We lost our old code from last year and are trying to reprogram it for an unofficial competition coming up soon. We are using the new compact cRIO - last year we had used the cRIO I. The robot hasn't worked well since we changed cRIOs and lost the code.
Our programmer was thinking that it had to do with pointers in C++; he had been getting the "MotorSafetyController.cpp at line 123" error, but he fixed that and the problem is still present.
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While someone looks at the code for problems, have someone else double-check the wiring from your speed controllers to your motors. If something is cross-wired, you can get really weird results that only show up under specific conditions.
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We'll check on that too, thanks. We are pretty certain nothing has changed since last seasons competition - where the bot worked fine - but there have been a lot of people around the robot so anything is possible.