Autonomous chooser not working when connected to the field

[cpapplefamily]

Originally Posted by gerthworm

Sorry to hear you've been having issues. We had a couple mysterious, non-reproducible issues. We've taken the following mitigation tasks:

1) Poll Smartdashboard (via getSelected()) every half-second during DisabledPeriodic()
2) Write the present auto mode number seen on the robot back to a different indicator on Smartdashboard (which provides feedback that the robot has received changes in mode)
3) Drive team actively selects a new mode every robot boot, and double checks that it's acknowledged. No OK until we confirm correct auto is going to be executed. Restart Smartdashboard or reboot robot if needed.

It's held up well enough for two regional so far....

This was the approach I was going to look at. Anyhow after some futher investigation the last Autonomous fail was not a software issue after all but more a series of events that lead up to this fail. Almost like the show why do plane crash? because a ground crew forgot to put the widgit in the gizmo on the last scheduled service 3 month prior.

In our case match one ran as expected but some time during the match the pinball Choo choo was hit and the escapement jammed.

Our Auto sequence is this:

1 Reset pinball if not on switch
2 open claw
3 close claw
4 lower wrist
5 drive under low bar
6 spin 90 deg
7 strafe to castle wall and raise wrist to fire angle
8 fire ball

Match 2 we observed the ball was never fired but it must had released and the cam came off the reset switch. (no step 8)

In the tie breaker step one never finished because it was jammed (observed in the pits when our tears finally dried). The turnaround time is so fast during elims there was no reset/test time in the pits.

We further proved this theory by looking at the driver station log files and observed the PDP currents for the Pinball, claw and wrist. In match one the pinball was already set on step 1 so no current resisted till step 8 on that channel.

In match 2 the pinball fired but is hard to tell if it rest

In match 3 we see when Autonomous starts the pinball channel goes high current, looks to trip the breaker, rest and autonomous is over.

If you have not ever look at these log fills ( I never have) do so look at a normal match, look at a match that did not go so well. I now know to plan if a command does not Finnish in a reasonable time it maybe best to time out and move on.

addSequential ( new my_Command , timeout)