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Overview:

FIRST has selected the NI CompactRIO programmable automation controller (PAC) as its next-generation FIRST Robotics Competition (FRC) robot controller. Starting in the 2009 FIRST season, you can use this platform to create advanced robots that may be driver-controlled or run in fully autonomous mode using the latest technologies including wireless monitoring and simulation for more in-competition control and more accurate designs. You can program your robots based on CompactRIO in either NI LabVIEW graphical programming software or the ANSI C language. This tutorial examines the top five benefits of the NI cRIO-FRC advanced embedded control and data acquisition system designed for high performance and reliability.

Benefits:

1. Advanced control
2. Superior performance
3. Easy programming
4. Rugged design
5. Flexible inputs and outputs

1. Advanced Control

RoboticsProgramming Library - The software for the 2009 FRC will contain a robotics programming library developed in partnership with Worcester Polytechnic Institute. These VIs and functions will allow easy access to actuators and sensors as well as data-logging, communication, and higher-level control algorithms.

Real-Time Vision Processing - With real-time vision processing, you can perform advanced image processing such as optical character recognition and acquire data at extremely fast rates.

2. Superior Performance

400 MHz Real-Time Processor - The cRIO-FRC embedded system features an industrial 400 MHz Freescale MPC5200 processor that is 40 times faster than previous FRC controllers. The 400 MHz processor deterministically executes your real-time applications on the Wind River VxWorks real-time operating system.

Ethernet Communication - The cRIO-FRC system features two 10/100 Mb/s Ethernet ports that enable communication over the network. This eliminates the need for radio communication and slow serial port uploads. One Ethernet port is connected to an 802.11 wireless device, which gives you wireless programming, debugging, and driver control. The second Ethernet port is used for a camera.

FPGA I/O Control - The cRIO-FRC integrates an embedded field-programmable gate array (FPGA) chip that performs all input/output (I/O). CompactRIO uses a DMA engine to transfer data directly from the FPGA to the real-time host-side memory so the real-time processor can focus on other tasks such as data processing and analysis, data logging, and communication.

3. Easy Programming

Programmable in NI LabVIEW or ANSI C - Build your multithreaded embedded system with LabVIEW software or ANSI C. Because tools will be available for both programming languages, you can reuse code from previous competitions.

Wireless Debugging - Use powerful debugging tools in both LabVIEW and ANSI C to debug your applications across a wireless Ethernet network.

Laptop Dashboard - Display a customized user interface, which presents feedback from the robot, using your laptop.

4. Rugged Design

Industrial Ratings - The cRIO-FRC combines reliable stand-alone embedded capability with extreme industrial certifications and ratings for operation in harsh environments. The modular CompactRIO system is rated for a -20 to 55 °C temperature range and 50 g shock.

Weight and Size - By taking advantage of the extreme performance and small size of FPGA devices, CompactRIO is able to deliver unprecedented control and acquisition capabilities in a compact, rugged package. The cRIO-FRC weighs only 929 g (32.7 oz).

Easier Connectivity - Each I/O module selected by FIRST contains built-in signal conditioning and D-Sub connectors for easy connectivity. In addition, the 2009 FRC kit will include signal connectivity solutions such as digital and analog sidecars.

5. Flexible Inputs and Outputs (I/O)

More I/O Lines - With two NI 9201 modules featuring eight channels of analog input each, two NI 9403 modules with 32 lines of digital I/O each, and one NI 9472 module with eight channels of digital output, CompactRIO provides more I/O lines than the FRC competition has ever offered previously.

Customizable I/O for Future Years - The CompactRIO platform features an open architecture and a wide variety of NI C Series I/O modules. Although the modules for the 2009 FRC have been selected, participants in future competitions can take advantage of additional modules that offer more options for different sensors and actuators.