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FRC 2495 Hive Mind 2018 Robot Manual
Introduction
Scope
This manual explains how to control the FRC 2495 Hive Mind 2018 Robot.
Requirements
To control the robot, you need at the minimum a Windows PC running the latest FRC Driver Station
software, the Shuffleboard app, 2 joysticks and a gamepad.
To be able to use the camera for target tracking you also need GRIP (Graphically-Represented Image
Processing) running on the Windows PC.
If you want to be able to modify the code running on the robot, you must further install a Java SE
Development Kit 8.xxx, Eclipse, and the WPI plugins for Eclipse.
Finally you need to install the CTRE Phoenix framework.
Subsystems
The robot is composed of multiple subsystems which may be controlled independently:
•
Compressor to provide power to the Jack
•
Drivetrain to drive
•
Elevator to raise a cube to a given height
•
Grasper to grasp or release a cube
•
Hinge to link the grasper to the elevator
•
Jack to switch between the large and mini drivetrains
•
Mini Drivetrain to move athwart
•
Winch to climb
The robot may use the following sensors:
•
Accelerometer to measure tilt
•
Camera to locate cubes
•
Gyroscope to turn precisely
•
Sonar to help grasping or releasing a cube
Version 2.0 (07-MAR-2018)
1
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Table of Contents
Summary of Contents for FRC 2495 Hive Mind 2018
- Page 1 This manual explains how to control the FRC 2495 Hive Mind 2018 Robot. Requirements To control the robot, you need at the minimum a Windows PC running the latest FRC Driver Station software, the Shuffleboard app, 2 joysticks and a gamepad.
- Page 2 Controls Left Joystick The left joystick (see Figure 1 Left Joystick below) provides access to features useful in the pit. It provides for example manual control of the elevator, hinge, grasper and winch by holding a button and pulling or pushing the stick at the same time. This makes it convenient to rewind the winch after a match.
- Page 3 Right Joystick The right joystick (see Figure 2 Right Joystick below) is the main control for the driver. It allows to control both drivetrains and switch between them by raising or lowering the jack. By default, the stick offers control for rotation of the large drivetrain or athwart moves using the mini drivetrain.
- Page 4 Gamepad The gamepad (see Figure 3 Gamepad below) is reserved for the operator. It provides automatic control for the hinge, elevator, grasper and winch. It provides a way to recalibrate the gyroscope when the robot is disabled. It provides forward control of the winch if activated by the driver. Note that the hinge and elevator need to be homed (i.e.
- Page 5 Playing a Match Start Software Applications You need to have the FRC Driver Station and the Shuffleboard running at all time. The Shuffleboard layout to pick is “2495shuffleboard” under C:\Users\FRC2495\git\FRC-2495-2018\misc\Shuffleboard, and the suggested tab to use is “Competition”. To use the camera, you also need to run GRIP. The processing pipeline to pick is “yellow” under C:\Users\FRC2495\git\FRC-2495-2018\misc\GRIP.
- Page 6 Autonomous options You need to choose four options for the autonomous mode (on in each of the four categories). Verify that the options you choose are properly registered in the Shuffleboard. If not pick another option, and then pick your option again. 1.
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