[Ether]

Originally Posted by whcirobotics

Hi CD, I got 5 team members and 1 mentor to come on a Wednesday(December 22, 2010) and we build a test robot with the macanum wheels in 4 hours. We finished and i deployed the code and pressed enable on teleop. This is a video of what happend:

http://www.youtube.com/watch?v=es7OF_V-LWU

Is there something wrong with the code? It is the same code as the one attached above. But the problem was that one wheel kept turning. I tried attaching the pwms to other than that of 7, 8 , 9 , 10 and put them in 3 , 4 , 5 , 6 and again that wheel kept turning. :S

The mentor suggested that that one might be calibrated other than 0, but what else could possibly be wrong? Maybe the software? :S Help please.

Others may have different suggestions, but if I were you here's what I'd do in your situation:

- Create a separate new software project with VERY SIMPLE CODE that allows you to control each wheel one at a time. This should be very quick and simple to do.

- Run this code and test each wheel individually to make sure each wheel responds properly (both forward and reverse) and equally with respect to the others.

- If your robot passes this test, it is mechanically and electrically sound. The problem is in your mecanum software.

- If the robot fails this test, first double-check your simple code. Then check the PWM indicator light on the Dashboard for that motor. If everything checks out, then you have a hardware problem. Check the indicator lights on each Jag when it is being commanded. If OK, check the voltages for that circuit (motor out, power in).