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FTC NEW TECHNOLOGY -
HARDWARE
FTC Kickoff
September 12, 2015
Agenda
• Hardware Overview
• Individual Device Specs
• Configuring Phone and Hardware
• Tips
New Electronic Modules
• New USB-enabled modules from Modern Robotics
• Power Module
• Legacy Module
• DC Motor
• Servo
• Core Device Interface (Advanced Sensor Module)
• Legacy Module
• Allows use of NXT-compatible devices
Support for Legacy Devices
New USB-Enabled Controllers
Hardware Specifics –
ZTE Speed • 1.2GHz Quad core
• 2000mAh battery
• 1GB RAM
• 8GB Flash storage, expandable
• Sensors:
• Accelerometer, Proximity, Compass, GPS, Camera
• Android Kit Kat (4.4) • Be careful not to let the phone upgrade to Lollipop (5.0+)! This is known
to cause problems.
Hardware Specifics –
Core Power Distribution Module • Contains 20A replacable fuse
• Dedicated On/Off switch (don’t forget to turn on)
• USB 500mA max per connector, 4A max for all
• 9-15V DC, 18A max
• Required by game rules to be connected to Robot
Controller Phone
• Comes with Tamiya connector to battery by default
• Recommend replacing battery and Core Power Distribution
Tamiyas with Powerpoles
Hardware Specifics –
Core Legacy Module • Supports NXT LEGO sensors, HiTechnic sensors, Matrix
controllers, and HiTechnic Motor / servo controllers
• LEGO Motors not supported
• Special modes on some ports – check specs at Modern
Robotics Website
Hardware Specifics –
Core Device Interface • 26 Ports for sensors
• Digital (logic 0 or 1) x8
• Analog (0-5V sampled to 0-1023) x8
• PWM (16-bit timer with 1 µs resolution) x2
• I2C Bus (NOT NXT I2C, 100kHz 27 byte buffer) x6
(expandable)
• Analog Output (±4V at 1mA, DC, sine, square, triangle
wave, 0-8kHz) x2
Hardware Specifics –
Core Motor Controller • Two 9-15V DC Motors
• Motor encoder connections
• Probably will want at least two of these, unless you don’t plan on using more than 2 motors…
• Operational modes: • Controlled power – motor speed and direction
• Constant speed – maintain speed even if load on motor changes
• Run to Position – use with encoder, run to a certain position and then maintain it
• Brake or float at 0% power
• Reset current encoder value
• Hardware support for reversing direction • Allows you to use one number in code to set both motors so that their
rotation causes the robot to move forwards / back instead of spin
• Monitor Battery voltage from 0-20V with 20mV resolution
Hardware Specifics –
Core Servo Controller • x6 6V DC servos 1.5A max (5A max total)
• 8-bit positioning
• Pin 1: GND; Pin 2: +6V; Pin 3: Control pulse
Hardware Specifics - Sensors
• IR Seeker V3
• I2C (100kHz)
• 30 samples / sec
• 2.4m range
• Optical Distance Sensor
• Analog (0-5V)
• 1000 samples / sec
• 0.5-8cm range
• Touch Sensor
• Digital sensor
Which should I use? Legacy vs. Core
modules • New Core modules can be purchased a la carte at
http://modernroboticsinc.com/
• Legacy Modules • Pros:
• Can save money by reusing existing hardware
• Make use of HiTechnic or LEGO sensors not available from Modern Robotics (yet?)
• Cons: • Additional access time by software to read and write values
• More susceptible to static, I2C lockups
• Core Modules • Pros:
• USB Interface is much more reliable than the custom I2C used by the NXT
• Motor / Servo controllers support the same number of motors/servos as legacy controllers
• Use Powerpole connectors – More reliable and less prone to accidental disconnect
WiFi Direct
• Android devices use WiFi Direct to connect/pair
• Robot controller acts as group owner
• Pairing is initiated from FTC Driver Station app
• Some important tips
• In general, devices should NOT be connected to any other wireless
networks
• Occasionally, it helps to clean up old, unused remembered WiFi
direct connections
Hands on Hardware setup
FTC BASIC SETUP
FOR ZTE SPEED
ftc kickoff presentation
Unboxing
Setup
Remove the SIM card from the phone by removing the rear panel of the phone. Once removed then push the SIM card in and release to pop it out. Put the rear panel on again and power on the phone. While the phone is turning on take off the plastic screen cover.
First Time
Phone Setup
When your phone first turns
on you will be prompted with
setup options. Go through
these settings and connect to
your wifi network. Once you
have entered your password
a series of errors will pop up
because it cannot connect to
the Sprint network. Do not
worry, you have already
taken the SIM out.
Once you reach the android
home screen press google
play store. Then enter either
an existing or create a new
google account. You don’t
have to put in any payment
info if you press skip.
Making Sure
the Phone
Does Not
Update
Click on the apps button in
middle of the bottom bar and
swipe to the left. Find settings
and open it.
1. Turn on Airplane mode and
make sure Wifi is on
2. Scroll down and select apps
3. Swipe left twice so you are
under the all tab and scroll
down to “Google Services
Framework”
4. Select the app and uncheck
the “Show Notifications” box
5. Click Back twice
Enable the
Phone to
Communicate
with Android
Studio
1. Scroll to the bottom and
select “About Phone”
2. Scroll to the bottom again
and tap “SW Version” 7
times
3. Select the new “Developer
Options tab” and Enable
“USB Debugging”
4. Go back and select the
“Connect to PC” tab
5. Select “Install Driver”
6. Click back
Display
Settings
1. Select the “Display”
tab
2. Click “Brightness” and
turn off auto
brightness
3. Move the slider down
to ¼ brightness
4. Select “Sleep” and
change the auto sleep
to 30 minutes
5. Uncheck the “Auto-
rotate Screen” box
Install the
Drivers
1. Get the USB cord out of
the box and plug your
phone into the computer
2. On your phone select
“OK” to allow USB
debugging
3. On your PC click “Run
AutoRun.exe” and click
“Next” through the wizard
4. Wait for drivers to install
5. Verify “USB Debugging” is
on
6. Select “Charge Only”
Installing
the FTC
Driver
Station and
FTC Robot
Controller
You must download the
FTC apps from the google
play store.
Just search ftc on the
google play store and the
first two results are the
apps you will need.
Robot
Controller
Setting up
the Driver
Station and
Robot
Controller
apps If you have completed the
previous slides you can
pair your two phones by
following these pictures.
Note that to pair the two
phones the robot
controller app has to be
open when the pairing
search is made.
Driver
Station
Setting up
Your Robot
Controller
App for
Your Robot
Once you have your
phones paired go through
these steps to prepare
your robot for operation.
[Name]
Your screen should
look like this
FTC Basic
Setup for ZTE
Speed
Developed by:
• Austin Motz (FTC Team
10030)
• Rory Tekulve (FTC Team
6133)
• Dimple Dhawan (FTC Team
6133)
• Nils Dawson
Let’s try to
• Launch the Robot Controller app
• Create a configuration file
• Navigate the menus and screens comfortably
Naming Motors
The name of the motors in your robot controller app must match the name in your program. To change the name of the motors in your app you must edit the Active Robot Configuration.
Then, tap the controller the motor or servo is connected to. Ensure the box is checked next to the motor and type a name for the device. The name must EXACTLY match the name in your program for it to work.
Let’s try to…
• Launch the Driver Station app
• Connect gamepad (and verify Gamepad type)
• Assign driver number
• Navigate menus and screens comfortably
Setting up the
Controllers
To connect the driver controllers you must select which controller is driver 1 and 2.
Driver 1 must press START and A at the same time to setup the controller.
Driver 2 must press START and B at the same time to setup the controller.
Then select the program you want the robot to run from the Select Op Mode menu. Then press the start button to make the robot start executing the program.
Why Do We Configure?
• We need to tell the robot controller what devices are
connected to the Android phone
• App has the ability to scan and detect USB modules, but
you still have to tell it what devices are connected to the
modules.
• The names you provide in the configuration file are the
names that you will use to reference a device in your op
mode.
Serial Numbers…
• Each device that is attached to the USB hub (Power
Module) has its own serial number
• When the Robot Controller scans the bus to look for
devices, it identifies devices by serial number.
• USB does not use the port number of the hub to identify a
module.
General Tips
• Use available tools to help troubleshoot issues with a bot
• Ping time (indicates network quality and robot controller availability)
• Battery voltage
• Log files (via app or using ADB to pull from device)
• Telemetry
• Make sure cables are secured and strain relief
• Make sure Android device is properly mounted
• Secure
• Protected
• But not obscured by too much metal (it’s a wireless device)
Hardware Tips
• Remember to designate which driver a gamepad
represents (“START” plus “A” or “B”)
• Make sure the FtcRobotController app is the default app
for your Modern Robotics hardware modules
• Power on my robot and its modules before connecting the
Android device to the Power Module
• Monitor the power levels on the main robot battery and
each Android device
• Make sure the device names in your configuration file
match the names exactly in your op mode
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