Programming - Getting Started

[Joohoo]

Right now I am one of two programmers on my team and we both can't figure this out(we're both rookies). We can write the code for the autonomous mode, build it, and transfer it, but how do we tell the FRC to execute the autonomous coding?? We copied everything and tried to mess around with Main.c but is there any less hazardous way to go about it??

[brianoconnor2f2]

Hey Thanks fellas This is my first year and I'm a programmer and am used to C++, C isnt much different but I still need all the help I can get. Thanks.

-Matt

[Mark McLeod]

2006 Programming Quick Start

1. Beginners need the following to program the FIRST robot:

• FRC (Full-size Robot Controller) RC Default Code
• Microchip MPLAB & C compiler or intelitek Easy C
• IFI_Loader
• A standard serial cable
• A Windows PC with a serial port or USB-to-serial converter

2. Where to get everything:

• Basic default code, updates, documentation, and support information is available on the Innovation FIRST (IFI) website, in particular:
  • 2006 default code comes ready for basic driving and with a variety of sample I/O usages.
  • Robot Controller
  • Operator Interface
  • CMUCam2

• The Camera default code for use with the CMUCam2 camera is available at the developer Kevin Watson’s website. While there you’ll also find code examples for using other benefical sensors. This default code may have the normal driving mode disabled.
• MPLAB is the FIRST supplied Windows based development environment (edit, compile, debug) that runs on your desktop computer and comes in the Kit-of-Parts wrapped inside the MPLAB notepad. Manuals for using MPLAB come on the CD and are also found on-line at the Microchip website.
• IFI_Loader v1.0.12 (also on the KOP CD) is used to download the compiled code into the RC via a serial cable from your desktop or laptop computer.
• EasyC from Intellitek can be used instead of MPLAB or as a rapid prototyping tool. The Main Contact of each team received an email from FIRST on 1/10/06 with directions on downloading the software.

3. National Instruments Labview came in the kit-of-parts, but you need the very useful special applications for the camera and OI dashboard that have been provided in this Chiefdelphi thread.

4. Check the IFI website periodically for updates to the software that corrects issues and fixes problems. For instance, new Master Controller “patches” if any, will be made available there. Directions will be included with any download.

5. The programming language used is “C” or PIC assembly. Tutorials in C can be found on the web, in your local bookstore or on the FIRST website, e.g.,

• C Programming Resource Library has a great overview of the programming process.
• Learn C Programming - Developed by Carnegie Mellon and the National Robotics Engineering Consortium specifically for FIRST, this interactive website will get your team prepared for the FIRST Robotics Competition.

6. Newer laptops no longer come with the serial port required to download code to the Robot Controller. If you have this problem one solution is to use a USB/Serial converter. Various models are available at Radio Shack, CompUSA, or online, however, some models can be temperamental and they generally take longer to download than a built-in serial port (60sec vs 10 sec). Good results have been reported using: Bafo Technologies BF-810 (~$15) and a Radio Shack USB-to-Serial port cable #26-183 ($42). You can also use the converter that comes with the Radio Shack Vex Programming Kit.

7. Documentation is your friend. Take the time to at least leaf through each manual, so you have an idea of where information can be found. Most of the basic information beginners require can be found in the IFI documents or MPLAB documents available from the websites:

• The 2005 IFI Control System Overview version applies to 2006 as well.
• 2005 IFI Programming Reference Guide – basic how to hookup, program and download to the RC, hookup switches and sensors and do normal robot operations.
• Useful programming and compiler documents come on the Kit provided MPLAB CBOT CD with the tool installations or are available from either Kevin Watson’s website or the legacy section of the Microchip website.

1. 1. c18_getting_started_2.4.pdf
   2. c18_libraries_2.4.pdf – details on timers, interrupts, and various other utility functions available to the programmer.
   3. c18_users_guide_2.4.pdf - table of max numbers each variable type will store, compiler options, error messages, detailed descriptions of pragmas and some other advanced topics.
   4. 2004/2005 RC Microchip pic18f8520 data sheet - PIC assembly instruction set and details on EEPROM and other chip specific topics. Mistakes in the datasheet.
   5. 2006 RC PIC18F8722datasheet and Errata.
   6. Microchip PICmicro 18C MCU Family Reference Manual – all things great and small (in excruciating detail) about the processors we use.
   7. MPLAB Quick Start Guide.pdf - basic how to use MPLAB and set options.
   8. MPLAB Users Guide.pdf

8. For the CMUCam2 sensor delivered in the Kit-Of-Parts (KOP):

• Use the special Labview Calibration application mentioned here. to focus and test the camera.
• Use Kevin Watson’s camera baseline program and his collection of camera documentation, but remember it only solves the headache of working the camera for you it doesn’t drive your robot.

Visit the ChiefDelphi Programming forum for discussions on all programming topics, problems, issues, and ideas.

[Ryan M.]

Originally Posted by brianoconnor2f2

Hey Thanks fellas This is my first year and I'm a programmer and am used to C++, C isnt much different but I still need all the help I can get. Thanks.

-Matt

There are many very willing people on CD... just remember we aren't mind readers. When you run into a question you can't find an answer to, ask that specifically.

[Bored]

Our main programmer that did most of the work went to a different school so I'm actually going to have to learn to code C this year.
This topic is a real help thanks guys.

[htwiz2002]

Originally Posted by Bored

Our main programmer that did most of the work went to a different school so I'm actually going to have to learn to code C this year.
This topic is a real help thanks guys.

Originally Posted by udzap

Cool this is perfect for a beginner programmer as I.

Hopefully it will help now that more than one person is doing it

[Packmon's_girl]

I tried to get a look at the dogle, and sorry for spelling mistakes now, but the link would not work.

[Mark McLeod]

Here’s an AndyMark dongle you can purchase.

Here’s the wiring schematic so you can make your own.

[MattK]

Originally Posted by Mark McLeod

Here’s an AndyMark dongle you can purchase.

Here’s the wiring schematic so you can make your own.

Will these work with the '06 controler? Will a dongle bridging 5 and 8 activate autonomous?

[Mark McLeod]

Originally Posted by MattK

Will these work with the '06 controler? Will a dongle bridging 5 and 8 activate autonomous?

Yes, the disable and Autonomous switches work on the '06 RC.
The "Practice" switch in the schematic no longer serves a purpose in post-2004 controllers.

[jesusescobar]

Im experienced in programming but im new on FRC is that an advantage???

[jesusescobar]

I need help how can i program the robot controller to have my team number



how do i put my team number on a FRC Robot Controller

that is my question please help

[Mark McLeod]

You set your team number using the binary dip switches on the Operator Interface (OI) labeled "Team Number."

--Tether the OI and RC together.
--Power up the RC (the OI will get it's power through the tether).
--Press the "Select" button on the OI three times and it will display the current team number setting. As you change the dip switches you will see the team number display also change, so it's easy to verify you've set your team number correctly.
-- The left most dip switch is the most significant bit.

Each switch is "1" if the front is pressed down and "0" if the back of the switch is down.
You can figure out the binary number of your team, or start with all the switches set to zero then beginning at the left flip the switches one at a time. If the number you get after you flip a switch to "1" is lower than your team number, keep it. If the resulting number is higher put that dip switch back to zero and go to the next one on the right.

[Mib]

Originally Posted by nehalita

this helped me soooo much. thank you all. this is our second yr competing and this is my first year in FIRST. i have a java background and a simple C background from 8th grade...but it was so long ago.

I'm the only one in charge of programming so when i was handed all these Cd's and codes and links and websites, i was pretty overwhelmed. i just learned about this today and I've spend the majority of the day looking through posts to answer my Q's

is there anyone here that i can directly e-mail or talk to if i have questions? (warning: I'm like a pet, i demand a lot of attn: i have questions everyday....or close to it)

also, everyone speaks about a "dongle" and i saw the picture and everything. but what exactly IS it?

its usually a piece of hardware (USB flash drive) that a program needs to be used in order for it to work

some programs allow them to be "virtual dongles" or a software dongle, but usually its a hardware device.


--------second point---------

New programmers might also check out Kevin's code and test it out. Testing and checking is a must!

[Astronouth7303]

Originally Posted by Mib

its usually a piece of hardware (USB flash drive) that a program needs to be used in order for it to work

some programs allow them to be "virtual dongles" or a software dongle, but usually its a hardware device.

Usually when we, here, speak of "the dongle" or "a dongle", we refer to what connects to the competition port to enable/disable the robot and turn autonomous mode on/off. You can get the schematics from http://www.ifirobotics.com or buy one from AndyMark. They should be in the kit, since they are as much a safety precaution as a debugging aid.

When talking about the USB/Serial hardware, we usually use the term "adapter" (as in a USB-Serial adapter).

We rarely use the term "dongle" to describe a license device, since none of the software teams use requires one. (Correct me if I'm wrong.)