Wpilib into 2015 (programming with java and c++ on the RoboRio)

Also see RoboRIO post

For other posts about the 2014 FIRST conference, see the index page.  (written on my iPad; please excuse typos)

Synergy in the tools (some of this was introduced for the 2013-2014 year and the rest was introduced earlier)

• Really pushing commands
• Associate commands with OI
• Test commands individually – via buttons on SmartDashboard
• On test mode, shows status of each subsystem on graphically
• RobotBuilder produces wiring diagram
• Spent a long time on RobotBuilder and command based programming (i like the command based programming, but not sold on RobotBuilder)
• If don’t use Word the right way’ you fight with it. True of wpilib as well
• command based programing will be improved going forward

New control system
RobotRIO

• Dual core
• Ethernet , usb, can, spi,i 2c and serial
• Pwm, servo, Digital and analog io
• No breakout boards
• Just one light plastic piece
• In the middle is the custom electronics port. Use if want more analog inputs, to do something creative, etc

Power distribution board

• 12v thru circuit breakers
• Regulated supplies for RobotRIO, VRM and PCM
• CAN interface for logging current, temperature and battery

Pneumatics control. Module (PCM)

• 12v or 24v pneumatics – if need both, use two modules
• Compressor confrol
• CAN interface
• 8 solnoid outputs

voltatge regulator module

• Multi regulated 12v and 5v
• Power for d-link radio, custom circuits and ip camera

Usb wireless adapater (asus dongle)

• Connected to usb port on RoboRIO
• Can be positioned for improved signal

Linux

• Standard linux with real time extensions
• Can do memory checking or anything else that linux can do

Tools

• Dashboard
• New inaging tool
• Robot simulator

Dev tools

• Everything based on opensource
• Eclipse
• Java 8 se – works on Windows, Linux and Mac
• New c++ – current gcc compilers – works on Windows and Linux
• Not sure if will support NetBeans in addition to Eclipse
• Choose small memory profile version ofJava
• Uses ant to build robot program

Library changes

Mostly compatible plus

• Improved CAN support – sync or async
• Units and measures – can specify moving to angle, driving fixed distance, running motor at some speed
• Continuous inputs
• Outputs
• RobotDrive
• Controller strategies
• Can move stuff from crio forward but not new code backwards

Open source dev at WPI’s end

• Usfirst.collab,net
• They are using mavenand gi t
• Gerrit based checkins

Reach goals

• Gazebo simulator in beta test
• Online curriculum with video lessons in short chunks

Nice quote

• The whole point of robotics is to automate to make things easier for the driver

My impressions:

People came to hear about 2015. Brad spent more than half the time on things that exist now. He also entertained a lot of questions in that first half. Unsuprisingly he ran out of time before alot of content.  He sounded surprised that he ran out of time.  I look forward to at least reading the full deck when it goes up online after championships end.