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Jaguar Blinking Yellow
Hello everyone. This is our teams first year in FTC and we have run into some problems getting started on the programming side. I have read quite of few of the guides and the problem I have run into is that no matter what I try the Jaguar motor controller blinks yellow which indicated that it is not initialized in the code. These are the steps that I have taken so far:
1. Connected everything as shown in the "Getting Started with the 2012 FRC Control System pdf. (There is a small problem with the document. On page 13 it shows the motor controller connected to the white PWM pins on the sidecar while on page 11 it shows it connected to the black pins which I believe are for sensors or spikes from what I've read.) 2. My setup has one difference. There is only one Jaguar motor controller connected. It is connected under PWM 1 on the sidecar. 3. Flashed the cRIO successfully and assigned it the correct IP address. 4. Compiled a program after downloading the WPIlib file that was missing. (I was using the simple robot template for this.) 5. Uploaded it to the cRIO. 6. Power cycle. 7. Run autonomous and driver control from the driver station. After modifying the code in countless ways I still have had no success. I have tried changing the class to iterativerobot as well as using the Jaguar class with no success. I was wondering if anyone could shoot some code my way with a few examples of how to get this working. I'm sure its something simple I'm overlooking. I was also wondering if anyone could tell me or point me to a document that explains what CAN is and what the advantages and disadvantages of it are? Any help is appreciated! |
Re: Jaguar Blinking Yellow
According to this document, table 2-5 says:
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^Hah if only there was a like button. And a thanks one to add to that.
EDIT: To clarify the thanks goes to Don for the information provided ;) I've seen that table but I've also seen someone say it happens when the code never references the controller. I was just wondering if someone could throw code that ran a motor at 50% in autonomous. Default module positions and PWM 1 connected. As for checking connections. I have a few times and that is exactly why I am perplexed. I have read in one other thread that someone had this problem with 3 out of 4 of their Jaguars. Nonetheless I will check again on Tuesday when I am in front of the setup. Thank for the help. If anyone has additional ideas or code they could share I would really appreciate it. |
Re: Jaguar Blinking Yellow
You've done Step 1: make sure everything is plugged in. How about Step 0.5: make sure everything has power?
Your Jaguar has power; otherwise its light would not be blinking. Your cRIO has power; otherwise you would not have communication. What about your Digital Sidecar? What is its 12 volt power input wired to? Are the BATT, +5v, and +6v LEDs lit? Is the Robot Signal Light blinking, and if so, in what pattern? |
Re: Jaguar Blinking Yellow
Did you rework your DB37 cable?
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In the upper right on the bar topping each post is an icon of a set of scales that will say "Add to Don's reputation". You can click on that and add a thank you. Don will get any note from you and it will tell him the post you Liked. |
Re: Jaguar Blinking Yellow
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I have checked power just by looking at the lights but I suppose poking around with a multimeter would not hurt. I have actually rewired the whole thing once so the wiring should not be the problem but I will make sure to triple check it. Maybe try another controller to make sure I don't have a bad one. |
Re: Jaguar Blinking Yellow
I rechecked all the wiring and everything is correct. I'm not sure what the lights next to "RELAY" on the sidecar signify but they light up. Sometimes one of them is not lit up though. The motor controller continues to blink just as before. I will post my code here, perhaps someone can find something I did wrong.
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#include "WPILib.h"EDIT: Just a note on the commented SetExpiration. I did have that in the code at one point. I commented it as it was unclear to me exactly what it did but I was just trying a few things. |
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Re: Jaguar Blinking Yellow
Uhhh -- If you just ran the LABVIEW demo program with no troubles, but your troubles are in C++, I gotta ask... have you RE-FLASHED your cRio in between? There are different images on the cRio for Java, C++, and Labview.
bob |
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That is worrisome, because if you are not deliberately commanding them on, why are they on? They shouldn't be. |
Re: Jaguar Blinking Yellow
I did make sure to change the firmware back to the c++ firmware and I found an example that runs the motor. I will look into it more to see what it is that I did differently. I believe the code I wrote only references the PWM pins but it does not make the Jaguar react. This is definitely a fault in my code I'm just unsure of what exactly it is.
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Re: Jaguar Blinking Yellow
Ok -- so I've taken a longer look at the code and there are a number of issues. Rather than going over each one individually, I'm going to ask why you don't start with the "FRC SimpleRobot" template instead of trying to write from scratch. The program you have here uses things that the SimpleRobot class doesn't use in the template. That's not a bad thing if you're experienced, but it appears you may be pretty new to this. One of the big items here, however, is that OperatorControl() is called ONCE and you need to have a "while isOperatorControl() { ... }" loop or else it'll call your code, you set a few things, and then a millisecond later, you're no longer running your robot code. It is quite possible that your function calls work on the Jaguar itself, but since SimpleRobot is not being used properly, it appears to be unsuccessful.
I would suggest starting with the template and modifying from there. It'll likely be much less problematic. Also, I'd suggest taking the SimpleRobot docs from the help file and print them out, STUDY them, and highlight/make-notes. Then if it's still a problem, send me a PM with your phone number and we'll get on the phone and talk it through. Thanks, bob |
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