Quote:
Originally Posted by Mike Copioli
This is a good idea, maybe it is something we could make. One thing to consider is the fact that brown out is device dependent and not the same for each piece of hardware. So what are you trying to detect brown out on comes to question. The CAN Jaguar class has a method that allows you to determine if power has been cycled since its last call, GetPowerCycled (). This may be something that you could use to rule out Jaguar Brown out.
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In addition to GetPowerCycled(), would it be useful to call GetFaults() (available in C++) and check for kBusVoltageFault to determine Brown Out conditions. I haven't tried reading the CAN messages, but I think it is possible to enter this fault mode without dropping to a full power cycle voltage (I have seen this indicated with the red flashing LEDs across all Jags on previous robots). I don't know if this fault mode affects sensors and closed-loop control, but it is worth a look.
Mike, can the 2CAN run on low enough voltage to log or display errors like the the Bus Voltage fault via web interface? I unfortunately don't have a 2CAN (yet) to test these things.