Sunday, February 08, 2009



Finally some successful programming :) After about three days of messing with it and trying to figure out the system, some success:
currently, all the drive code, button code for the brushes, servo code, and acceleration control are downloaded ON TO THE ROBOT! YES! there is also autonomous code downloaded, which successfully runs in autonomous mode. Although i havent yet figured out a fail safe method for downloading the code, i have a nice long list of suggestions to try when it wont download. here they are:
1. check to make sure code in another LabView project is not set to run at startup. To do this, go to Build specifications in the project explorer window, and right click on each real time application. Select “unset as startup”
2. disconnect from the cRIO, then try again. It is possible code is still running on the cRIO, but not on the front panel of LabView. To do this, go to the project explorer window. Right click on RT CompactRIO target, and select “disconnect”
3. re-build the real time application, then reset it as startup. To do this, right click on the real time application, click unset as start up, then click build, then when that is done, click run as start up (NOT set as startup).
4. WAIT FOR AT LEAST ONE MINUTE when you get the “cannot connect to the cRIO” error message. If it still doesn’t work, then click ok, and try again.
5. if the code does not work once you download it, make sure that the PWMs in the “open motor” VI front panels are set to something other than “invalid”; as long as the pwm constant on the block diagram is set to the correct PWM, I don’t think that it matters exactly which one its set to.
6. If you make changes, and want to run the code, make sure nothing is set to run at startup. If you make changes and want to download it to the cRIO, YOU HAVE TO REBUILD IT, then follow the appropriate steps for downloading.
7. if none of this works, im really sorry. Turn off the robot, close LabView, unplug the wireless router and drivers station, and panic. Just kidding. Unplug it all, restart it all, and calmly try again.

if these steps really actually dont work, then that is not good... but so far, this has worked to download all of the code today :)

-bumpers are getting made! yay. w chassis design, we can now choose where to put the bolts
-more things (tubing, clamps etc) have been dropped off at IDEO. After some chatting with Jimmy, we know more about the chassis. The wheels are at the front, close to the outside of the robot. We are still determining where the gear boxes will go (likely way towards the front), and the exact position of the tower. Jimmy has made cool chain tensioning mechanisms, which are kinda tought to explain bc i havent seen them, but basically they make the chain cover more of the sprocket.
-allie has been working on drawing up the chassis in solidworks, and working with nandini to create drawings of the chassis

however, we will be meeting strict goals each night, which will be completed before leaving.

NINE DAYS until ship.

1 comment:

Jon Rockman said...

Regarding Caroline's procedure for downloading code to the robot: I would suggest that you acquire a large supply of rabbit's feet, four-leaf clovers, shiny pennies, Tarot cards, and assorted talismans.

Maybe some goat entrails. Yeah.