hi,
Last season 3419 decided to use a separate vision co-processor and after much debate and testing decided on the Nvidia Tx1 as the best option for low latency video and target tracking.

I worked with a sub team of students to package the TX1 with a USB Hub, Buck boost regulator, Ethernet switch, Passive cooling and the Connect Tech Obityy carrier board. Here is a photo of our 2017 co-processor



After chatting with folks from Nvida in St Louis I realized that many other teams were trying to solve the same packaging issues with the TX1 and the idea of making a FIRST Carrier board/Enclosure for the TX1.

Iíve been working with Connect Tech on the design and specification and before I take it further Iíd be interested in feedback on the design, the cost and level of interest. The target price for the board and enclosure would be $250 + the cost of the TX1 SOC.

Look forward to hearing your feedback and questions!
Karl




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Unread 08-07-2017, 11:52 AM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

I know we're very interested.
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Unread 08-07-2017, 01:34 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

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I know we're very interested.
Seconded!!!
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Unread 08-07-2017, 10:10 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

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I know we're very interested.
but only if a battery is included.
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Unread 08-08-2017, 04:59 AM
SndMndBdy SndMndBdy is offline
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

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but only if a battery is included.
We actually are working with Connect Tech to see if we can include a battery to support an RTC.
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Unread 08-08-2017, 06:38 AM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Quote:
Originally Posted by Joe Ross View Post
but only if a battery is included.
Quote:
Originally Posted by SndMndBdy View Post
We actually are working with Connect Tech to see if we can include a battery to support an RTC.
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Unread 08-08-2017, 04:13 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

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Originally Posted by marshall View Post
I know we're very interested.
same
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Unread 08-08-2017, 08:21 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

interested.
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Unread 08-08-2017, 08:41 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Very interested
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Unread 08-08-2017, 08:45 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Want it.
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Unread 08-13-2017, 12:44 AM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Hello, my name is Jon. Iím the Director of Programming for team 1671. Our team has looked over the hardware specs, and we wanted to point out some of the specifications that caught our attention.

1. There isnít a way to output video (none headless system). Would retrieving a video feed require an SSH client such as PuTTY?

2. Is the microUSB being pulled to the front panel in the form of a full-size USB port?

3. Does SMA represent Surface Mount Antenna? And if so, how useful would it be in an FRC environment?

Thank you for taking the time to look over our thoughts!
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Unread 08-14-2017, 11:41 AM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Absolutely interested!
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Unread 08-14-2017, 08:16 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Quote:
Originally Posted by JTCase536 View Post
Hello, my name is Jon. Iím the Director of Programming for team 1671. Our team has looked over the hardware specs, and we wanted to point out some of the specifications that caught our attention.

1. There isnít a way to output video (none headless system). Would retrieving a video feed require an SSH client such as PuTTY?

2. Is the microUSB being pulled to the front panel in the form of a full-size USB port?

3. Does SMA represent Surface Mount Antenna? And if so, how useful would it be in an FRC environment?

Thank you for taking the time to look over our thoughts!

These are really good questions. Thanks for asking.

1. You're right that there is no video output. That was going to increase the size and cost of the module a bit, and we thought it was not worth the trade-off. If you need to access anything graphical, including direct viewing of video, you can do that over the network using SSH and something like XMing. Of course, the normal use-case is that during the game, you'll be streaming the video over something like gstreamer. This will allow you to get incredibly high quality video, using the hardware compression on the Jetson, into a very small amount of bandwidth streamed over the field's wifi. We did that this year (on the rigged up board pictured above) and the resulting video quality and latency were dramatically better than the standard FRC options.

We'll be providing some sample programs (with a build environment) for teams to use to do the basic tasks that we think people will want to use:
A. Stream video from a USB camera though gstreamer onto the driver station computer, using the Jetson's hardware compression.
B. Take in video from a USB camera, run it into OpenCV optimized for the Jetson, find targets in an image, and then send data to the RoboRIO using either NetworkTables or UDP
C. Take in video from a USB camera, run it into OpenCV optimized for the Jetson, find targets in an image, and then draw info (such as targeting directions) onto the image, and then stream that using gstreamer to the driver station.


2. The MicroUSB port in front connects to an FTDI USB to Serial Convertor, the serial side of which connects to the Jetson SOC. So you can connect a USB cable between there and a computer and get serial access to the terminal on the Jetson. This would be useful for the lowest level troubleshooting - for example, if you couldn't get see the Jetson on the network for some reason.

3. Yes, those are surface mount antennas for Wifi and Bluetooth. We agree that they are not useful in an FRC application and have asked for them to be removed in the next version of the spec.
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Unread 08-14-2017, 09:52 PM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

Interested. Sure would like an HDMI port, though.
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Unread 08-15-2017, 12:48 AM
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Re: FIRST Carrier board/Enclosure for the TX1/TX2

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Originally Posted by samthesnake View Post
Interested. Sure would like an HDMI port, though.
It's definitely not too late to make changes. That's why we're posting it here - to see how to make the module more useful to the FIRST community. To that end, I have two questions for you:

1. How do you see yourself using the HDMI on it? Are you picturing doing your software development directly on the board by plugging a monitor, keyboard, and mouse into it? Or are you only planning on using it for troubleshooting? Or something else that I'm not thinking of?

2. Would you be willing to spend, say $20 extra, to have that on the board? We're keenly aware that this product is going to be pretty expensive for a lot of teams, so we're keeping a close eye on costs. Our vision is that a lot of teams will use this just for the video-streaming capabilities, and we appreciate the fact for lower budget teams, it's going to be a lot of money just for that usage.
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