Re: Weirdest issue with our robot!
 

We think the problem is with the cRio voltage protection mode. How can we be sure? What is the indicator of voltage protection mode other then low voltage? Is it a light flashing on the cRio? And if this is the problem, then how do we lower the voltage we're using when we turn? Thanks to anybody who responds!

Re: Weirdest issue with our robot!
 

I once had a bike that did something very similar. Every time I turned left, I fell off the bike. I turned out the brake cable was in an unusual position so when I turned left, the front brakes were applied.

Sorry for being off topic

try zip-ties, they fix everything.:D

ON-TOPIC EDIT: I think the cRIO actually power cycles in voltage protection mode so I would look for signs of the cRIO rebooting. (Flashing lights, erratic starting-stopping of the motors, etc.) Also, If any thing, I think you would be drawing too much current which should trip the breakers in the PD board; the PD board limits the voltage already. Are the transmissions lubricated sufficiently? Are the wheels too soft? Remember, the CIMs can only output so much power, to get more torque you could try a different gear ratio or you could run the jaguars (assuming you are using them) in torque (current) control mode.

Re: Weirdest issue with our robot!
 

Look at <R66> it tells you to install a jumper on the breakout board that is installed in slot 1 of the CRio. We had this same issue last year, and i believe this was how we solved it.

Re: Weirdest issue with our robot!
 

Justin,
The jumper is needed for the Crio to monitor battery voltage. When the voltage falls to about 5.5 volts, the Crio disables PWM outputs. This is done in anticipation of the voltage falling to 4.5 volts at which point the 24 volt power supply becomes unstable. It is possible to draw the battery down when you have multiple CIM motors in stall.