Quote:
Originally Posted by MaraschinoPanda
What are the specific limitations on code when the robot is in disabled mode? I assume (though I don't know for sure), that the robot can't, for instance, run motors while it is disabled, but what are the limitations? Can relay values or solenoids be set? And how is this enforced?
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There's no limitation on what you can program, but any motors or servos or relays or solenoids you try to actuate on the robot will have no effect when it's disabled.
This is enforced by the FPGA on the cRIO. You have no ability to override it.
The Digital Outputs on the Digital Sidecar do still work when the robot is disabled, so you can control custom circuits. Custom circuits are not permitted to control any robot actuators, so again nothing you do with the program while the robot is disabled will make anything move.