[Eric Lam]

Hi Chief Delphi.

During the testing of our robot, I found out that when our robot is enabled from the Driver Station for about 1-2 minutes, it tells us that there is no robot code momentarily. This then happens at intervals of time that get smaller and smaller until eventually the Driver Station reports that communications with the robot has ceased. Sometimes though, after communications have supposedly ceased, when we leave our electronics on, the Driver Station will report that it detects its connection with our cRIO and has robot code but then quickly goes back to its no communication state.

While having the robot in operation, whenever this error appears, the state of our robot freezes. For example, if we were spinning a motor and this error came up, without input from our joystick, the motor would still spin until communications have been detected again.

This has occurred in completely different sets of hardware (different cRIOs, victors, modules, etc.). We tried different batteries (fully charged). This occurs both tethered to our laptop and through our wireless bridge.

I am programming in Java and use NetBeans as our IDE. I am using the supplied Command Based Robot Template. It seems that it is a problem with our code because with other sample code that I loaded into our robot, this problem does not occur. Another oddity is that when I tried to print out the state of our robot in the NetConsole, whether its in teleopInit, disabledPeriodic, etc., I found that when the Driver Station reported no communications with the cRIO, it still went through the disabledPeriodic/Continuous states.

I plan to meticulously, through trial and error remove certain aspects of my code to see what's causing the error. I was wondering though if anyone ever encountered something like this and if they could give any insight as to what is causing this. I've attached my code if it helps in any way. It is very outdated though with poor "grammar" because I could not reach my code which is on a laptop at school right now.