[Ether]

Originally Posted by Ether

Are you also certain that:

all the controllers were properly calibrated

and

your code was using the appropriate input pulse width range for the Jags and the 888s?

Originally Posted by Ether

Do you still have last year's bot?

Could you bring it back to life and run a few quick tests?

Pending answers to the open questions and results from any testing Mr Lim (or anyone else) is able/willing to do, my working hypothesis is that the answer lies somewhere in this code:

/**
 * Common initialization code called by all constructors.
 */
void Jaguar::InitJaguar()
{
	/*
	 * Input profile defined by Luminary Micro.
	 * 
	 * Full reverse ranges from 0.671325ms to 0.6972211ms
	 * Proportional reverse ranges from 0.6972211ms to 1.4482078ms
	 * Neutral ranges from 1.4482078ms to 1.5517922ms
	 * Proportional forward ranges from 1.5517922ms to 2.3027789ms
	 * Full forward ranges from 2.3027789ms to 2.328675ms
	 * TODO: compute the appropriate values based on digital loop timing
	 */
	SetBounds(251, 135, 128, 120, 4);
	SetPeriodMultiplier(kPeriodMultiplier_1X);
	SetRaw(m_centerPwm);

	nUsageReporting::report(nUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
}





/**
 * Common initialization code called by all constructors.
 * 
 * Note that the Victor uses the following bounds for PWM values.  These values were determined
 * empirically through experimentation during the 2008 beta testing of the new control system.
 * Testing during the beta period revealed a significant amount of variation between Victors.
 * The values below are chosen to ensure that teams using the default values should be able to
 * get "full power" with the maximum and minimum values.  For better performance, teams may wish
 * to measure these values on their own Victors and set the bounds to the particular values
 * measured for the actual Victors they were be using. 
 *   - 210 = full "forward"
 *   - 138 = the "high end" of the deadband range
 *   - 132 = center of the deadband range (off)
 *   - 126 = the "low end" of the deadband range
 *   - 56 = full "reverse"
 */
void Victor::InitVictor()
{
	// TODO: compute the appropriate values based on digital loop timing
	SetBounds(210, 138, 132, 126, 56);
	SetPeriodMultiplier(kPeriodMultiplier_2X);
	SetRaw(m_centerPwm);

	nUsageReporting::report(nUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
}


/**
 * Set the bounds on the PWM values.
 * This sets the bounds on the PWM values for a particular each type of controller. The values
 * determine the upper and lower speeds as well as the deadband bracket.
 * @param max The Minimum pwm value
 * @param deadbandMax The high end of the deadband range
 * @param center The center speed (off)
 * @param deadbandMin The low end of the deadband range
 * @param min The minimum pwm value
 */
void PWM::SetBounds(INT32 max, INT32 deadbandMax, INT32 center, INT32 deadbandMin, INT32 min)
{
	if (StatusIsFatal()) return;
	m_maxPwm = max;
	m_deadbandMaxPwm = deadbandMax;
	m_centerPwm = center;
	m_deadbandMinPwm = deadbandMin;
	m_minPwm = min;
}