Robot Controller (2009)

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The FIRST Robotics Competition (FRC) has adopted the CompactRIO (cRIO) control system for advanced robotics for its 2009 season and beyond. The cRIO from National Instruments can be programmed in LabVIEW or C.

Contents 1 Programming 1.1 LabVIEW 1.2 C++ 1.3 C 2 Hardware 3 Modules 3.1 Digital I/O Module (NI 9403) and Sidecar 3.2 Digital Output/Solenoid Module (NI 9472) and Solenoid Breakout 3.3 Analog Input Module (NI 9201) and Analog Breakout 4 Key features 5 External Links

Programming

Code is cross-compiled on a seperate computer then uploaded over the network by the programming environment.

LabVIEW

The cRIO will be programmable from National Instrument's own environment, LabVIEW. A demonstration of how LabVIEW will be used with the FIRST Robotics Competition robots has been provided by NI FIRST Robotics Competition: Joystick Motor Control in 10 Minutes

C++

In addition, the cRIO will be programmable in C or C++ with a library developed by Worcester Polytechnic Institute called WPILib. Generated API documentation under very active development (subject to change) can be previewed: WPI Robotics Library Documentation.

C

Wrappers around the C++ library will be provided. [1]

Hardware

The Compact Rio contains a PowerPC processor and reprogramable FPGA processor which will be programmed by FIRST for the events. It runs VxWorks , a POSIX certified, real-time operating system.

Modules

The cRIO has slots for eight interchangeable modules. New modules will be supplied each year to teams. The modules by themselves only have a D-Sub connector, so PWM or other wiring connections are made available through a breakout board that either that screws into the module, or a sidecar that is seperate from the module and connected by a cable.

Digital I/O Module (NI 9403) and Sidecar

The Digital Sidecar and module providing general purpose input/output. 32 channels of data are sent to the Digital Sidecar. A digital output can output a maximum of 5.2V.

Module Sidecar

Digital Output/Solenoid Module (NI 9472) and Solenoid Breakout

The Solenoid module will allow for connections to a pneumatics relay. Connections are provided through the Solenoid Breakout. This module can provide a maximum output of 30V.

Module and Breakout

Analog Input Module (NI 9201) and Analog Breakout

The Analog Input module allows eight inputs of analog data with 12-bit resolution.

Module and Breakout

Key features

• 32-bit real-time processor
• 802.11 pre-n wireless ethernet
• FPGA I/O control
• Programmable in C, C++, and LabVIEW
• Wireless debugging
• Laptop dashboard
• Intelligent robotics algorithms
• Real-time vision processing
• 50G shock rating
• Easier connectivity
• More sensor choices
• More I/O lines
• Customizable I/O possible in future years

External Links

• FIRST Documentation
• NI FIRST community
• WPIlib resources, C and C++ programming

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