Brownout behavior - alternative design goals

[Bryan Herbst]

Originally Posted by Joe Johnson

Our first competition match on Carson, something disabled us during auton, then re-enabled us. Shame on us but our code just restarted our auton and ran it again - which broke the robot.

We discovered this behavior with some teams at 10,000 lakes this year as well- when a robot is disabled and subsequently re-enabled during autonomous, autonomous is restarted.

In this scenario, you really only have two options code-wise: either restart auto or continue running the disabled loop until teleop starts. Picking up where the code left off in auto isn't a viable option unless your team explicitly programs a recovery mechanism.

Whether or not restarting or staying disabled is the right choice is a fair point for discussion, though my guess is that since recovery is a relatively viable option, the decision to restart auto was intentional. Perhaps this behavior could also be better publicized.

I'm also not sure why a brownout triggers disabled mode (I would think it could continue attempting to run during a brownout).