Brownout behavior - alternative design goals

[Bryan Herbst]

Originally Posted by Greg McKaskle

The FMS is aware of brownout in order to display to the field display. I took Tanis's statement to mean, don't run disabled code, run the code based on the match transitions. And the ability for the robots to actuate is ANDed with the brownout and coms status.

Greg McKaskle

Bingo. If the control system is in a brownout condition, the code should continue running as though nothing had ever happened. Some of the commands sent to certain devices might not actually cause anything to happen (e.g. if the speed controllers have been disabled), but the code should continue to run.

As for comms loss causing the robots to be disabled- I am in favor of that. Without comms, you can't e-stop your robot. That means that if you lose comms and your robot becomes a danger to itself or to people, you can't stop it. Disabling the robot when it can no longer communicate with the driver station sounds like an appropriate action to take.