Nothing works on the robot :/

[matthewdenny]

So we have wired the robot and tried to download the code and basically... nothing.

Here's the synopsis:

Electrical:
-4 Cims each is connected to a Talon
-The talons are wired correctly, with M+/M- going to the motors, and V+/V- going to the PD board.
-The PWM cable has the black plugged in to the 'B' side of the Talon, and the "-" side of the Digital side car.

Hardware:
-The DS is plugged into a 30 Amp breaker
-The 3 lights are on the DS
-The ribbon cable is connected to the DIO module on the Crio
-3 of the Talons blink between orange and red very fast, so fast it may actually be solid. The other one just blinks orange ~1hz

Software: About a week ago we ran this setup on the table before attaching it to the Robot. The motors worked at that time.

In an attempt to get it to move this is the code we deployed:

=========

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboar d;

public class RobotTemplate extends IterativeRobot {


Talon Motor1 = new Talon(1); // Motors
Talon Motor2 = new Talon(2);
Talon Motor3 = new Talon(3);
Talon Motor4 = new Talon(4);



public void robotInit() {
}

public void autonomousPeriodic() {
}

public void teleopPeriodic() {

Motor1.set(1.0);
Motor2.set(1.0);
Motor3.set(1.0);
Motor4.set(1.0);
}

public void testPeriodic() {

}


public void disabledPeriodic(){
}


} // Closes Robot Template1

======

Any ideas?
We tried switching out DS, and ribbon cables.

[eddie12390]

Which lights are lit on the DSC?

[Jibri Wright]

Does the robot turn on? What lights up and what color is it?

[matthewdenny]

The robot turns on (it seems) 3 talons are solid orange/red, and the other blinks orange. The RSL blinks, the 3 lights on the DSC are on solid, the 5v,12,and 24v lights on the PD board solid. None of the red lights on the PD are lit.

We did try turning on a solenoid in the code, and the corrosponding light on the Crio relay module turned on and off.

Were there any other lights I overlooked?

[matthewdenny]

The battery voltage is 12.8 The RSL blinks fast until code is deployed, and the slower.

[matthewdenny]

The input side of the Talon is 12.8, the output side is 0. When the robot starts up, the talons are all blinking at ~1 Hz, orange. After code is deployed, 3 of the talons switch to being the red/orange fast flashing/solid the input side side of the talons remains at 12.x volts, the 3 talons that change to red/orange go to .2v on the output, and the one that blinks at 1Hz is 0V at output.


The Crio has the power light lit. I think the radio is working because we can get the video stream from the camera.

[matthewdenny]

When the PWMs are removed the talons return to normal blinking.

[eddie12390]

Originally Posted by matthewdenny

The input side of the Talon is 12.8, the output side is 0. When the robot starts up, the talons are all blinking at ~1 Hz, orange. After code is deployed, 3 of the talons switch to being the red/orange fast flashing/solid the input side side of the talons remains at 12.x volts, the 3 talons that change to red/orange go to .2v on the output, and the one that blinks at 1Hz is 0V at output.


The Crio has the power light lit. I think the radio is working because we can get the video stream from the camera.

Have you tried calibrating the Talons?

Press the Calibrate button on them and hold it, send them -1.0; 1.0; and then 0.0 and then release the Calibrate button.

[matthewdenny]

Originally Posted by eddie12390

Have you tried calibrating the Talons?

Press the Calibrate button on them and hold it, send them -1.0; 1.0; and then 0.0 and then release the Calibrate button.

We haven't done this yet, would uncalibrated talons cause no motion at all?

[eddie12390]

Originally Posted by matthewdenny

We haven't done this yet, would uncalibrated talons cause no motion at all?

We had to calibrate our Talons before they worked. As soon as we turned on the robot it would just flash Red. As soon as we Calibrated them, they started working.

[matthewdenny]

Originally Posted by eddie12390

We had to calibrate our Talons before they worked. As soon as we turned on the robot it would just flash Red. As soon as we Calibrated them, they started working.

We will try this asap and report back.

[Tem1514 Mentor]

You may also what to remove the motor leads from the Talons, (with the power off of course) and then do a calibration.

From that point if the error is still there then you may have bad Talons but if the problem is gone then try hooking up the motors one at time and see what happens.

[matthewdenny]

Calibration did the trick! thank you!

[Alan Anderson]

Originally Posted by matthewdenny

-The DS is plugged into a 30 Amp breaker

You're supposed to power the Digital Sidecar through a 20 A breaker.

-3 of the Talons blink between orange and red very fast, so fast it may actually be solid. The other one just blinks orange ~1hz

The Talon user manual includes this paragraph:

Talon SR – The Talon SR has an additional LED state that blinks
red/orange when a fault state is detected. A fault can be caused by
one of three things; under voltage (< 3.3V DC), over temperature
(>170 degrees C) or a shorted output transistor. During a fault the
output of the Talon is disabled until the fault condition is no longer
present.

What voltage do you see on the V+/V- pins of the Talon?

What is the battery voltage?

What is the orange Robot Signal Light doing when you try to run the motors?