Quick Start #
You have three main options for vision software on Gloworm:
- Run the PhotonVision beta (recommended)
- Run WPILIB’s FRCVision image and write your own custom vision code
- Run your own custom Raspbian image (see here)
- Download the latest Gloworm release of PhotonVision or FRCVision
- Download BalenaEtcher (note: you may need to run the usbboot installer if BalenaEtcher isn’t recognizing anything)
- Plug a USB C cable from your computer into the USB C port on Gloworm labeled with a download icon
- Run BalenaEtcher as an administrator
- Select the zip file you downloaded in the first step
- Select the compute module. If it doesn’t show up after 30s try using another USB port, initialization may take a while. If prompted, install the recommended missing drivers.
- Hit flash
- Wait for flashing to complete, then disconnect your USB C cable
Never use the download port during normal operation, it will force Gloworm into USB boot mode. Peripherals should be connected to the port labeled with a camera icon. First boot will be slower than the rest.
Mounting and Wiring #
Gloworm is powered via 12V passive PoE. Not standard 48V PoE.
To use Gloworm on a robot, all you’ll need is a passive PoE injector and an Ethernet cable.
If you want to run Gloworm off wall-power, a passive PoE injector with a DC barrel jack and a 12V/2A power supply will be convenient.
- Mount Gloworm using the provided 10-32 1-3/4" bolts and Nylon-insert nuts. Take care not to overtighten the bolts.
- Wire a passive PoE injector to your PDP. Not the VRM.
- Install any size breaker in the PDP slot you’re using
- Run an Ethernet cable from the passive PoE injector output to Gloworm’s Ethernet port
- Plug any peripherals you have into the USB C port labeled with a camera icon
Finding Gloworm #
- Make sure nothing is connected to the USB C port labeled with a download icon
- Turn on your robot (or any other power supply you’re using)
- Open a web browser and connect to
If those URLs don’t resolve on your system, mDNS may not be setup properly. In that case, you’ll want to use a tool such as Angry IP Scanner to find Gloworm on your network. After you find Gloworm, make sure to setup a static IP (which you can do in PhotonVision).
At this point, you’ll want to follow along with the PhotonVision or FRCVision documentation.