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Re: Robots not under driver control- does it happen- do you determine why?
Having pneumatics in the on state and getting a momentary glich that turns it off causes a very dramatic movement that is visible. If a motor is spinning and you get a momentary toggling of output you won't see it.
Since more than one group seem to have this problem we can probably eliminate or zero in on common elements to find the source.
The problem appears to occur in both C++ and Java so not a language issue.
Camera and bandwidth issues
Wireless communication
Optical encoders generating interrupts that have a higher priority that need to be serviced and the watchdog timer doesn't get serviced. With two encoders and two inputs each 4 x 720/780 = 3000 interrupts a second. I am using 1X on the encoders which I think is serviced by the processor vs 4X which gets serviced by the FPGA and based on other forum discussion doesn't work with more than one encoder. I am under the assumption that the encoders are serviced as interrupts by software in 1X. The encoders give 720 points of resolution but when I rotate our wheel 10 times by hand I get very close to 7800. I have performed this test multiple times on two different wheels and aways get 7800+/-small error. If the resolution per turn was 720 then I would expect 7200+/-small error. I can work with the 780 but just indicates something isn't working as expected.
In looking through the JavaDoc more than one method to set watchdog and safety related attributes. Does anyone have any details regarding the need to set these parameters or does the default template work assuming you feed the watchdog?
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