Robotics/ DaNI robot ( NIrobotics starter kit 2.0)

Dear All
I would like to use A * algorithm to find the shotest path in indoor environment by DanI robot
In addition, the robot includes PING ultrasonic sensor .
My question is any document or advices for avoiding obstacles by using ultrasonic sensor and how I can perform that
many thanks in advance

Hi Yazen
I would have a look at this community example. I should give you a good start.
https://decibel.ni.com/content/docs/DOC-8983

Similar Messages

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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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

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.

Get the Encoder Data from NI Robotics Starter Kit 1.0

I want to make a perfect 90 degree turn using the encoder Data from Robotics Starter Kit 1.0. Now I am doing it giving the angular velocity and controlling the time. But, the problem is, it's not perfect all the time. It is not repeatable. So, I want to use the encoder Data to turn it 90 degrees perfectly. So, How could I get the Quadrate Encoder Data from the motors (What VI should be used?).

Hey Mashfique,
Sorry for the delayed response. I believe that with the Robotics Starter Kit 1.0 you aren't actually suppose to worry about which of the FPGA I/O correspond to which sensor because the Robotics VIs abstract that for you by design. Here's a link that you might find interesting that describes how to communicate with the FPGA to steer a robot using either the Servo's angular position or velocity:
http://zone.ni.com/reference/en-XX/help/372983D-01/lvrobogsm/robo_skit_programming/#skit_steering
In the above link for example, they mention using the Write Sensor Servo Angle VI to set the angle that you want to rotate the Servo to.
Regards,
Ryan

"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

Can't connect Robotics Starter Kits 1.0

I already went through the NI Robotics Hardware Setup and followed it step by step, but still I cant connect the robotics starter kit to my PC. It said ''No Targets Detected''. I already tried all the possible solution on the troubleshoot page, but all of them didnt work. Any help on this? Thanks

Hi cycloneticz,
Which LEDs light up after you turn on the power to your robot?
Are you connecting the robot directly by Ethernet to your PC or are you plugging it into a network?
Regards,
Adam Brown
Applications Engineer
National Instruments UK

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

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 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

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

Robotics starter kit 2.0

Hello
i have problems when i make robotics projects:
- I can't save my data if i download and run it on the Robotics Staters Kit 2.0, but it is nomal when i run it on LabVIEW's framework
- I created a Fuzzy VI and then integrated with programs controlling DC motor. Fuzzy logic VI runs well in LabVIEW's framework but can't run on the Robotics Staters Kit 2.0
Please help me
thank you so much
Attachments:
testWrite data.vi ‏45 KB
Fuzzy controller 1-2.vi ‏23 KB

hi
- i tried to connect but it couldn't photo 1st. do you have solutions to save data when VI runs on Robotics Starter Kit 2.0 target?
- When VI run on Labview framework, everything is ok for fuzzy controller: photo 2nd, but when run this VI on Starter Kit target, output from controller is "zero"
please take a look and help me
Best regards: Duc Phuc

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

Connecting to Starter kit 1.0

Hello,
I have been working on my starter-kit 1.0 robot for about a month now. Recently i decided that i would go moble with it and control it through my new laptop instead of my desktop. When i try to run the robotics hardware setup, I can see the robot but cannot connect to it. when I try i get the error code "-2147220288". I cannot find anything about this code online. When i contacted NI support, their fixes did not work. The wierd thing is, is that my laptop can assign it an IP but fails when it tries to download the software. Has anybody else had this problem and more importantly know how to fix it?

How are you connecting using a wireless card on your desktop? Make sure your laptop is on the same subnet as your desktop and RIO. You can do this by statically setting the IP address of your PC to have the same first 3 numbers (ex. 10.1.2.28, 10.1.2.29, 10.1.2.30)
If you cannot see the RIO with both computers connected, try disabling firewalls and antivirus on the laptop.
Zach P.
Product Support Engineer | LabVIEW R&D | National Instruments

Robotics/ DaNI robot ( NIrobotics starter kit 2.0)

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