Re: Errors at Colorado Regional
 

Note: no relation to problem at hand. 857 briefly had an issue where we worked fine in a practice match, but nothing but the compressor worked in our pit. Turned out a variable would null-point if auton wasn't called before teleop (aka, working in pit or queue).

Re: Errors at Colorado Regional
 

Alan's point about the voltage is a good one. Regular incursions below 8v can indicate an issue. At the same time, I saw robots with much more frequent incursions below 8v work just fine on the field this year. I don't have any experience with the CAN brownouts that Alan discusses, but that might be a line of investigation -- wouldn't be too hard to swap in PWM and see whether that makes a difference.

The wifi environment on the field is quite different from most team's practice/work spaces. Differences include:

. more radios active
. other robots using bandwidth
. different space means different propagation/reflection of signals -- different both in good and bad ways
. tendency to operate robot differently in practice area than on the field
. distance from robot to driver station when practicing is typically smaller than the distance from robot to the antenna array on the field

Given that you haven't tried a digital sidecar replacement, I'd also try that. Swap the cable too.

If you have a history of swarf on your robots, consider opening each digital sidecar and cleaning them out. Be sure to do this away from other electronics, so that you're not moving the problem elsewhere. Our team uses compressed air to blow them out, followed by a vacuuming.

Re: Errors at Colorado Regional
 

Looking a little more closely at the match 77 chart, the gaps in the top blue line are curious. I've marked them up in the attached image to indicate what I'm talking about. Not quite sure what to make of it.

Here's what the log viewer documentation has to say about that:

"The top set of the display shows the mode commanded by
the Driver Station. The bottom set shows the mode reported by the robot code. In this example the robot is not reporting it's mode during the disabled and autonomous modes, but is reported during Teleop."

Compare those to the lines in your match 77 image

Re: Errors at Colorado Regional
 

I'm told that documentation is reversed -- the top set of lines is reported by the robot code, and the bottom is reported by the DS.

Makes things align a bit more with Kuragama's observations, I think.

Re: Errors at Colorado Regional
 

One note about your Match 7 graph. Looks like the radio rebooted. It takes typically 10 seconds to reboot which looks like started at 10:09:33'ish.

Your "clean" match graph is showing the battery voltage going down below 6V a couple of times and below 8V and 7V very regularly. Do you have a way of testing your batteries to make sure they are not underperforming? With all of the in-event testing it sounds like you did, was one of them making sure the 6ga cables were all very tight and crimped well (the Panduit LCA6 lugs in the KOP require a special tool to crimp correctly)? The Match 77 log, the battery voltage almost looks like as soon as the robot moved, a power connection might have been jarring loose and then reattaching.

Assuming all cabling is firmly tight (and power terminals are the correct type and crimped correctly, Panduit Ct-1700), can you write a test code that doesn't allow all of the motors to power at the same time to see what the voltage does then?

Aspiring FTA doing some Straw Grasping here...

That is correct.