RoboCup Base Station - Revision history

Cwehmeyer3 at 02:55, 14 June 2018

2018-06-14T02:55:17Z

Rosawa3: recategorizing

2013-11-09T12:36:47Z

recategorizing

Rosawa3 at 07:06, 18 July 2013

2013-07-18T07:06:10Z

Rosawa3: /* Standalone Controls */

2012-09-21T04:30:29Z

‎Standalone Controls

Rosawa3: /* Standalone Controls */

2012-09-21T04:30:17Z

‎Standalone Controls

Rosawa3: /* Standalone Controls */

2012-09-21T04:30:01Z

‎Standalone Controls

BenJ: Created page with 'The base station works in two modes: host (standalone) and device. In standalone mode, the base station can be used without a computer to drive robots for mechanical testing and...'

2010-08-31T21:03:48Z

Created page with 'The base station works in two modes: host (standalone) and device. In standalone mode, the base station can be used without a computer to drive robots for mechanical testing and...'

New page

The base station works in two modes: host (standalone) and device. In standalone mode, the base station can be used without a computer to drive robots for mechanical testing and demos.

There are two USB connectors: type A (host) and type B (device). Only connect one of these at a time. The data lines are connected between them and nothing will work if both are connected.

The base station can be powered by external power (required for standalone mode) or from the USB B connector. External power is not required in device mode unless you have a very broken USB hub.

The base station will operate in device mode if the USB B connector has power on reset.

== Antenna ==
There is an SMA antenna connector. Always check the antenna connector to be sure you are using an SMA (not RP-SMA) connector. An RP-SMA connector is mechanically compatible with the base station but will not make an electrical connection.
The antenna must work at 902MHz.

== Standalone Mode ==
Connections:
* Antenna
* Power: 6-12V DC, center positive, 2.1mm pin
* Joystick to USB A
Do not connect USB B.

Standalone mode will work with either the Logitech RumblePad 2 or Logitech Dual Action Gamepad. These are the two controllers currently supported by soccer as well.

== Standalone Controls ==
Driving is the same as in soccer:
* '''Left X''': Rotate.
* '''Right analog stick''': Translate.
* '''Left Y + Button 5''': Dribbler. Release button 5 to latch dribbler speed.
* '''Button 8''': Kick, full power.
* '''Button 6''': Chip, full power.

Robot selection is done with the controller:
* '''Button 10''': Select robot 0
* '''Buttons 1-4''': Select robots 1-4
Other robot IDs cannot be driven in standalone mode for lack of buttons.

== Device Mode ==
This is normally used for competition.

Connections:
* Antenna
* Computer to USB B
Do not connect USB A.

== Programming ==
The AT90USB1287 has a built-in bootloader ROM which will enumerate as a USB device. <tt>dfu-programmer</tt> can be used to program the device.

Inside, there are two buttons. The one nearest to the LEDs is PROGRAM and the other is RESET. To program the base station, you must hold PROGRAM while releasing RESET. You can do this by rolling your finger over the two buttons.

Programming steps:
* Connect the base station in device mode.
* Reset the device while holding the PROGRAM button.
* <tt>make prog</tt> in the <tt>electrical/base_station/current/fw</tt> directory.

There is a USB control command to start the bootloader. This is finicky and depends on the firmware already working, so I don't bother with it.

Note that <tt>dfu-programmer</tt> and <tt>radio</tt> must have privileges for the base station. <tt>software/util/robocup.rules</tt> should be copied to <tt>/etc/udev/rules.d</tt> before plugging in the base station to give the proper privileges for both the bootloader and normal operation.

← Older revision		Revision as of 02:55, 14 June 2018
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	[[Category: RoboCup]]		[[Category: RoboCup]]
−	~~[[Category: Electrical]]~~

← Older revision		Revision as of 12:36, 9 November 2013
Line 46:		Line 46:

	[[Category: RoboCup]]		[[Category: RoboCup]]
−	[[Category: ~~RoboCup~~ Electrical]]	+	[[Category: Electrical]]

← Older revision		Revision as of 07:06, 18 July 2013
Line 44:		Line 44:

	Note that <tt>dfu-programmer</tt> and <tt>radio</tt> must have privileges for the base station. <tt>software/util/robocup.rules</tt> should be copied to <tt>/etc/udev/rules.d</tt> before plugging in the base station to give the proper privileges for both the bootloader and normal operation.		Note that <tt>dfu-programmer</tt> and <tt>radio</tt> must have privileges for the base station. <tt>software/util/robocup.rules</tt> should be copied to <tt>/etc/udev/rules.d</tt> before plugging in the base station to give the proper privileges for both the bootloader and normal operation.
		+
		+	[[Category: RoboCup]]
		+	[[Category: RoboCup Electrical]]

@@ Line 21: / Line 21: @@
 == Standalone Controls ==
-[[RoboCup_Live_Robot_Execution|RoboCup Manual Control]]
+* [[RoboCup_Live_Robot_Execution|RoboCup Manual Control]]
 == Device Mode ==

@@ Line 21: / Line 21: @@
 == Standalone Controls ==
-[[RoboCup_Live_Robot_Execution RoboCup Manual Control]]
+[[RoboCup_Live_Robot_Execution|RoboCup Manual Control]]
 == Device Mode ==