FRC Blogged: - Motor Controllers

[andreboos]

Originally Posted by PAR_WIG1350

It did have much tolerance for excursions from the 40 amp limit despite the fact that the hardware was perfectly capable of handling it. This had the nasty consequence of disabling motors mid match and preventing the robot from performing effectively.

I'm somewhat worried about this change from a control perspective - last year there were reports of Jaguars losing their state when they lost power, so any CAN configuration commands (PID, voltage ramping, e.g.) had to be re-sent. This will become much more common if overcurrent results in tripping breakers and resetting Jaguars rather than just disabled motors.

I am hoping that this can be solved by enabling the overcurrent protection by default, but allowing it to be disabled via CAN if a team knows what they are doing, or they do not care if the Jaguar resets. This way, if it does reset, the overcurrent protection will be reenabled when it does.