Startup Delay

[Greg McKaskle]

Actually, I don't think that is a normal place for a delay.

From memory, here is what I'm used to seeing.

Powering the robot will have a delay, waiting for the various devices to power up. LEDs will appear almost instantly and start blinking through their startup sequences. If you are tethered, you will have a communications light in about 15 seconds. If you aren't tethered, it takes about 40 to 50 seconds for the wifi to be up.

After communications is up, the OS on the cRIO boots, and then the user program. As the user program boots it will run through Begin or other initialization code and start running Periodic and Vision.

At this point, the code should be able to process packets from the DS, and those should be disabled. Every 20ms, the DS receives a packet from the DS, either auto, tele, or disabled. It will process that packet as soon as it looks for it. The transition from disabled to tele should take one packet of delay. That transition will call disabled one last time as a shutdown condition, and I think the next packet calls the actual teleop.

In order to better debug this, can you describe more about when the delay happens? Is it each time you enable tele, the first time, or occasionally? Is it always the same amount of time? Do you have any messages on the Diagnostics?

If you know when the delay is likely to happen, then you can open panels to see what is going on, or watch the Charts tab of the DS to see what code is reported as running.

Greg McKaskle