PwFusion Time Of Flight Firmware Update

Technical Programming
#1

We’ve made some updates to our roboRIO driver and our Time of Flight sensor firmware which dramatically improves measurement distance and accuracy. Measurements in Long mode preform well, even four meters away with reflective targets.

In addition to the ranging improvements, the PWF ToF sensor now supports 100Hz samples in Short ranging mode through the SetRangingMode() API.

Finally we’ve added a SetRangeOfInterest() API function to reduce the field of view from 27 degrees to 15 degrees. This is especially helpful when ranging targets more than 2 meters way and in cluttered areas.

The Latest software (version 2020.01.30) is available on our website. If you are using LabView, copy the libPlayingWithFusionDriver.so onto the roboRIO and reboot. For C++/Java team’s the library can be updated using the WPI Command Pallet in VS Code. Simply select ‘Manage Vendor Libraries’ then ‘Check for Updates (online)’.

ToF sensor firmware can be updated using the PWF device configuration webpage on the roboRIO. This is generally located at https:// 172.22.11.2:5812. (Replace the IP with the address of your robot if using ethernet or wireless). This page list all PwF devices on the RIO CAN bus and provides an ‘Update’ button to update each device’s firmware.

2 Likes
#2

Just sent you an email to tech support about this by trying here as well.

I’ve put this .so library in the appropriate third party folder on the RoboRio but I cannot get the web page on port 5812 to appear. Tried DNS and straight IP address.

The normal RoboRio web page on port 80 does appear.

#3

I believe Justin already got back to you, but I wanted to post the solution here for others to find.

The Playing With Fusion Device Configuration page that’s hosted on port 5812 is only available when the PlayingWithFusionDriver.so is loaded by the robot program. In order to guarantee the library is loaded, you need to instantiate an instance of a Playing With Fusion Venom motor or a Time of Flight sensor. This applies to all languages.

We have some instructions here: FRC Software library Installation. The short answer is that you need to create a robot project, add the PlayingWithFusionDriver to the project (C++ and Java only), add code code to instantiate a TimeOfFlight or CANVenom, then deploy your code to the robot.

#4

We released updates to our driver over the weekend.

Version 2020.2.14.1 of the LabView library (playing_with_fusion_lib_for_frc-2020.2.14.1.vip) includes a bug fix in the Hue calculation for the PWF I2C color sensor.

Version 2020.02.17 of the C++/Java library (and so file used by LabView) includes a bugfix for the SetPosition() and ResetPosition() APIs in the CANVenom class. These function are used to reset the reported motor position to zero or another arbitrary value.

As always, the latest versions of our libraries are avaliable on the Time Of Flight and Venom product pages:

#5

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