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The communication network between the robot and the controller is set up using static IP addresses. When setting up the IP addresses of hardware components, the middle two bytes (octets) of the address will depend on the team number, and this is configured with the cRIO imaging tool. The following example demonstrates default assigned addresses and one possible setup of the network based on the team number:
Component | Default address | Team XXYY configuration | Team 258 configuration |
Wireless bridge | 192.168.1.250 | 10.XX.YY.1 | 10.2.58.1 |
cRIO port 1 | 10.0.0.2 | 10.XX.YY.2 | 10.2.58.2 |
cRIO port 2 | 192.168.0.3 | No change | No change |
Driver station wireless | - | 10.XX.YY.4 | 10.2.58.4 |
Driver station | 10.0.0.5 | 10.XX.YY.5 | 10.2.58.5 |
Camera | 192.168.0.90 | No change | No change |
Computer | - | 10.XX.YY.6 | 10.2.58.6 |
Note:
- The wireless camera, connected to port 2 of the cRIO, does not need any additional configuration.
- The IP address of Port 2 on the cRIO is set by the cRIO imaging tool and does not require any additional configuation.
- Make sure the Ethernet cable from the driver station is plugged into one of the Ethernet ports on the driver station wireless router and not the Internet port
- For more detailed information on this setup, please see the document on Control System Configuration (5-2): http://usfirst.org/uploadedFiles/5-FRC_Control_System-Configuration-0-4d.pdf
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I created a LabVIEW "Pinger" program for automatically pinging the system components to ensure they are configured properly.
The IP addresses are set up based on your team number, and the component status' are shown with BIG LEDs.
The program and description can be found here http://www.chiefdelphi.com/media/papers/2177.