RoboRio to rasberrypi

E_Palmer · January 25, 2016, 8:37pm

My team would like to use a raspberrypi this year as a co-processor for vision tracking. We understand how to do it form a software standpoint but cant for the life us figure out how to connect it to the roborio. We were thinking maybe something like a usb-ethernet adapter, we’ve also heard of using the roborio’s i2c. Have any teams used a rasberry pi and have a reliable way to connect the two?

adciv · January 26, 2016, 7:14am

I haven’t used the Pi specifically for this but I have used a few other devices as coprocessors. I’d recommend using Ethernet to connect the two. You can setup your own TCP or UDP connection from one to the other.

GreyingJay · January 26, 2016, 11:12am

Connect them both to the Ethernet. (If you run out of ports on the robot radio, install a small Ethernet switch.) Set the Pi to use a static IP such as 10.te.am.200 (something well out of the way of the FRC DHCP assigned IPs).

You could in theory use I2C, DIOs, PWMs, USB etc. but Ethernet is by far the simplest.

pnitin · January 26, 2016, 6:52pm

see this
Look here for tracking shronghold goalpost
http://www.mindsensors.com/blog/how-...our-frc-robot-
you can connect the Pi to RoboRio on serial line that will be simplest,
other solutions may be I2C or Ethernet but I think best and easiest will be serial (not usb serial)

snekiam · January 27, 2016, 10:11pm

3322 will be using UART to communicate between the two. I will post our code here in a week or two when we get around to writing it.

techplex · January 27, 2016, 11:17pm

Why not use network tables?

http://first.wpi.edu/FRC/roborio/release/docs/java/index.html?edu/wpi/first/wpilibj/networktables/NetworkTable.html

Here is an example in python.

github.com

robotpy/pynetworktables/blob/master/samples/nt_driverstation.py

#!/usr/bin/env python3
#
# This is a NetworkTables client (eg, the DriverStation/coprocessor side).
# You need to tell it the IP address of the NetworkTables server (the
# robot or simulator).
#
# When running, this will continue incrementing the value 'dsTime', and the
# value should be visible to other networktables clients and the robot.
#

import sys
import time
from networktables import NetworkTables

# To see messages from networktables, you must setup logging
import logging

logging.basicConfig(level=logging.DEBUG)

if len(sys.argv) != 2:

This file has been truncated. show original

NetworkTable sd = NetworkTable.getTable(“SmartDashboard”);

sd.getNumber(‘dsTime’);

sd.putNumber(‘robotTime’, 10);

iSpotix · January 28, 2016, 8:02am

I would second Network Tables. It’s what we are using to use vision processing on our Driver Station.