Vision co-processor Location

[cpapplefamily]

I been testing some vision using a second laptop on the network wifi running Grip and has been the most successful experience. I tried on roborio and on the driverstation of runing GRIP with undesirable results. So tonight I ordered a Kangaroo mini PC. I wonder do we need to put a network switch on the robot with the Kangaroo or can we install the switch and Kangaroo on the driverstation table. I like the switch and kangaroo on the driverstation table is there reason not to do this? I figured that to be FRC event legal it can't be wifi.

[billbo911]

Originally Posted by cpapplefamily

I been testing some vision using a second laptop on the network wifi running Grip and has been the most successful experience. I tried on roborio and on the driverstation of runing GRIP with undesirable results. So tonight I ordered a Kangaroo mini PC. I wonder do we need to put a network switch on the robot with the Kangaroo or can we install the switch and Kangaroo on the driverstation table. I like the switch and kangaroo on the driverstation table is there reason not to do this? I figured that to be FRC event legal it can't be wifi.

You are correct, it can not be WiFi during FIRST events and likely not during off season events either.

May teams including Citrus Circuits used a Kangaroo this year. I believe they ran it on-board the robot.
With the current radio, there is a second port that allows the co-processor to connect. Alternatively you can put a switch on the robot to allow connecting the Kangaroo and a programming laptop to the RoboRio at the same time.

[cpapplefamily]

Originally Posted by billbo911

You are correct, it can not be WiFi during FIRST events and likely not during off season events either.

May teams including Citrus Circuits used a Kangaroo this year. I believe they ran it on-board the robot.
With the current radio, there is a second port that allows the co-processor to connect. Alternatively you can put a switch on the robot to allow connecting the Kangaroo and a programming laptop to the RoboRio at the same time.

The Kangaroo does not have a ethernet port? What gives?

[cad321]

Originally Posted by cpapplefamily

The Kangaroo does not have a ethernet port? What gives?

Most teams will buy a usb to ethernet adapter to solve this issue. Another option might be this new option from kangaroo. It come with an ethernet port built in.

[cpapplefamily]

Originally Posted by cad321

Most teams will buy a usb to ethernet adapter to solve this issue. Another option might be this new option from kangaroo. It come with an ethernet port built in.

yep getting one on order.

[cpapplefamily]

I wonder if there will ever be different docks available to break out more options.

[cpapplefamily]

I'm going to give this a try. Solves two current issues. 1 no ethernet on Kangaroo. 2 using an IP camera, roborio, and co-proccessor with last year's radio. I say last year's because who knows what will be in store for us next year.

https://www.amazon.com/gp/aw/d/B00SA..._st_dp_summary

[cad321]

Originally Posted by cpapplefamily

I'm going to give this a try. Solves two current issues. 1 no ethernet on Kangaroo. 2 using an IP camera, roborio, and co-proccessor with last year's radio. I say last year's because who knows what will be in store for us next year.

https://www.amazon.com/gp/aw/d/B00SA..._st_dp_summary

This actually looks like a great option to add a coprocessor such as the kangaroo, while being able to keep an IP camera. No need for a relativley heavy switch. According to amazon it only weighs 4oz. compared to a full size desktop switch, that are upwards of about 1lb normally.

[snekiam]

Originally Posted by cpapplefamily

I'm going to give this a try. Solves two current issues. 1 no ethernet on Kangaroo. 2 using an IP camera, roborio, and co-proccessor with last year's radio. I say last year's because who knows what will be in store for us next year.

https://www.amazon.com/gp/aw/d/B00SA..._st_dp_summary

This looks really cool, definitely helps with the weight problem. One reason I liked the switch system was it added the ability for a wired tether easily - especially this year, as our bot was cramped. We just added an ethernet pigtail to the switch, and mounted it in a convenient location. This was much easier for testing in the pits without wireless.

[cpapplefamily]

Originally Posted by snekiam

This looks really cool, definitely helps with the weight problem. One reason I liked the switch system was it added the ability for a wired tether easily - especially this year, as our bot was cramped. We just added an ethernet pigtail to the switch, and mounted it in a convenient location. This was much easier for testing in the pits without wireless.

yep need a three way.

[cprofitt]

Our team used a RasPi, openCV and network tables.

The RasPi using compiled openCV did the vision processing and just updated the distance variable in network tables.

[Jaci]

Originally Posted by cpapplefamily

I been testing some vision using a second laptop on the network wifi running Grip and has been the most successful experience. I tried on roborio and on the driverstation of runing GRIP with undesirable results. So tonight I ordered a Kangaroo mini PC. I wonder do we need to put a network switch on the robot with the Kangaroo or can we install the switch and Kangaroo on the driverstation table. I like the switch and kangaroo on the driverstation table is there reason not to do this? I figured that to be FRC event legal it can't be wifi.

You can use both the Kangaroo and Switch on the driver station as long as it is in accordance to the driver station rules in the manual. Personally, I would advise putting the coprocessor on the robot itself to avoid FMS bandwidth restrictions. If you do put it on the robot, be sure to pay attention to the FRC regulations for wiring auxiliary processors, i.e. they cannot directly control actuators, and the RoboRIO's ethernet connection must go directly to the router without an intermediate switch.

[cpapplefamily]

I understand the FMS limit idea. Two hurtles we have, one we are using an IP camera so not enough ports on curent switch, two robot weight current bot weight is 119.999lbs.

[Jaci]

Originally Posted by cpapplefamily

I understand the FMS limit idea. Two hurtles we have, one we are using an IP camera so not enough ports on curent switch, two robot weight current bot weight is 119.999lbs.

For issue #1:
You can setup your extra switch to attach to the second port on the router. This will provide you with ports for your coprocessor, camera and any other ethernet devices on your robot.

For issue #2:
Weight when it comes to stuff like this is a fairly non-issue. Any reasonable coprocessor and/or switch will not weigh anything more than a pound or two, which even then is on the heavier side of the spectrum when it comes to coprocessor selection.

[GeeTwo]

Completely agree that the robot side is preferable due to significant expansion of data speed, and reduced latency. In recent years, we've used USB cameras directly connected to a pi for vision processing. If you want to take it to the extreme, only the extracted information (e.g. height, width, and center of goal) needs to go on the network at all.

If you do opt to put vision code on the driver station side, it may be just as effective and much more convenient to install it directly on the driver station computer, especially if you're using a laptop significantly more powerful than the classmate.