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Previous – Utilization Reporting
I’ve some thrilling know-how updates to share for this coming season, subsequent season and past. However earlier than we get to that, I wish to share the utilization reporting information from this previous season. The FIRST® Robotics Competitors software program has a characteristic referred to as ‘utilization reporting’ that tracks what WPILib objects are created in every workforce’s code and studies that information again to the sphere when the robotic is related. Information from the 2023 season might be discovered right here. Some notes concerning the information:
The information has been anonymized. Workforce numbers have been eliminated and the info has been re-sorted so groups usually are not so as by workforce quantity. We are able to solely observe the objects groups create in code. If a workforce creates additional motor controllers that are not on the robotic, they’ll nonetheless be captured by this technique. If a workforce creates motor controller objects of the unsuitable kind, that unsuitable kind shall be captured by this technique.
Some objects naturally lead to double counting (e.g. Encoders use Digital Inputs).
Counted objects and TRUE/FALSE present the most important variety of any given object utilized in anybody match (i.e. if a Robotic performs match 1 with 3 Encoders and match 7 with 2 Encoders, 3 shall be reported). Because of this if a workforce switched motor controller sorts, or IMUs, or the rest in the course of the season, the sheet will present numbers for each gadgets. Language and Framework report what was used within the final recorded match.
Some bugs within the reporting resulted in Phoenix Professional gadgets and WPILib PS4 controller information being recorded incorrectly. This data has been faraway from the spreadsheet to keep away from confusion.
Current – AprilTag Replace
Whereas the final suggestions on the 2023 implementation of AprilTags was fairly optimistic, we did study some classes that we plan to use to 2024 and past.
The primary lesson was relating to tag household. We selected the 16h5 household for the 2023 season as our testing confirmed elevated detection vary for a given decision. In apply groups have been typically discovering the info too noisy to make the most of the extra vary. On condition that, for the 2024 season we shall be transferring to the 36h11 tag household. This can considerably cut back false positives with default settings and is appropriate with a wider vary of software program implementations.
Most of the different classes discovered have been minor gadgets with the bodily implementation of the tag plates. The plates used for 2024 shall be revised based mostly on these classes however we presently anticipate they are going to be appropriate with 2023 plates such that groups may probably sticker over their present 16h5 tags. Some 2024 discipline tags shall be mounted in a different way, however we anticipate workforce variations will probably be capable to use comparable tag plates. Tag dimension shall be tweaked barely to eight.125 in total, with a 6.5 in. inside black sq..
Future – Radio Testing
Over the previous yr, FIRST® has been working with Vivid Internet hosting on designing a customized radio for FIRST Robotics Competitors groups to be used beginning within the 2025 season (the 2024 season will proceed with OM5P radios). Vivid Internet hosting could also be new as a provider to FIRST, however a lot of their staff have intensive workforce and volunteer expertise and we’re excited to work with them on this system. Options similar to energy connectors, system dimension/form, and variety of ethernet ports and their structure have been straight pushed by their expertise as workforce mentors and volunteers. We’re planning on testing the prototypes of this radio on the following occasions:
Chezy Champs: San Jose, CA September 30 – October 1
Oregon Ladies’ Era & FIRST Probability: Wilsonville, OR October 7 – October 8
Battle of the Bay: Alton, NH November 4
Madtown Throwdown: Madera, CA November 11 – November 12
Right here’s a fast rundown of options we predict groups could also be considering:
Dimension: 4.5x2x1.25 inches
Mounting: Cable tie notches
Energy: Passive Energy-over-Ethernet (PoE) or wire-to-board connection. Designed to function straight off battery voltage (although has additionally been examined downstream of a VRM or RPM)
Ethernet: 4x complete. 1x passive PoE enter, 2x passive PoE output for gadgets (cameras, and so forth.)
Frequency: 2.4GHz + 6GHz twin band. At dwelling, groups can use the system as a 2.4GHz AP to keep up compatibility with legacy gadgets. At occasions, the system can be utilized as a 6GHz bridge.
Efficiency: Among the many many advantages, the 6GHz spectrum has extra channels, permitting occasions elevated flexibility in establishing on a transparent channel. As well as, OFDMA (orthogonal frequency-division a number of entry) has been built-in to make higher use of wi-fi spectrum. These options, together with different 802.11ax enhancements ought to contribute to a considerable discount in matches with wi-fi congestion points and can hopefully enable us to extend the workforce bandwidth cap sooner or later.
Past – Cellular Robotic Controller RFP Course of
We’re additionally already trying approach out to the 2027 season and beginning to consider a brand new Cellular Robotic Controller after the roboRIO 2.0 settlement expires in 2026. 2027 might really feel a good distance off, however for a serious challenge like this, it’s virtually proper across the nook! Now we have created a preliminary draft of a Request for Proposal (RFP) and shall be sharing excessive degree data with some present sponsors over the subsequent few weeks. We may even be accumulating suggestions from a small variety of pre-selected CSAs, FTAs, LRIs and workforce mentors. After processing that suggestions into the ultimate doc, we shall be releasing the RFP publicly originally of November.
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