Limitations on actions in disabled mode

[William Kunkel]

What are the specific limitations on code when the robot is in disabled mode? I assume (though I don't know for sure), that the robot can't, for instance, run motors while it is disabled, but what are the limitations? Can relay values or solenoids be set? And how is this enforced?

[notmattlythgoe]

What are the specific limitations on code when the robot is in disabled mode? I assume (though I don't know for sure), that the robot can't, for instance, run motors while it is disabled, but what are the limitations? Can relay values or solenoids be set? And how is this enforced?

Relays and Solenoids can be set, but they won't actuate until the robot is enabled. You can also send and receive values from the dashboard while disabled. You can read values from sensors as well.

[Jon Stratis]

Nothing can be operated while disabled - relays can't be switched, motor controllers can't be driven, solenoids can't be fired. The intent of disabled is DISABLED - the robot can't "do" anything.

[MikeE]

I don't recall if digital outputs are set during disabled mode and I'm not going to be near the robot for several hours.
Can anyone clarify?

[Alan Anderson]

What are the specific limitations on code when the robot is in disabled mode? I assume (though I don't know for sure), that the robot can't, for instance, run motors while it is disabled, but what are the limitations? Can relay values or solenoids be set? And how is this enforced?

There's no limitation on what you can program, but any motors or servos or relays or solenoids you try to actuate on the robot will have no effect when it's disabled.

This is enforced by the FPGA on the cRIO. You have no ability to override it.

The Digital Outputs on the Digital Sidecar do still work when the robot is disabled, so you can control custom circuits. Custom circuits are not permitted to control any robot actuators, so again nothing you do with the program while the robot is disabled will make anything move.

[G_rupp]

Digital and Analog Inputs are active. We leave the robot disabled and read sensors in the LabVIEW periodic tasks. We have used this to verify operation without having to drive the robot. The Analog inputs are used for the Gyro and Potentiometers. The Digital inputs are used to verify the operation of the Sonic Sensor, input switches and Encoders.

[Mark McLeod]

Sensor inputs through DIO, Analog, I2C, Serial, SPI, Ethernet, for example camera tracking will be operational during Disabled, so decisions can be made in the code that can be acted on immediately when the FPGA enables PWM, Relay, Solenoid outputs during Autonomous or Teleop.