Quote:
Originally Posted by AustinSchuh
I've debugged enough problems on bots over the last couple years which ended up being encoder brownouts that I take this pretty seriously.
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This has been our number one issue with the control system every year. The issue goes something like this:
You are driving the robot, while moving an arm. You change directions quickly on the drive base and pull a ton of current to the motors. The +5V rail browns out for about 100ms, but the arm is still moving, so you "skip" maybe 5-10 degrees worth of rotation on a quick arm. Next time you command the arm to a position near the limit, it slams in to it without remorse.
We have built custom electronics to overcome this in the past, but perhaps it would make sense to make something more generic. Maybe a board that sits of the expansion port and takes power from the VRM? All high priority inputs would route through this.