FRC Robot Controller

Inputs and Outputs

User Programmable Micro-Controller

General Features

The micro-controller inside the FRC Robot Controller is the Microchip PIC18F8520 from the PICmicro® microcontroller family. While this chip can be programmed in Assembly or C, the default code supplied for the user has been written in C. The user will be writing code directly at the hardware layer, but all the necessary code for integrating the micro-controller into the system has already been written by IFI and will be mostly hidden from the user.

For this reason the user's code can be somewhat abstracted from the hardware layer, and beginners will be able to program it in C without needing to have intimate knowledge of the micro-controller architecture. At the same time, full access to most of the micro-controller's peripherals and features will also be available to those who wish to learn them. We have strived to maintain a balance between ease of use for the new programmer and full control of the powerful Microchip for the advanced user.

It is recommended that new users focus on learning the C programming language's syntax, structure, and programming practices. After one is familiar with C, some benefit would also be derived from learning about Microchip PICmicro® microcontrollers. Most books on this topic, however, use Assembly language for their examples, which may confuse a new user, but they can still be useful for learning about the PICmicro® architecture, peripherals, and features.

The user will use Microchip's software tools for developing their code for the Robot Controller, which are currently only available for the Windows platform. No special hardware will be required to program your Robot Controller from a PC other than a standard serial port and DB9 cable.

Innovation First has made every attempt to minimize the time it will take for beginners to quickly get a robot running. By the same token, even power-users should be excited about the capability of the new system. Every user will have the opportunity to gain experience dealing with real world systems, and to learn real-time programming concepts. As with any completely new system, there will be some learning curve for all users, but with this Robot Controller every team should be able to take their FIRST experience to the next level.

There is a Dynamic Debug Tool available with the IFI Loader.  Special DDT Code must be downloaded in the RC before you can use the DDT Tool. Please keep in mind that Innovation First cannot provide technical support for the Dynamic Debug Tool or for the Robot Controller code (DDT Code) released to interface with it.  They are simply offered as an example of the possibilities available to you with the powerful Innovation First Robot Controllers.  The DDT Code is a stripped down version of the User Default Code and should not be used in Competition or as a replacement for the User Default Code.  It should only be used as a tool to learn about the micro-processor architecture and how to write code to interface with it.

IFI_Loader v1.1.0 (zip, 2-3-2006)
FRC DDT Code v2.2/v2.4 (zip, 1-25-2005) for use with the IFI Loader Dynamic Debug Tool only, instructions included.
Program Port Y-Cable (pdf, 2-1-2005) see Printf statements while connected to the Breaker Panel, wiring diagram for Y-Cable.
Device Reader Ver1.0.1 (zip, 4-7-2006) For reading/restoring Code in a RC, instructions included. NOTE: Uninstall before installing.

2004 Programming Reference Guide (pdf, 12-04-2004)
FRC 2004 RC Default Code Reference Guide (pdf, 1-7-2004)

2007 RC Code (zip,1-12-2007) Contains both Default/User and Master Code.
2007 RC Master Code (zip, 2-27-2007) Version 15

Frequently Asked Questions (FAQ) C Programming

NOTE: To Compile 2004, 2005 or 2006 code, use MPLAB ver 7.20 and C18 Compiler ver 2.40 (newer versions can not be used)