Possible bad Jaguar.... Thoughts?

[PhilBot]

Originally Posted by Ken Streeter

Phil,
My first thought would be rather than just "swap out" the Jaguar with one off of the shelf, I would be inclined to physically remove the suspect Jaguar from the robot (disconnecting all of the wiring first) and then move the suspect Jaguar to the position of the other swerve Jaguar that is working correctly, swapping the "good side Jaguar" with the "bad side Jaguar."--ken

Yes, in hindsight that would have been a usefull diagnostic test. Unfortunately I didn't see this in time.

I did check all the wiring for obvious problems but didn't see any (I re-wago's all the connections).

We didn't replace the bad Jag with a new one, since we didn't have a spare black one handy, and we may want to try using the CAM at some point, so we moved the adjacent one to the failing position, and replaced the moved one with a grey Jag that we had around.

Prev: *BJ1*, BJ2, BJ3, BJ4
New: BJ2, GJ1, BJ3, BJ4

This did in fact eliminate the problem.
We drove it hard for a while and did not see the fault re-occur.

(note: this entire multi day process was performed with the wheels locked straight, with no actual means to rotate the swerve mechanism, so this was not a factor)

We'll keep and eye on this (and may in fact put the "bad" Jag back in pos 2 to verify), but I'm 95% convinced at this point that it's a Jag fault.

Phil.