Quote:
Originally Posted by The Lucas
The values should never be zeroed if the DS is in Auto Disabled state even if it is the last run (how would the DS know that anyway?). I dont have LV installed on this computer and I haven't studied the advanced framework or your code (I stopped programing in LV before the advanced framework, but I do understand LV, especially dataflow programming). However what I think is happening there (based on what I am hearing) is the Auto Disable LV state runs once while the DS is in Auto Enable (reason for the zeroing) before transitioning to Auto Enable.
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Yep, we're both describing the same behavior - in LV the framework calls the Disabled.vi one time (at least) when the "derived robot state" is "stop", and at that point the DS inputs are read as zero. This is similar to that IterativeRobot race condition in C++.
I haven't looked at the DS packets to see whether the DS is actually reporting the state to be "enabed" or "disabled" when this happens, but we plan to check into it - it's a fun way to teach the kids about comm protocols and network analysis.
[EDIT: For anyone interested, after a quick glance at the LV WPI library code, it seems clear that the DS is actually reporting the state as enabled, the framework just intentionally runs the disabled vi an extra time to allow for clean up. So not a "race condition" but something to be aware of in the framework. You'll see what I'm talking about in the "Get Competition Mode.vi" which the framework uses to figure out what mode to run]
Ron
Team 2607 - software mentor