Quote:
Originally Posted by kylelanman
We will be doing more debugging on Thursday and report back here with our findings. The only current theory we have is that the command is somehow interrupting itself. This our 4th year using command based and we have never seen anything like this before.
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We determined the root cause of our problem. I'm not sure if the cause is the same for the OP or not but I said I would report back so here goes.
This call was in TeleopPeriodic instead of RobotInit where it should have been.
Code:
SmartDashboard::PutData(new RotateToAngleCommand(45));
We eventually figured this out by placing a printf in the constructor of RotateToAngleCommand. When the log filled up with statements very quickly it was obvious the SmartDashboard:
utData command was likely in a periodic function.
In the end we had 100's of instances of the RotateToAngleCommand in memory. Given enough time I'm sure we would have run out of memory. When invoking the command from the dashboard several of the instances were being scheduled at the same time and causing the stuttering.