LabVIEW Robotic starter kit - sbRIO 9631 örnek programlar

Arkadaşlar merhaba
LabVIEW Robotic starter kiti (DaNI) ile uğraşmaktayız. LabVIEW tutorilal leri hariç elinde örnek program (.vi) olan varsa yardımcı olabilirse çok seviniriz. (sbRIO 9631)

Hello Richard,
Unfortunately our cRIO and sbRIO targets are not able to handle JAVA code. You are correct that VxWorks should be able to handle JAVA but in the system is also an FPGA to communicate to the modules. The interface to this FPGA is not made ready to handle JAVA. We have a collaboration with FIRST for the FIRST Robot Competition where we deliver special cRIO targets which have a fixed FPGA personality and wrapper code to be able to handle JAVA. But this is not the case for the Robotics Starter kit which has (like you said) a sbRIO-9631 onboard.
Kind regards,
Rik Prins, CLD
Applications Engineering Specialist Northern Europe, National Instruments
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Any attached Code is provided As Is. It has not been tested or validated as a product, for use in a deployed application or system,
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Running java on NI LabVIEW Robotics Starter Kit sbRIO-9631

Hi there,
My colleague and I have been trying to run java on the NI LabVIEW Robotics Starter Kit sbRIO-9631 but we still haven't been able to run any java programs..
We know that our sbRIO-9631 runs vxWorks 6.3 and we've seen that there are several projects claiming that they have ported the java environment to vxWorks.
But we were not able to get them running..
Has anyone else tried running java on this kit?
Thanks.

Hello Richard,
Unfortunately our cRIO and sbRIO targets are not able to handle JAVA code. You are correct that VxWorks should be able to handle JAVA but in the system is also an FPGA to communicate to the modules. The interface to this FPGA is not made ready to handle JAVA. We have a collaboration with FIRST for the FIRST Robot Competition where we deliver special cRIO targets which have a fixed FPGA personality and wrapper code to be able to handle JAVA. But this is not the case for the Robotics Starter kit which has (like you said) a sbRIO-9631 onboard.
Kind regards,
Rik Prins, CLD
Applications Engineering Specialist Northern Europe, National Instruments
Please tip your answer providers with kudos.
Any attached Code is provided As Is. It has not been tested or validated as a product, for use in a deployed application or system,
or for use in hazardous environments. You assume all risks for use of the Code and use of the Code is subject
to the Sample Code License Terms which can be found at: http://ni.com/samplecodelicense

Labview Robotics Starter Kit の接続について

Labview Robotics Starter Kitを購入してPCとの接続を試みたのですが
IPアドレスの限定または接続なしとなってしまい、setupの際にstep３のところ（IPアドレスの取得のところ）で止まってしまい接続が取れません。
設定としてはIPアドレスの自動取得にしており、
IPはPC自体では取得しているみたいで、取得したIPにPingを飛ばすと接続の確認は取れました。原因がわからないのでアドバイスお願いします。
Solved!
Go to Solution.

ゴメ様
いつもお世話になっております。
日本ナショナルインスツルメンツ技術部の藤枝です。
LabVIEW Robotics Starter kitの接続の件ですが、LANケーブルをスイッチングハブとsbRIO-9831に接続いただき、LabVIEW Robotics Starter kitをインストールいただいたPCのハブに接続ください。
sbRIO-9831がサブネット上に見える状態にしておきます。
こちらで見えないということでしたら、Windowsのファイアウォール設定をOFFにしていただき、LabVIEW Robotics Starter kitの
インストールから再度ためしていただけますでしょうか。
お手数ですが以上の内容を一度ご確認頂き、ご不明な点がございましたら、ご連絡いただけますでしょうか。
宜しくお願いいたします。
日本ナショナルインスツルメンツ株式会社
技術部藤枝　辰己
サポート関連情報： http://www.ni.com/support/ja
技術データベース: http://www.ni.com/kb

怎样使NI labview robotics starter kits 2.0通过电脑控制实现行进转弯倒退?

问题总结在附件中，谢谢解答！！
如果方便的话请将解决办法发至邮箱[email protected]或qq留言，谢谢
Attachments:
关于NI LabVIEW Robotics Starter Kits 2.0相关问题讨论.docx ‏14 KB

ラウールさん
こんにちは。
完全に適したサンプルはおそらくないと思いますが、
モータ \ エンコーダの値はすでに取得されていますでしょうか。
シリアル通信について、LabVIEWに沢山のサンプルが用意されていますので、ご参考ください。
サンプルフォルダ　＞　ハードウェア入力と出力　＞　シリアル
よろしくお願いします。

Labview Robotics Starter Kit について

Labview Robotics Starter Kitを購入してPCとの接続を試みたのですが
IPアドレスの限定または接続なしとなってしまい、setupの際にstep３のところ（IPアドレスの取得のところ）で止まってしまい接続が取れません。
設定としてはIPアドレスの自動取得にしており、
IPはPC自体では取得しているみたいで、取得したIPにPingを飛ばすと接続の確認は取れました。原因がわからないのでアドバイスお願いします。

ゴメ様
いつもお世話になっております。
日本ナショナルインスツルメンツ技術部の藤枝です。
IP取得できない件ですが、クロスケーブルで直接機器と接続していますでしょうか。
ハブなどを介して、PCからアクセスしていただくと、正常にIP取得できるかと思いますので、一度お試しいただけますでしょうか。
お手数ですが以上の内容を一度ご確認頂き、ご不明な点がございましたら、ご連絡いただけますでしょうか。
宜しくお願いいたします。
日本ナショナルインスツルメンツ株式会社
技術部藤枝　辰己
サポート関連情報： http://www.ni.com/support/ja
技術データベース: http://www.ni.com/kb

"Gear Ratio" of the Labview Robotics Starter Kit?

Hi!
Im working on the odometry for my Starter Kit (the 4 wheel model) based on the book "Where I Am?"
- You can download the book for free here: http://www-personal.umich.edu/~johannb/position.htm
In page 20 the theory states that the factor which translates the number of pulses to linear distance is:
Cm = PI*D/(n*Ce)
D: Wheel Diameter (mm) = 4`` = 0.1016mm
n = Gear Ratio= ¿?
Ce = Encoder Resolution (PPR) = 400 PPR
So, linear distance = Cm * N_pulses
Im not sure how I could calculate the Gear Ratio of the LR Starter Kit, taking into acount that there are 4 gears interconected to each pair of wheels.
I found in a paper of the UNCC that the gear ratio of the Starter Kit is 83:1, but if I try n=83 the distances don´t make any sense!
- UNCC Course Lab 2 (Assignement PDF, page 1): """Gear Ratio: This is the amount of revolutions it takes the motor to complete for every 1 revolution of the wheel. The gear ratio of the daNI Robotic platform is approximately 83:1.
(This value is taking the motor gear ratio into account)"""
If someone has the Gear Ratio calculated beforehand, or can give me some indications of how to calculate it (or tell me if Im doing anything worng with the units!), could you help me, please?
Solved!
Go to Solution.

Xandro,
I'm not sure where the value of 83:1 came from, but I can tell you that the Starter Kit 1.0 wheels have a gear ratio of exactly 2 motor turns per wheel turn. The motor is mounted to a 40-tooth gear, which meshes with the 80-tooth gears that are mounted to the wheels. This means the gear ratio is 2:1. Note that the Starter Kit 2.0 has a gear ratio of 1:1.
Chris M

NI Robotic starter Kit DANI PID control

Hello
I have this great kit and interested to do a kind of research of PID control on the two DC motors.
I already saw links that can do this job but I noticed that I can not find any technical datasheet having the motor paramters ( Mechanical or electrical)
I plan to bulid a tranfser function usig these paramters and then design a PID controller to make a speed control.
I searched the internet for the datasheet for these motors and could not find.
I think I should use a system identification for these parameters...so the question is
Is it possible to do any experimental system identification for identification of the DC motor parameters without deassebling them from the kit???
and how to do this job using labview??
if any has the datasheets for these motors (TETRIX DC Drive motor, part number 39083) it will be helpful ...
Thanks
A.Hakim

Hello ShishKeBobby
Thanks for your reply, but realy these information I knew, I need more information like a datasheet for this DC motors concerning the electrical and mechanical parameters.
I searched for the tetrix DC drive motor, part no. 39083 on pitisco web site but I could not download the datasheet.
these are the information I need
Motor constants (KT, KE)
Motor internal resistance (Rm) and inductance (La)
Motor friction (viscous friction)
Interia (J)
, thanks
or I am thinking to get these parameters by system identification but I dont know how without disasseblying of the dc motor from DANI and having a benifet from Labview and the assembled Morors in DANI.....
what you think?
Thanks for help
A.Hakim

Interfacing robot with labview with SBRIO 9631

i am working on a project of AUTOMATED GUIDED VEHICLE (PEOPLE MOVER)... i need help regarding programming the vehicle for its autonomous operation on a pre planned path, which we have decided based on the application... we have to control two DC motors, one servo for steering, and there should be obstacle avoidance .. if any obstacle there the vehicle should stop until the path is cleared , and it has to stop in the respective pre planned stations,which is at certain distances , for certain time delay (say 10 sec- to drop the peple in those stations) . based on the people's input who's travelling on the vehicle, we have to stop the vehicle in the stations .. we have to get input from the user onborad , by providing physical key pads.
in our college we have sbrio 9631, can we use this for programming ... and if so how to start the work.. ? it would be great if anyone helps to start this project...

Duplicate post.

Problem stopping the Labview Starter Kit motors (huge offset?)

Hi
I implemented an algorythm for the Labview Starter Kit. It reads a map and navigates from the initial point to the goal. The Starter Kit only performs two movements: "go straight X mm", and "turn 90º left/right (the turning is made when stopped, like a rotation).
The problem Im encountering is the turning. It uses a digital compass (CMPS09): when the robot needs to turn left/right, I feed the CCW Velocity of the motors (using the read/write FPGA functon) with +3.4 rad/seg and -3.4 rad/seg, into a timed loop.
The condition to stop is simple: "if heading=desired heading for the actual turn --> finish loop and stop motors".
Well, it happens that in the time window from calling the "stop motor" function, and the robot motors and wheels actually STOPPING, the robot travels 9-10 extra degrees!
So, for example, I want the robot to turn from north (0º) to 90º. The CCW velocities are feed with +3.4rad/seg and +3.4rad/seg into a timed loop, and I checked that the timed loop finishes when the heading is 90º. But the final orientation of the robot is exactly 100º, because the motor seems to take a little time to stop.
The deviation depends on the velocity of the motors, I was able to reduce it to 3/4 degrees using a turning velocity of 1rad/seg, but it has no use since it´s extremely slow and the motors works very badly (they dont even are able to maintain a constant speed in slower velocities).
I tried to check the Starter Kit FPGA.VI but I fail to understand how the "stop motor" function works.
I dont know if there is any way to correct or reduce the "stopping time" of the motors. If I correct the turning function to subtract 10º for every turnop before starting the movement, the algorythm works as long as I use the 3.4rad/seg velocity... but that solution is extremely shabby, and I dont think I cant say that on my Final Project! There has to be a way to improve it, isn´t it?
EDIT: For the record, I tried several variations for the loop, and several timing, form us to ms, and I think that´s not the problem, because I wasnt able to get better resulsts at all.

I did have similar problems and I figured all that I installed too many real-time components. It might not be the case with yours but you might try.

Keyboard interfacing in starter kit 2.0 Robot

Hello
I want to control starter kit 2.0 robot using keyboad . anyone worked in Keyboard interfacing in starter kit 2.0 Robot ?
I use event structure to get scan code of press key . according to this code control robot example if forward key press then make steering frame velocity array [0,1,0] (1 m/s forward velocity ) sand give to "Apply velocity to Motor" VI . so robot move according to steering frame velocity.
but this logic not working !!!!!
can anyone help me ..??
Thanks
Nirav Virpara

Hey,
The robotics starter Kit is a standalone machine with an FPGA on it. The Starter Kit is not controlled by a computer. However you could instal drivers for a Keyboard on the FPGA , then write a code so that the FPGA understands the keyboard input and be able to control your robot.

Less voltag in J502/DIO sbRIO 9636 (NI LabVIEW RIO Evaluation Kit )

Hello,
I bought the NI LabVIEW RIO Evaluation Kit (with sbRIO9636). I have problem with the sbRIO9636. The voltag in J502,DIO Pin 49 and 50 is less than 5V (just 1.7V). so VCC of the LabVIEW RIO Evaluation board with a digital encoder, LCD screen, function generation, etc. can't get the enough voltag (5V) und can't work.
For example >VCC of LCD screen is just 1.7 V and not to work. So this is a Hardware problem? Can man solve the problem?
Thank you!!
Attachments:
IO_sbRIO9636.PNG ‏79 KB

Hi Duffy and KellyDog,
+5V should be available on the pins and connector that Duffy is referencing.
KellyDog,
Couple of questions. Is anything connected to the sbRIO-9636 in addition to the power cable? Does the unit boot and connect to your host PC over ethernet? If the +5V power supply was damaged and only supplying ~1.7V, I wouldn't expect the board to boot, as all the onboard power supplies are derived from that rail. Has anything happened to the board that would cause you to suspect power supply damage? There is a fuse on the +5V pins, so is it possible that the 5V supply pins were accidentally shorted to ground, potentially damaging the fuse? If so, this board would need to be returned for repair (RMA) as the fuses are not user servicable.
Regards,
Spex
National Instruments
To the pessimist, the glass is half empty; to the optimist, the glass is half full; to the engineer, the glass is twice as big as it needs to be...

How can I connect the polaroid 6500 ultrasonic sensor ranging module to DaNI 2.0 robot (which is using sbRIO 9631)?

How can I connect the polaroid 6500 ultrasonic sensor ranging module to DaNI 2.0 robot (which is using sbRIO 9631)?

check this post
http://forums.ni.com/t5/Real-Time-Measurement-and/sensor-on-sbrio/m-p/2030424#M11812

Looking to extract position/coordinates from Simulated Starter Kit 2.0

I am new to the Robotics Module of LabView so I wanted to clarify is either of things exist. The simulated DaNI (starter kit 2.0) moves depending on the speeds sent to the DC motors, but how/where is this translated into movement for the simulated DaNI? OR is there any way to put a marker or otherwise monitor the current position of the simulated DaNI in the simulated environment. (hopefully using coordinates or something similar?)
I am only using the basic, nothing complex. Some code has been written to make inputs to the Write Dc Motor Setpoints VI and that is where the motor speed is inputted, but I cannot see where it actually translates into movement for the simulated DaNI.
I don't need anything solved or fixed, would just appreciate a point in the right direction or a clarification.

You may want to take a look at the "Starter Kit 2.0 Dead Reckoning" example to see how to directly access the position of the robot from the simulation environment. (If you don't have LabVIEW 2012 or later you can get the example here.) In this case, you get a reference to the robot's "Body" object, then call the "Position" property to get the coordinates of the robot's center point within the simulation environment. As for how the API controls the motors, the robot host interface contains references to the simulated motors, and it is sending position setpoints to the simulator through those references This comminication is handled within Write DC Motor Setpoints.vi. Meanwhile the simulator is calculating the friction and collisions between the wheels and the ground to make the robot move.
Chris M

Starter kit 2.0

Hi,
I am having some trouble with the daNI starter kit 2.0 robot. It is not detected by MAX or anything else, does anyone else ecountered this problem?
Thanks
Stefan
Solved!
Go to Solution.

Hi Stefanb1
Usually, if a RIO device such as a compactRIO or sbRIO isn't appearing in MAX, there may be a few different reasons. Firstly, have you installed the NI-RIO drivers on to your PC? It's important that you've installed your software in the correct order, with the development suite first, then the extra modules and toolkits (such as the robotics toolkit) and finally, drivers (NI-RIO).
If you have installed your software in the correct order, please ensure the quality of your ethernet cable and connection.
Kind Regards,
Shalimar Ali
Applications Engineering Intern

DaNI Starter Kit 2.0 Motor Driving

Hi,
I have got a problem with the Robotics Starter Kit 2.0. The problem is that when a VI contains two commands, one for moving forward and the other command is for rotation (one wheel moves in the opposite direction of the other one). Of course, both commands are not parallel, they are issued in series. (check the attached VI).
As you can see in the VI:
In the first loop, DaNI moves forward with 5 rad/sec speed. It stops when I press Step1: Stop Moving stop button.
The second loop is used only to stall the execution till I press Start Rotating.
In the third loop, DaNI rotates around its vertial axis and keeps rotating till I press Step2: Stop Rotating stop button.
The forth loop is just like the second one.
In the last loop, DaNI continues moving forward till I press Step3: Stop Moving stop button.
Now, the problem occurs in the third loop and the last loop. Every time one wheel starts rotation before the other!!!!!
Also I suspect that the robot needs reset to its original firmware (both the Real Time Processor and the FPGA).
so is there any document that describes the steps to reset?
Thanks in advance.
Attachments:
Main.vi ‏18 KB

Robert,
We got sbRIO reset to its factory state. But nothing happened, the problem still exists.
For the roaming example, I don't think it can help us identifying the problem; since the speed changes on the go. The problem occurs only in either of the following cases:
DaNI is moving in straight line, stops then rotates about its vertical vertex (the two wheels are rotoating in opposite direction with respect to each other).
DaNI is rotating about its vertical axis, stops then moves in straight line.
In the roaming sample code, the velocity is changed but DaNI doesn't stop.
For the second sample code, it didn't work in the first place!! That is, we have downloaded the file to DaNI but didn't respond to any commands.
So, what do you think?
I have attached a VI that I am currently using to debug the problem. Would you please check if I am doing something wrong in the VI?
Regards,
Ahmad.
Attachments:
Steering Frame_SubVI.vi ‏70 KB

LabVIEW Robotic starter kit - sbRIO 9631 örnek programlar

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