Problem with driving

[AsianRookie]

Hey guys, we recently had a problem with driving on the field and only on the field. We tethered it and ran everything, it was fine driving. However on the field, the robot would just not move well. It jerks and does not respond to the controller. We also know it is not a bandwidth issue. Does anyone know a possible fix?

should I set setSafteyEnabled to false?

[Whippet]

You should make sure that your radio is mounted away from metal parts of the robot and motors. Those can lead to bad reception and/or interference and cause you problems like you are currently experiencing.

[CalTran]

Does this happen shortly after the transition from autonomous to teleop? Look at the driver station logs; what does the CPU usage jump to? It sounds like the same problem that jumps up on teams time to time - an infinite loop that your robot get stuck in that spikes CPU usage up to 100%. You won't be able to replicate it in the pits because you're running tethered, and it's pretty hard to lose packets that way.

[AsianRookie]

The radio is mounted away from motors. I am running at around 43% cpu.

[Andrew Lobos]

When I was helping you in your pit with your compressor code, I noticed the debug output from the cRIO said Robot drive not updated often enough. Since it did that right when the cRIO was enabled, and then stopped, I assumed that you had some initialization stuff happening that took time to complete. I didn't notice any output after that.

Is this happening while you are driving?

In your testing, are you driving on carpet? I noticed you were running 1 CIM through a CIMple box with 6in wheels. How far is your voltage dropping when you drive? If you use the Driver station log viewer app, you can see the cRIO log (including voltage) from your matches.

If you still believe it is a code problem, make absolutely sure your RobotDrive or motor controller objects are having their drive/set methods called every loop.

- Andrew

[AsianRookie]

Originally Posted by 4ndr3wl

When I was helping you in your pit with your compressor code, I noticed the debug output from the cRIO said Robot drive not updated often enough. Since it did that right when the cRIO was enabled, and then stopped, I assumed that you had some initialization stuff happening that took time to complete. I didn't notice any output after that.

Is this happening while you are driving?

In your testing, are you driving on carpet? I noticed you were running 1 CIM through a CIMple box with 6in wheels. How far is your voltage dropping when you drive? If you use the Driver station log viewer app, you can see the cRIO log (including voltage) from your matches.

If you still believe it is a code problem, make absolutely sure your RobotDrive or motor controller objects are having their drive/set methods called every loop.

- Andrew

The voltage drops to about 9volts.
The robotdrive is in the execute method.
We didnt drive on the carpet, only on the practice field.

This happens to driving. I re-coded the drive a bit, to compensate a dual joystick controller for one of our drivers. I am hoping that is going to fix it as well as setting the setSafetyEnabled to false.

[CalTran]

9 volts is dangerously low...we change our our batteries when we see it drop down to 11.2...

[AsianRookie]

Originally Posted by CalTran

9 volts is dangerously low...we change our our batteries when we see it drop down to 11.2...

9 volts when "driving", 12.5 when not.

[Gregor]

Originally Posted by AsianRookie

9 volts when "driving", 12.5 when not.

9 volts is still very low when driving.

[Andrew Lobos]

Did you notice the jerking when driving straight or only when turning? I'm not a mechanical person, but it really looks like your gearboxes contribute to your issues.

Feel free to correct me if I'm wrong on this:
- 6 inch wheels
- 4.67:1 reduction in CIMple gearboxes
- 1 CIM per gearbox
- 1:1 chain linkage to wheels

For this configuration, JVN design calculator says you have a max speed of 24.11 ft/sec and a maximum pushing force of 60.26lbs.


Also remember that the WPILib Scheduler calls your execute() methods on one thread - if one starts blocking it will affect other commands.

[AsianRookie]

Originally Posted by Gregor

9 volts is still very low when driving.

from last year's logs, that seemed to be like a normal.

[Andrew Lobos]

Originally Posted by AsianRookie

9 volts when "driving", 12.5 when not.

For reference, our bot this year has 6 CIMs on the drive through 6:1 VexPro gearboxes. We rarely dipped below 11 ( 10 minimum ) volts on a fresh battery driving on carpet.

[Jay1986]

We only use fresh 12.8ish Volt batteries once a match, we start to experience drive problems when the battery gets to 10.5ish volts standby. There could be many things making you experience the driving problems. By the way, what programming language do you guys use? Also, I know you said it wasn't bandwidth but, your problem sounds just like bandwidth.

[AsianRookie]

hmm, i wonder why it dips down so much. We use java, command base. I know its not a bandwidth problem because the trip time was not high at all.

[CalTran]

Originally Posted by 4ndr3wl

Did you notice the jerking when driving straight or only when turning? I'm not a mechanical person, but it really looks like your gearboxes contribute to your issues.

Feel free to correct me if I'm wrong on this:
- 6 inch wheels
- 4.67:1 reduction in CIMple gearboxes
- 1 CIM per gearbox
- 1:1 chain linkage to wheels

For this configuration, JVN design calculator says you have a max speed of 24.11 ft/sec and a maximum pushing force of 60.26lbs.

It's dipping so low because you're simply stalling the motors when you even try to move.