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Re: Field Issues
One of the more interesting problems we had was when the field unexpectedly reset. We set up for a re-match, and the match starts. Our robot arch wildly hitting almost every field element and crushing our manipulator against the field wall. A programming post-mortem found that because we chose to send values directly to our speed controllers, that was the last value they were set to. Our driver was holding up and right, and during autonomous, it continued to move only up and right, instead of setting back to zero.
Be prepared for unexpected events like that during qualifying matches. If a re-match is called, I would try to remember to reset your robot, or account for this in autonomous (setting all motors to zero before continuing with code.)
Or, you could have used watchdog...
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