This information is excerpted from the VEX Field Control User Manual in the VEX Library, and provides the basic information Head Referees should understand to ensure a smooth event experience. Visit this link to view the full contents of that article.
Introduction
The V5 Competition Field Controller is a standard V5 brain running a modified version of VEXOS that limits its capability to running special programs created by VEX. Some features such as the built in driver control and user program download have been disabled.
The four robots involved in a V5RC match are connected to the field control system using smart cables plugged into one of the smart ports on the primary controller. The second available controller smart port is still able to be connected to a partner controller. The autonomous and driver control phases of a match can be directly controlled using the touch screen of the field controller, alternatively the system can be under host control using serial communication through the USB port of the brain.
The V5 field controller is intended to be a replacement for the legacy VEXnet Field Controller, it uses a similar USB connection to either the Tournament Manager PC or Raspberry Pi, but the RJ45 cables have been replaced by VEX smart cables connected to the controller smart port rather than the legacy competition port. It’s recommended that the competition port be disabled by using an RJ45 plug so a smart cable is not accidentally plugged in, potentially causing damage.
System Overview
The field control V5 brain (FC brain) is connected to alliance controllers using smart cables. Blue alliance controllers are connected to any one of the smart ports in the blue labeled groups, that is, one controller connected to a port in the group 6-10 and the other to a port in the group 11-15.
Red alliance teams are connected in a similar way to the two red groups.
The FC brain, although able to be used stand alone in a similar way to a competition switch, will usually be connected to the Tournament Manager match control system (TM). The FC brain is connected to TM using a USB cable to either a Raspberry Pi or to the host PC running the TM server. Connection to a Raspberry Pi is the preferred way of operating the system as the Pi can then be used to drive a display at the field with team and match status.
In-Match Operation
Home Screen
The home screen is shown after the splash screen or settings screen exits. This would be the screen generally displayed during a competition; it shows an overview of team status and also the current match timer when a match is being run. Any errors or warnings shown on this screen are also reported to TM. The TM field queue display is the preferred way to check team status, however, this screen can be used to help diagnose team problems.
Team status is shown in the rectangle next to their connected port, the physical smart port used is shown by the small green rectangle. The outline will be green when a connected team has met all requirements for starting the match.
Requirements for Starting the Match
- Robot is connected via radio link to controller.
- Robot has met the required firmware version.
- A user program is running.
If there is an error, perhaps the team forgot to start their program or their battery is very low, the outline will be shown in orange. TM will show a descriptive error on the field queue display, but the FC brain can also be used to see more detailed information if needed. To see detailed information touch the rectangle with team status and the display will switch to this screen.
Team status is good
Team has an error
Errors are shown in orange, in this case, the team is running old firmware (VEXOS) in their V5 Robot Brain and has also not started their user program. To dismiss the team details touch anywhere on the screen.
Team Status
Status Shows Good
Team number : 8888Z
Robot Battery : 99%
User program : 3 (Slot 3 is running; 0 would be no program running)
Radio channel : 81/5 (this is for use by VEX engineering at the VEX Robotics World Championship)
Use with Tournament Manager
When TM is not connected the home screen will have the “auton” and “driver” buttons enabled and the clock display in the upper left corner will generally be gray indicating it has not been set. Using the “Auton” or “Driver” on screen buttons allows the standard 0:15 and 1:45 duration match phases to be manually run (VURC times not supported as yet).
When TM is connected, indication will be shown on the home screen and the buttons will be disabled.
The clock is now shown in green indicating that it has been set. TM connected is shown.
The match number may be set but if the field is inactive it will be in gray, once the field becomes active it will be shown in green.
When robots are disabled the background of the home screen will be black, during the autonomous period when robots are enabled it will be blue and display remaining time.
During the driver control period the background will be green and show remaining time.
The remaining time and robot enable/disable signals are sent from TM to the FC brain. This allows accurate synchronization and duration of autonomous and driver control periods to be under TM control and not determined locally by the FC brain.
Tournament Manager Displays
Tournament Manager will show team status on both the Match control display and also on the field queue display for each configured field. Team status is shown in several colors; before starting a match look for all teams showing “Ready” in green with the field active also in green. Warnings will be shown in yellow; a match can be started when warnings are present but teams should be reminded that robot operation may be impaired depending on what the warning is.
Here one team has forgotten to, or chosen not to run a user program on the robot; all other teams are ready. Team 1234A should be alerted to that fact and if they have chosen to do this the match can start.
This screen shows some of the possible errors that may be displayed.
-
Team 8888Z is ready.
-
Team 1234A has incorrect firmware running on the V5 brain, match control requires VEXOS 1.1.1 or later.
-
Team 99999V has not connected the controller to the FC brain.
-
Team 44 has a fault on the legacy completion port or perhaps a competition switch still connected.
Neither team 99999V or team 44 will be enabled when the match starts.
If TM has become disconnected from an FC brain, the following error screen is displayed.
Teams are shown as “waiting for field activation” if status is good but they have not been switched to the competition radio channel, warnings and errors will still be displayed. If “Radio controlled by field activation” is disabled, a similar screen would show except that teams would be displayed as “Ready” even though the field was in “field standby” mode. As soon as that match was set “on field” then field standby would change to become green and display field active. The active field is the one that will be started when the operator selects “Start Match”.
As soon as a match is started, the field queue display will switch and show remaining match time.