Odd Jaguar runaway while DISABLED (2can)

[Jim Giacchi]

We can reproduce the same error on two different Jaguars both purchased this year... so while we have not switched out the Jaguars, we find it hard to think of any reason why doing that would make a difference. If we cannot think of anything to resolve it by tomorrow, we'll try swapping them, but I highly doubt two Jaguars could fail in the exact same very, very strange manner at the same time... just doesn't make sense.

[RufflesRidge]

I agree, it certainly sounds like a very serious firmware issue, but swapping the jags would confirm it.

[simpsonboy77]

We did 3 tests now. Our first was when both problem jaguars stopped responding to commands while in teleop enabled. Both jaguars stopped, IDs = 5 and 7. Our test was as follows:
Continue commanding an output to the motor with a joystick. The motor did not move.
We hit the user reset button on both.
Jaguar 7 started spinning again, 5 was motionless.
We reset 5 again, and 5 remained motionless after.
We power cycled and the problem was resolved.

Our second test occurred when jaguar 7 was commanding an output and we noticed the JaguarCANDriver crashed. When we commanded it to stop, the motor continued to spin.

We then unplugged ALL the CAN cables going into the problem jaguar. The status light began its slow yellow blink, but continued to spin the motor.

Our final test was when jaguar 7 entered a runaway. I then tried to press the user reset button, but there was no effect. It did not even blink as though it responded to the user reset. We looked on the 2CAN web interface and it reported no CAN bus errors, and the jaguar was reporting 0% throttle.

The motor almost sounds like it is being pulsed prior to it entering a problem state.

We are using kPercentVoltage, although we get errors in kVoltage and kSpeed mode.

[dyanoshak]

Originally Posted by simpsonboy77

We did 3 tests now. Our first was when both problem jaguars stopped responding to commands while in teleop enabled. Both jaguars stopped, IDs = 5 and 7. Our test was as follows:
Continue commanding an output to the motor with a joystick. The motor did not move.
We hit the user reset button on both.
Jaguar 7 started spinning again, 5 was motionless.
We reset 5 again, and 5 remained motionless after.
We power cycled and the problem was resolved.

Our second test occurred when jaguar 7 was commanding an output and we noticed the JaguarCANDriver crashed. When we commanded it to stop, the motor continued to spin.

We then unplugged ALL the CAN cables going into the problem jaguar. The status light began its slow yellow blink, but continued to spin the motor.

Our final test was when jaguar 7 entered a runaway. I then tried to press the user reset button, but there was no effect. It did not even blink as though it responded to the user reset. We looked on the 2CAN web interface and it reported no CAN bus errors, and the jaguar was reporting 0% throttle.

The motor almost sounds like it is being pulsed prior to it entering a problem state.

We are using kPercentVoltage, although we get errors in kVoltage and kSpeed mode.

Thanks for listing your steps. I will try and recreate the issue here.

Just so you know, the button on the Jaguar isn't a reset switch. It is used to put the Jaguar in calibration mode or to reset the factory defaults if the button is pressed on power up. It does not reset the Jag when pressed in the middle of operation.

-David