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Unread 26-03-2016, 18:24
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AKA: Chris Bale
FRC #5712 (Gray Matter)
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Re: Disabled robots moving

Quote:
Originally Posted by ollien View Post
I was contemplating this on my ride home today. At NYC, an inspector told me about a robot that was DQd because they ran their fan after they were disabled. This got me thinking. Though the RoboRIO and legal motor controllers will not function when the robot is in a DISABLED state, provided no other control system rules were violated, is it technically legal, regardless of if it's physically possible, to have an actuator move while the robot is DISABLED? I can't find a rule explicitly stating this one way or the other. The best I can find is the definition of DISABLED: "a state in which a ROBOT has been commanded by the Driver Station to deactivate all outputs." Perhaps this would be in violation of G1?
My understanding of the rules is that fans are not required to be connected to motor controllers, as a result, cannot be expected to turn off when disabled. For that matter, motor controllers that use fans are specifically wired so they always run, effectively making Victors and Jaguar motor controllers illegal if the rule was to be interpenetrated this way.

This looks like an obvious case of a ref that needed to seek clarification on the rule. This is the kind of thing that should only require a little common sense, but it seems like more and more this stuff needs to be spelled out for people to avoid lawyering.