Is this bug localized to one single robot or an entire alliance? We had an instance in Calgary where our autonomous shot one ball then the shooter failed to reload, (to shoot the second ball) the intake mechanism seems to cycle yet cannot due to the shooter arm blocking it, then rather than pausing, triggering the shooter and then driving forward for mobility- as soon as the intake appears to deploy and retract, it immediate skips to driving forward. We were unable to reproduce the behavior off the field in practice mode and never figured out what caused it. It only happened the one match. I wonder if this was this bug in action.
http://www.watchfirstnow.com/archives/91370417
Our typical autonomous follows:
*enable*
>open pneumatic latch releasing spring-loaded shooter arm to fire 1st ball
>reload shooter
>>activate loading arm to charge catapult
>>when latch limit switch triggered by catapult, close pneumatic latch
>>reverse loading arm to move it out of way of catapult until it hits limit
>deploy intake mechanism with intake wheels running
>retract intake mechanism and turn off wheels
>pause 1.5 seconds for 2nd ball to settle
>release pneumatic latch to shoot second ball
>drive forward 1.5 sec
In that match it seemed to follow:
(Red=skipped steps)
*enable*
>open pneumatic latch releasing spring-loaded shooter arm to fire 1st ball
>reload shooter
>>activate loading arm to charge catapult
>>when latch limit switch triggered by catapult, close pneumatic latch
>>reverse loading arm to move it out of way of catapult until it hits limit
>deploy intake mechanism with intake wheels running
>retract intake mechanism and turn off wheels
>pause 1.5 seconds for 2nd ball to settle
>release pneumatic latch to shoot second ball
>drive forward 1.5 sec
When teleop enabled, the driver was able to click the fire button and the system reloaded automatically as usual. This means that the shooter's reload mechanism had not moved from its home position on the limit switch and had not even attempted a reload cycle after the first shot. It's almost as if we had forgotten to put the machine in 2-ball autonomous however, the intake mechanism cycling proves that it was indeed trying to go for a second ball.