Quote:
Originally Posted by Joe Ross
Another reason for the motor safety is to make sure that the robot doesn't run away if you are debugging and at a break point.
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I am not familiar with the WindRiver debugger but my understanding is that debugger usually freezes all tasks when hitting a breakpoint. If not, it would be difficult to debug multi-tasking issues since other tasks keep running. If the other tasks are frozen, so is the task that checks the "watchdog". In other words, even if you have MotorSafety on, if you hit a breakpoint, the robot still runs away. The only real motor safety is if it is implemented in hardware.