Thread: getting stuck in autonomous or hybrid on the field
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Unread 20-12-2012, 06:33
Greg McKaskle Greg McKaskle is offline
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Re: getting stuck in autonomous or hybrid on the field
To clarify, the original post wasn't about LV, and there is really no issue with the auto VI finishing early. It shouldn't matter either way, but it is not required to keep the auto VI running, and I wouldn't see how this would resolve any "getting stuck" issues.

If you do not keep it running, the abort code will fail and will then start executing teleop as usual. The default LV code most years does end early, and we have never seen issues with that.

One issue that LV had last year that may have been involved in your issue had to do with CAN. If a robot used CAN during auto, there was a chance that the CAN session was locked when auto was aborted. This would result in the CAN device not being available during tele and would often lock up the entire robot. It wouldn't be stuck in auto, but in the first packet of tele. That issue was corrected for 2013. The abort procedure will now acquire all CAN sessions before it aborts -- ensuring no other code has them. And after the abort it releases all. If a team starts to use semaphores in its own construction, beware that abort doesn't know about them and the same thing could happen.

Greg McKaskle