Control System New control system: roboRIO – Allows for programming over the USB device port.
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Transcript of Control System New control system: roboRIO – Allows for programming over the USB device port.
Control System
• New control system: roboRIO– Allows for programming over the USB device port
Control System
• roboRIO includes integrated 3-axis accelerometer
• Vastly improved reboot times• No reboot required when deploying new code• roboRIO should only be imaged over USB• Ethernet cables over 30m (98 ft) should not be
used
roboRIO
• 512 MB nonvolatile storage• 256 MB DDR3 RAM at 533 MHz• 16 bit-wide data bus• 3-axis integrated accelerometer at 800 samples/sec
with range of 8g• Running NI Linux Real-Time OS• Windows required to program
Communication and Control
• During matches: D-Link Wireless Bridge required for communicating with the robot– Configured at each event
• roboRIO, Wireless Bridge, and Driver Station Software must all be configured to their corresponding team
Gameplay (Autonomous)
• 15-second autonomous• No direct or indirect communication with
driver station during autonomous mode– Use of devices such as webcam prohibited
• Scoring–All robots in auto zone: 4 points–All yellow totes in auto zone: 6 points–All yellow totes stacked: 20 points–All recycling containers scored: 8 points
Gameplay (Autonomous)
• Any game pieces can be moved; only yellow totes and recycling containers receive autonomous-specific points
• Yellow containers have retro-reflective tape along both long edges
Gameplay (Teleoperated)
• 2 minute 15 second teleoperated period• Scoring
–Scored gray tote: 2–Scored recycling container: 4 per level–Litter scored in/on recycling container: 6 per recycling container
–Litter scored in landfill: 1–Unprocessed litter: 4 to opposing alliance–Coopertition set: 20 for each alliance–Coopertition stack: 40 for each alliance
Gameplay (Teleoperated)
• Yellow totes can only be used for Coopertition points
• Gray totes only gain points when placed on scoring platform; can be placed on Coopertition step
• Coopertition stack overrides points from Coopertition set
• Coopertition stack must only be standing for 3 seconds to receive points
Gameplay (Teleoperated)
• Game pieces in a scoring position but definitely or possibly supported by robot award no points