[carrillo694]

Bumping this thread just to report success!

Using the reset strategy suggested by dyanoshak, Mark, and RufflesRidge, we were able to re-engage speed control of the motors. However, instead of using getPowerCycled(), we simply reset the Jaguars every time a shooter speed setpoint button on our Operator Interface is pressed. This guarantees to us that the Jaguars will always be configured in time to turn their motors, whether or not they power cycled.

Of course, this also means that the Jaguars will not be reset if they cut out in the middle of shooting at an unchanged setpoint (i.e. no button on our OI pressed). However, we have identified the source of our massive voltage drop as lying in the drivetrain, and we do not drive while shooting, so I do not think the Jaguars will cut out from a low voltage condition while the robot is sitting still.

Also, we are reconstructing the Jaguar in our reset method too, although this may be unnecessary. However, the effect of reconstruction is negligible and the motors respond instantly after reconstruction and reconfiguration of speed control settings.