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  • RobotDrive sometimes doesn't work

    For our drivetrain our robot uses four Talon SRXs all connected via CAN. Sometimes the robot will not drive. We use RobotDrive in our C++ code. The Talons are all show the neutral LED. (Solid orange). The RioLog sometimes says that the output was not updated enough. The Talons all show up on the Rio WebDash and respond to flashing the LEDs. All the other functions on our robot work, including another Talon SRX. Usually a simple reset of the robot will suffice to fixing the problem. We have tried reflashing the firmware on the Talons and reimaging the Rio. Any help would be appreciated!

  • #2
    Re: RobotDrive sometimes doesn't work

    Welcome to the FIRST Forums. Check out Section 19 of the Talon SRX Software Reference Manual and let me know if that helps.
    FIRST®
    FRC Robotics Engineer

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    • #3
      Re: RobotDrive sometimes doesn't work

      Originally posted by Kevin O'Connor View Post
      Welcome to the FIRST Forums. Check out Section 19 of the Talon SRX Software Reference Manual and let me know if that helps.
      The safety was disabled, yet this still occurs.

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      • #4
        Re: RobotDrive sometimes doesn't work

        With the motor safety disabled it should be impossible to receive the message "output not updated often enough". Are you sure you were seeing this message with the safety properly disabled?
        FIRST®
        FRC Robotics Engineer

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        • #5
          Re: RobotDrive sometimes doesn't work

          Originally posted by Kevin O'Connor View Post
          With the motor safety disabled it should be impossible to receive the message "output not updated often enough". Are you sure you were seeing this message with the safety properly disabled?
          It could be that the there was no messages on the dashboard after changing disabling. The problem still seems to persistent. I wish I could test to give you more info, but alas our robot is in a bag

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          • #6
            Re: RobotDrive sometimes doesn't work

            Another possibility is that you are running into the issue documented in Section 21.18 of the previously linked document. We anticipate releasing a library update soon that resolves that issue, but you can also use the workaround documented in the CTRE document.
            FIRST®
            FRC Robotics Engineer

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            • #7
              Re: RobotDrive sometimes doesn't work

              If you are still seeing the problem, consult the Self-Test in the web-based config. That will tell you why it's in neutral mode. "Mode : 15 : no Drive" is a telltale.
              Since the LED is solid orange, it is definitely being commanded to be zero throttle.
              One common gotcha is that the CANTalons and RobotDrive each have their own safeties. CANTalons default off, RobotDrive defaults on. So before you've rule out motor safety, you must disable it in the RobotDrive object specifically. Section 19.5 makes this distinction.

              Can tell you how many times, teams have said "Yeah we disabled the CANTalon's safety enables and we still see the DS error 'Error on line 117 of MotorSafetyHelpler.cpp: A timeout has been exceeded: CANTalon ID X...Output not updated often enough"
              Omar Zrien - Cross The Road Electronics - Chief Software
              CTR Documentation and Updates
              FRC2015 Programming Help
              WPILIB Source Documentation

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