Quote:
Originally Posted by JohnGilb
Are the motor safeties on a separate thread (and thus somewhat unaffected by a cpu usage spike)? I would hope that the watchdog is somehow resilient to some of our code demanding lots of cpu time.
joelg236, I'll see about packaging up our code.
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I think the motor safeties are in a separate thread. Although I do know that they are not enabled by default, unless you are using the RobotDrive class, which since you guys are octocanum I would guess that you are not. So if you have not explicitly enabled them and are not using the RobotDrive class, there would be no motor watchdog enabled. The FPGA watchdog will only shut the robot off if it looses connection to the DriverStation.
What do the ping status's look like during those matches? That could help debug as well.
Usually when I've seen 100% cpu usage, the crio actually stops responding to the DriverStation, and the watchdog would usually kill the robot. That would show up in the logs as well.
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Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of
RobotDotNet, a .NET port of the WPILib.