[gnormhurst]

I think the RC is doing something very strange.

We noticed this while repeatedly running autonomous on a tether. The first phase of our auton. is a timed run for about 5.5 seconds. After running two or three times properly, we again reset the controller (press the reset button on the RC) and throw the "Autonomous" switch on the competition port, but this time it runs for about 11 seconds before going to the next phase. Note that 11 = 5.5 * 2.

It does this occasionally, every now and then.

What's more, when it does this, the trackers scan much more slowly (my own tracker code, but see below).

We have special LED blinkers on the robot (for telemetry) and they blink about half as fast when it does this.

Then we reset, unplug the tether and plug it back in, turn around two times and throw salt over our shoulders and try again. And then it runs normally (5.5 second run, normal tracker scan speed and blinker speed.) But I have seen it run in "slow mode" more than once in a row.

I remember when I had Kevin's tracker code and there was no beacon to see, the trackers would just scan and scan (as expected). Then, by themselves, they would start scanning at half speed. I think it was the same problem I am seeing now.

My guess is that the RC is missing every other 26 ms cycle, but I don't know why. If the code didn't run in less than 26 ms it might do this, but I would expect it to do this the same way every time, not just sometimes, nor run fine for awhile and then start running half speed. This behavior seems to appear randomly -- I can't correlate it to anything else.

Has anyone else seen this? Any ideas? Seems like a half-fast controller!

-Norm