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#1
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Problem with Robot Status Light
From all of us here at Team 4939 we hope everybody had a wonderful summer vacation.
Here in the GTA there is a off season event(fall fiesta) and for some reason our Robot Status light (the big bulb that blinks yellow) has stopped blinked. We have looked into the programming aspect, the wiring aspect and everything else we can think. When we turn on the robot and everything gets power except for the Robot Status light. We have tried multiple things but at this point have no clue what is going. When we turn the driver station on all the lights are green but when we actually try to control the robot nothing happens (there is also no voltage spike which I found odd). Here is the code: Code:
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Timer;
public class RobotTemplate extends SimpleRobot {
RobotDrive chassis = new RobotDrive(1,2);
Joystick mainStick = new Joystick(1);
Jaguar jaguar = new Jaguar(3);
Jaguar jag = new Jaguar(4);
public void autonomous(){
chassis.setSafetyEnabled(false);
chassis.drive (-0.5, 0.08);
Timer.delay(2.0);
chassis.drive (0, 0.0);
}
public void operatorControl() {
chassis.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
double speed;
double rot;
speed = mainStick.getY();
rot = -mainStick.getX();
chassis.arcadeDrive (speed, rot);
if (mainStick.getRawButton(3)){
jag.set(1);
jaguar.set(-1);
}
else if (mainStick.getRawButton(4)){
jaguar.set(-1);
jag.set(1);
}
else{
jaguar.set(0);
jag.set(0);
}
}
}
public void test() {
}
}
Our team will be meeting from 2:30 - 4:30 tomorrow evening and we will stay online so that we can go back and worth with anybody who can suggest anything. If you have any ideas or questions before tomorrow and will happily answer them. Thank you in Advance. |
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#2
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Re: Problem with Robot Status Light
Do you have lights on the digital side car? What are they doing and where are they? This sounds oddly familiar to one of our smoked side car issues of 2013.
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#3
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Re: Problem with Robot Status Light
There are four lights on the Digital Sidecar that are relevant here. Three indicate that the DS is getting power: BAT, +5, and +6 volts. Are they all brightly lit? The fourth is a small LED adjacent to the RSL connector. Is it blinking in the pattern you expect the big orange light to be showing?
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#4
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Re: Problem with Robot Status Light
The RSL isn't controlled by user-programmed code, so you'd do best to check your electrical connections again. Try checking if your DSC is outputting voltage through the RSL pins using a multimeter or oscilloscope. You should double check your wiring and continuity.
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#5
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Re: Problem with Robot Status Light
If I'm reading your code correctly, the chassis.arcadeDrive (speed, rot); line will have no effect. Unless button 3 or 4 is pressed, the if statement immediately after it will turn off both speed controllers. Pressing one of those buttons will cause your robot to drive full speed forward or full speed reverse (or perhaps spin in place, depending on your wiring).
If you do want the "full speed" button functionality to remain, I think you should move the arcadeDrive function call into the final else case, replacing the jag.set(0); and jaguar.set(0); lines. |
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#6
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The lights are all lite up on the sidecar though I am unsure of of the small led adjacent to the RSL connector.
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#7
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Do you think that the code may be the problem?
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#8
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Re: Problem with Robot Status Light
When we cooked our sidecar we were stumped too, the RSL light didn't flash on the sidecar. We landed a nut on the exposed contacts right by where the RSL plugs in. There were no signs or indications that the sidecar was not functioning aside from the lack of a blinking LED. When the sidecar was opened up here was a component burned out that shut the whole robot down. Take a look inside your sidecar and see if anything is fried, it only takes five minutes to remove the case and it eliminates the "try everything else" method of fixing it.
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#9
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Re: Problem with Robot Status Light
Look very closely at the lights on the sidecar. If one is out, there can be some "bleed through" from an adjacent one that makes it look like it's lot, just dim. This can happen especially if the sidecar isn't getting 12V (check with a multimeter at the sidecar power plug!)- It gets enough over the ribbon cable from the crio to light up some, but not all, LEDs. Also, it's possible to get some metal shavings in there that can short out on of the power rails, most often causing the 5V light to go out.
The RSL should do exactly what the LED next to the RSL plug does. If that led isn't coming in at all, then the problem isn't in the RSL. Check and double check the power wiring into the sidecar. Check and try replacing the ribbon cable from the crio to the sidecar. Try unplugging everything but one item from the sidecar, and see if you can get that one working. Try replacing the sidecar. Lastly, take pictures/video and post them here so we can look. It's hard to diagnose what you can't see! |
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#10
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Re: Problem with Robot Status Light
Unfortunately we won't be able to post pictures till at least tomorrow morning, so we can hopefully continue trouble shooting after some visuals are up so that can help you guys to better help us.
If anyone has any other ideas please let us know. Could somebody also post a step to step on how to check if the sidecar is burned out so that it is easier for us, all the way from the LED to opening up the sidecar. Thanks |
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#11
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Re: Problem with Robot Status Light
You may run into a problem if your code causes an unhandled exception. Check your Netbeans log to see if you are causing an Exception (it will say something like "Robots don't quit! Unhandled Exception")
This has happened for things as simple as SmartDashboard IO, which is why I put all SmartDashboard inputs into try{} statements now. Something to try if you don't see RSL blinking LED: create a new instance of robot code (new SimpleRobot project, for example), and just load that directly. The robot won't do anything, but the RSL should still work if the code is valid. |
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#12
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Re: Problem with Robot Status Light
Quote:
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#13
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Re: Problem with Robot Status Light
The robot status light is not controlled by the code. It will indicate different statuses based on what mode the robot is in... however if you are not getting a solid orange or flashing orange light at all, then it is a mechanical problem..
1. Use a multimeter to check that you get 12v at the light when the robot is powered on and in disabled mode. It may show 12V then 0 then 12 on your meter. If you dont have 12v check your wireing and polarity... if you are positive the wireing is correct, unplug the connect from the DSC and check that you are getting 12v from the pins. If you are the DSC is good but your wireing is bad, If you dont get 12v from the RSL pins on DSC make sure the ribbon cable from cRio is seated properly, or just replace the DSC. 2. If you are getting 12v but the light is off, then the light is bad, could be a blown bulb or bad contact. Just relace the light with another known working light. Hope this helps, Kevin Last edited by NotInControl : 24-10-2014 at 00:49. |
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#14
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Re: Problem with Robot Status Light
Here is picture of the sidecar.
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#15
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Re: Problem with Robot Status Light
All of the power LEDs are bright, so the Digital Sidecar appears to be powered correctly. That's good.
I can't tell from a still picture whether the small RSL LED is blinking. It looks off in the photo. Is it staying off? The big clue in the picture is that there are Relay LEDs lit. Was the robot enabled when this photo was taken? If those outputs are active but the robot is disabled, you probably have a broken Digital Sidecar. (It is also possible that the 37-pin cable from the DIO module in the cRIO is either faulty or not properly connected, but I wouldn't expect that to result in Relay outputs being active when the robot is disabled.) |
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