Network Configuration Guide

Proper network configuration is essential for reliable robot communication and competition compliance. This guide covers the complete MARSLib network setup.

Network structure Overview

📡 Standard FRC Network

    
flowchart TD
  A["Driver Station Laptop"] -->|10.0.0.5<br/>FMS| B["OM5P Radio"]
  B -->|10.TE.AM.1<br/>Robot LAN| C["roboRIO"]
  B -->|Bridge<br/>2.4GHz| D["Devices"]
  
  E["IP Cameras"] -->|10.TE.AM.2+| B
  F["Co-Processor"] -->|10.TE.AM.20| B
  G["Limelight"] -->|10.TE.AM.11| B
  
  H["Field Management<br/>System"] -->|FMS| B
  
  C -->|CAN| I["Motor Controllers"]
  C -->|CAN| J["Sensors"]
  
  style A fill:#B32416,stroke:#d42e1e,stroke-width:2px,color:#fff
  style B fill:#1a1a1a,stroke:#2a2a2a,stroke-width:2px,color:#e8e8e8
  style C fill:#1a1a1a,stroke:#2a2a2a,stroke-width:2px,color:#29b6f6
  style H fill:#1a1a1a,stroke:#B32416,stroke-width:2px,color:#fff
  style E fill:#2a2a2a,stroke:#1a1a1a,stroke-width:1px,color:#666
  style F fill:#2a2a2a,stroke:#1a1a1a,stroke-width:1px,color:#666
  style G fill:#2a2a2a,stroke:#1a1a1a,stroke-width:1px,color:#ff6b6b
  style I fill:#0a0a0a,stroke:#2a2a2a,stroke-width:1px,color:#666
  style J fill:#0a0a0a,stroke:#2a2a2a,stroke-width:1px,color:#666

  

IP Addressing Scheme

Standard FRC Addresses

Device	IP Address	Purpose
roboRIO	10.TE.AM.1	Main robot controller
Driver Station	10.TE.AM.5	Competition laptop
Radio	10.TE.AM.1	Bridge (same as roboRIO)
IP Camera 1	10.TE.AM.11	Vision camera 1
IP Camera 2	10.TE.AM.12	Vision camera 2
Co-Processor	10.TE.AM.20	Raspberry Pi/Jetson
Limelight	10.TE.AM.11	Vision system

Legend: TE = Team Number, AM = Alliance (Red/Blue)

Example for Team 2614:

• roboRIO: 10.26.14.1
• Driver Station: 10.26.14.5
• Camera 1: 10.26.14.11

Hardware Configuration

OM5P Radio Setup

Initial Radio Configuration:

1. Connect to radio via Ethernet.
2. Access web interface: http://192.168.1.1
3. Login: admin / admin.
4. Set team number: Your FRC team number.
5. Configure channel: Choose least congested 2.4GHz channel.
6. Set security: WPA2-Personal with strong password.

Competition Settings:

{
  "teamNumber": 2614,
  "channel": 6,
  "security": "WPA2-Personal",
  "band": "2.4GHz",
  "bandwidthLimit": "20Mbps",
  "firewall": "enabled"
}

roboRIO Network Setup

Method 1: Web Dashboard

1. Connect to roboRIO USB.
2. Access: http://roborio-TEAM-FRC.local
3. Configure → Network.
4. Set static IP: 10.TE.AM.1

Method 2: Imaging Tool

1. Open roboRIO Imaging Tool.
2. Configure team number.
3. Image to SD card.
4. Image roboRIO (5-10 minutes)

Device Configuration

IP Camera Setup

Limelight Configuration:

1. Connect to Limelight via USB.
2. Access: http://limelight.local or 10.TE.AM.11
3. Configure:
   • Set static IP: 10.TE.AM.11
   • Team number: Your team number.
   • Camera exposure: Low (5-15 for AprilTags)
   • Pipeline: AprilTag pipeline.

PhotonVision Configuration:

1. Install PhotonVision on coprocessor.
2. Configure network settings:
   • Static IP: 10.TE.AM.11
   • Gateway: 10.TE.AM.1
   • DNS: 10.TE.AM.1

Co-Processor Setup

Raspberry Pi Configuration:

# Edit network configuration
sudo nano /etc/dhcpcd.conf

# Add static IP configuration
interface eth0
static ip_address=10.26.14.20/24
static routers=10.26.14.1
static domain_name_servers=10.26.14.1

# Restart networking
sudo systemctl restart dhcpcd

Jetson Orin Configuration:

# Configure network interface
sudo nmcli con modify "Wired connection 1" \
  ipv4.addresses 10.26.14.20/24 \
  ipv4.gateway 10.26.14.1 \
  ipv4.dns "10.26.14.1" \
  ipv4.method manual

Software Integration

MARSLib Network Configuration

Vision System Network Setup:

public class VisionNetworkConfig {
    public static final String ROBORIO_IP = "10.26.14.1";
    public static final String LIMELIGHT_IP = "10.26.14.11";
    public static final String COPROCESSOR_IP = "10.26.14.20";

    // Camera configurations
    public static final int FRONT_CAM_ID = 11;
    public static final int BACK_CAM_ID = 12;

    public static void configureCameras() {
        // Configure Limelight
        Limelight frontCamera = new Limelight(FRONT_CAM_ID);
        frontCamera.setPipelineIndex(0); // AprilTag pipeline

        // Configure PhotonVision
        PhotonCamera backCamera = new PhotonCamera("back-cam");
        backCamera.setVersion(PhotonVersion.v3);
    }
}

Network Tables Integration

Network Tables Server Configuration:

public class NetworkTablesConfig {
    public static final String SERVER_ADDRESS = "10.26.14.1"; // roboRIO

    public static void configureNetworkTables() {
        // Start NetworkTables server on roboRIO
        NetworkTables.startServer();
        NetworkTables.setServerTeam(2614); // Automatically configures IP
    }
}

Client Configuration:

public class NetworkTablesClient {
    public static void connectToRobot() {
        // Connect to robot NetworkTables
        NetworkTables.setClientTeam(2614);
        NetworkTables.startClient4();

        // Wait for connection
        try {
            Thread.sleep(1000);
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        }

        boolean connected = NetworkTables.isConnected();
        if (!connected) {
            System.err.println("Failed to connect to robot NetworkTables!");
        }
    }
}

Troubleshooting Network Issues

Connection Problems

Issue: Cannot Connect to Robot

Diagnosis:

# 1. Check roboRIO is reachable
ping 10.26.14.1

# 2. Check Driver Station connection
# Driver Station should show green "Communications"

# 3. Check Radio link
ssh admin@10.26.14.1
# Look at radio status LEDs

Solutions:

1. Verify radio is powered (solid blue LED)
2. Check Ethernet cables are securely connected.
3. Restart Driver Station application.
4. Reimage radio if necessary.

High Latency Issues

**Issue: Robot Response Delayed

Diagnosis:

// Monitor network latency
public class NetworkMonitor {
    public static void checkLatency() {
        long startTime = System.nanoTime();

        // Send NetworkTables ping
        NetworkTables.getEntry("Ping").setDouble(0.0);
        Double pong = NetworkTables.getEntry("Pong").getDouble(0.0);

        long latency = System.nanoTime() - startTime;
        double latencyMs = latency / 1_000_000.0;

        Logger.recordOutput("Network/LatencyMs", latencyMs);

        if (latencyMs > 50) {
            MARSFaultManager.warn("High network latency: " + latencyMs + "ms");
        }
    }
}

Solutions:

1. Reduce wireless interference (change radio channel)
2. Use wired connection for development.
3. Optimize network tables updates (don’t spam updates)
4. Check for bandwidth-heavy applications (vision streaming)

Intermittent Disconnections

**Issue: Robot randomly disconnects

Diagnosis:

# Check signal strength
# Watch Driver Station "Signal Strength" indicator

# Check radio logs
ssh admin@10.26.14.1
dmesg | grep -i wifi

Solutions:

1. Update radio firmware to latest version.
2. Check power supply to radio.
3. Inspect antenna connections on radio.
4. Reduce wireless interference at venue.

Competition Preparation

FMS Connection Testing

Pre-Competition Checklist:

• Connect to practice field.
• Test driver station connection.
• Verify all devices communicate.
• Test robot code deployment.
• Check camera streaming works.

Practice Field Test:

public class FMSConnectionTest {
    public static void testFMSConnection() {
        // Test FMS attachment
        DriverStation ds = DriverStation.getInstance();

        // Check FMS connected
        boolean fmsAttached = ds.isFMSAttached();
        boolean dsAttached = ds.isDSAttached();

        Logger.recordOutput("FMS/Connected", fmsAttached);
        Logger.recordOutput("DS/Connected", dsAttached);

        if (fmsAttached && dsAttached) {
            System.out.println("✅ FMS connection test passed");
        } else {
            System.err.println("❌ FMS connection test failed");
        }
    }
}

Bandwidth Management

Monitor Network Usage:

public class BandwidthMonitor {
    public static void monitorBandwidth() {
        // Monitor data usage from cameras
        double[] bandwidthUsage = new double[2];
        bandwidthUsage[0] = getCameraBandwidth(0); // Front camera
        bandwidthUsage[1] = getCameraBandwidth(1); // Back camera

        double totalBandwidth = bandwidthUsage[0] + bandwidthUsage[1];
        Logger.recordOutput("Network/TotalBandwidthMbps", totalBandwidth);

        // FMS bandwidth limit: ~7Mbps per robot
        if (totalBandwidth > 6.5) {
            MARSFaultManager.warn("High bandwidth usage: " + totalBandwidth + "Mbps");
        }
    }

    private static double getCameraBandwidth(int cameraIndex) {
        // Estimate camera bandwidth based on resolution and FPS
        // Typical: 640x480 @ 30fps = ~4-5Mbps
        return 4.5;
    }
}

Security Configuration

Wireless Security

Recommended Settings:

• Security Mode: WPA2-Personal.
• Password: Strong password (16+ characters)
• Encryption: AES.
• Key Rotation: Change password each season.

Password Management:

# Generate strong password
openssl rand -base64 16 | head -c 16

# Update radio password
# Access radio web interface → Wireless → Security

Firewall Configuration

Enable Radio Firewall:

{
  "firewall": "enabled",
  "rules": [
    {
      "action": "allow",
      "protocol": "tcp",
      "ports": [80, 443, 1180, 1181, 1182],
      "description": "Web, SSH, NetworkTables"
    },
    {
      "action": "allow",
      "protocol": "udp",
      "ports": [5010, 5011, 5012, 5013, 5014],
      "description": "NT, DS, Camera, Radio, USB"
    }
  ]
}

Advanced Networking

Multi-Robot Coordination

For alliance coordination or multi-robot setups.

public class MultiRobotCommunication {
    private final String[] allianceRobots = {
        "10.26.14.1", // Us
        "10.1.14.1",  // Alliance partner 1
        "10.2.14.1"   // Alliance partner 2
    };

    public void broadcastAlliancePosition() {
        Pose2d myPose = drive.getPose();

        // Broadcast our position to alliance
        for (String robotIp : allianceRobots) {
            if (!robotIp.equals(NetworkTablesConfig.ROBORIO_IP)) {
                NetworkTables.getTable(robotIp).getEntry("RobotPose").setString(myPose.toString());
            }
        }
    }

    public Pose2d getAlliancePartnerPosition(String partnerIp) {
        String poseString = NetworkTables.getTable(partnerIp)
            .getEntry("RobotPose").getString("");

        if (poseString != null && !poseString.isEmpty()) {
            return Pose2d.fromString(poseString);
        }
        return null;
    }
}

Remote Debugging

SSH Access Configuration:

# Enable SSH access to roboRIO
ssh admin@10.26.14.1

# Enable SSH in web dashboard
# Networking → SSH → Enable

# Change default password
passwd admin

Remote Code Deployment:

# Deploy code over network
./gradlew deploy

# This uses SSH to copy JAR to roboRIO
# Requires network connection

---

📖 Further Reading

• Deployment Guide - Complete robot deployment.
• Troubleshooting Guide - Network troubleshooting.
• FRC Network Rules - Official network rules.
• OM5P Documentation - Radio configuration.

Ready to configure? Set up your network and get connected!