Breaking/Coasting and Jaguar and Talons.

[Alan Anderson]

Originally Posted by eMorr

If I click on disable, do the motors still spin?

If the system is working as designed, with no broken or miswired components in the chain from cRIO to DIO module to Digital Sidecar to motor controller, then all motors and relays are turned off when the robot is disabled. That is the entire point of the Disabled mode.

If motors still run when the robot is disabled, your robot will not pass inspection.

[eMorr]

Originally Posted by Alan Anderson

If motors still run when the robot is disabled, your robot will not pass inspection.

So may I use the coasting function in the compatition or not?

[Mark McLeod]

Originally Posted by eMorr

So may I use the coasting function in the compatition or not?

You may use the coast function provided by the speed controllers in competition.

[Andy A.]

Originally Posted by eMorr

So may I use the coasting function in the compatition or not?

I think you're asking if it's ok if a motor on the robot coasts to a stop even when disabled.

Yes, this is permissible as long as it is occurring due to a mechanisms momentum and not a motor continuing to receive voltage from a speed controller/relay. Whether you use the brake or coast setting is entirely up to you; you are neither required or prohibited from using it.

This does bring up a topic on safety to consider with any motor powered mechanism. Even when dynamic braking mode is active on a speed controller it will still take some non-zero amount of time for the mechanism to come to a full stop. So remember that not only will dynamic braking not hold a device stationary, it will not instantly stop a mechanism like, say, a shooter wheel. Always give all robot components time to come to a full stop after disabling before considering the robot safe to approach.