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LABVIEW FRC 2016 FOR MAC MANUAL
LABVIEW FRC 2016 FOR MAC CODE

NOW ADD ENUM ENUM FROM ‘NUMERIC’ MENU, RIGHT CLICK, EDIT ITEMS, INSERT STATE NAMES FROM CHART! ENUM GOES OUTSIDE WHILE, ON LEFTĬOMPLETE FRAMEWORKCONNECT ENUM TO ? RIGHT CLICK ON CASE OF CASE CHANGE CONTROL BOX, ‘ADD CASETUNNEL TO SHIFT REG FOR EVERY VALUE’ĬOMPLETE CONTENTS FOR EACH STATE… FROM CHART

LABVIEW FRC 2016 FOR MAC CODE

Edit items to enter all STATE NAMES – CONNECT ENUM TO “?” OF CASE – CHANGE TUNNEL THRU WALL TO SHIFT REGISTERīASIC BLOCKS IN AUTONOMOUS Leave original autonomous code disabled OUTPUTS INPUTS WHILE LOOP CASE.

IN AUTONOMOUS – PUT LARGE WHILE LOOP – IN CENTER PUT MEDIUM SIZE CASE STRUCT – PUT GLOBAL OUTPUT VARIABLE ON RIGHT – PUT GLOBAL INPUTS ON LEFT – CREATE ENUM (numeric pallet).

L = Auto Left R = Auto Right RS = encoder reset Open & Close = Solenoid STATE CHARTSTATE NAME OUTPUTS TRIGGER NEXT STATE NOTESSTART L=R=0 None TWO RS=true Close=TrueTWO L=R=.-4 ENCODERS = THREE TRICKY STEP TO RS = false 300 STOP EACH Close =false MOTOR SEPARATELYTHREE L=R=0 RS=true 100 ms FOURFOUR R=0 L=-.3 RS=f ENCODER=25 FIVEFIVE L=R=0 RS=t 100 ms delay SIXSIX L=R=-.4 RS=f ENCODERS =95 SEVEN AGAIN, TRICKYSEVEN L=R=0 RS=t 100 ms delay END Open =trueEND L=R=0, RS=f 100 ms delay END Open = f

NOW PUT IN STATE CHART WITH 4 COLUMNS – LEFT COLUMN IS STATE NAME – NEXT IS STATE OUTPUT – NEXT IS TRIGGER TO GO TO NEXT STATE – FINAL COLUMN IS NEXT STATE (if you do not count notes).

7 STOP, RESET ENCODERS, OPEN CLAW (wait 20 ms).

6 GO FORWARD 95 REVOLUTIONS ON BOTH ENCODERS.

5 STOP, RESET BOTH ENCODERS (wait 20 ms).

4 RIGHT WHEEL STOPPED, LEFT WHEEL FORWARD 25 REVOLUTIONS (HALF SPEED).

3 STOP, RESET BOTH ENCODERS, (wait 20 ms).2 GO FORWARD 300 REVOLUTIONS ON BOTH ENCODERS.1 START WITH WHEELS STOPPED, CLAW CLOSED RESET ENCODERS.NOTE, WHEN I CONTROL DRIVE MOTORS IN PERIODIC TASK, I MUST DIASABLE CONTROL IN TELEOP.VI

LABVIEW FRC 2016 FOR MAC MANUAL

Read all sensors (and joystick) in Periodic tasks.vi I used the 10 ms loop, but changed it to 20 msĪUTO ENABLE GETS VALUE IN ROBOT MAIN.VI TRUE IN AUTONOMOUS, FALSE ALL OTHER STATESĬREATE CASE TO SWITCHCONTROL SIGNALS THIS CASE SWITCHES CONTROL FOR MOTOR AND SOLENOID FALSE MEANS MANUAL CONTROL THIS GIVES US A SINGLE CONTROL SIGNAL WHICH CAN BE USED to switch manual to auto.įrom list, create indicators on Robot Global DATAYOU MUST SAVE AFTER UPDATING RGD.We also want a signal “Auto Enable” to be on Robot Global Data.Autonomous outputs – Auto drive right – Auto drive left – Auto sol Close (close solenoid) – Auto sol Open (open solenoid) – Auto enc reset (reset both encoders every time).Autonomous inputs – Right and left encoders.6 Build LABVIEW STATE MACHINE in Autonomous.5 Make a list of all steps needed in autonomous, include steps to reset encoders put steps in STATE CHART (4 columns).4 Create a CASE struct in Timed Tasks.vi and use “Auto Enable” to switch controls between signals from “Autonomous” and “manual” control.3 In “Timed Tasks.vi” read all sensors including joystick.2 From this list, set up an indicator in Robot Global Data for each one ( In Robot Main.vi assign value to “Auto Enable”).1 Create list of all variables needed for autonomous – All inputs (encoders) – All outputs (drive motor signals, solenoid controls, encoder reset) – Add a Boolean “Auto Enable”.IN AUTONOMOUS, WE WANT TO DESIGN A STATE MACHINE WHICH WILL : – MOVE FORWARD 10 FEET – TURN RIGHT – GO FORWARD 3 FEET – OPEN CLAW TO DROP BUNNYBOT – THEN STOP AND WAIT FOR TELEOP.AND A SOLENOID “CLAW” TO HOLD OUR BUNNY.In autonomous we want to use TANK control.We want Arcade manual control (single joystick).7 Steps to Autonomous for FRC LabVIEW Programmersħ steps to autonomous for FRC LabVIEW programmers Jim Chastain BunnyBot