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Originally Posted by eugenebrooks
We are using a combination of Kevin Watson's camera code, using only the sensor reporting, not the servo functionality, and a timer/sensor interrupt to regulate the speed of our ball shooting wheel. We see the camera go off line sporadically, with some of the printf() statements ceasing to appear on the upload line. When this happens, the battery voltage shown on the OI is 8.2 (or 8.3) even though the voltage of the main battery is just fine.
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Our robot died three times during autonomous at BAE, and this was one of the symptoms at the time (main battery voltage reading as 7.75 volts on the OI). Eventually, the IFI rep requested that we (a) double-check our code (see other thread), and (b) use a loaner RC.
Interestingly, when I was double-checking the code after the first autonomous failure (still on our original 2006 RC), one of the first things I did is revert to a code version that doesn't use any of the camera code (but does use Kevin's ADC code), and we still had this problem. We also saw it on one of the loaner RC's (an upgraded 2004) as well, using both our code and the most recent default code to which we had added a single printf() reporting the battery voltages. The final loaner RC didn't show any problems .
So I've seen this problem on both our original 2006 RC *without* the camera code (using a fresh copy of Kevin's Gyro code with our default routine and autonomous added), and even on one loaner RC with default code (although other teams had reported problems with this loaner RC). So I'm guessing it's something with the interrupt handler (since we're using Timer 2, and the two sets of serials interrupts)? The serial code is common between the camera code and the gyro code.
I'm wondering if there is some sort of memory stomping happening, because I've also seen some random bits flicking on the OI status leds (the pwm and relay leds; we had disabled the default routine LED feedback on these to make a little bar graph showing how good the camera lock was, but after we pulled the camera I pulled the code for this as well, and we still would see random bits flicker in there).
I'm interested in solving this, since we had three matches that we lost basically since we died during autonomous (and were non-functional the rest of the match), and a fourth in which we competed with a 100% dead bot (since we pulled the RC to replace it with a loaner, but the first loaner was DOA, and we didn't have time to put the original RC back in). We still got five points with our bot that round (an alliance bot pushed us up on the platform...), but considering that we have a really good ball launcher, it rather stank that we couldn't run most of the time.
Unlike most teams, I now actually have the 2006 RC in my possession (a replacement is coming from IFI), although it's going to IFI this week once I get an RMA. Anything I should try checking with it?
In any case, if someone would like a copy of our code (that showed the voltage bug on two different RCs), or has some ideas, I'd like to know.