ADXRS450 Gyro board not feeding back

[CloakAndDagger]

Hi guys, we are having some issues getting feedback from our ADXRS450 gyro. We have exhausted all of the troubleshooting that we can think of, but maybe somebody else experienced similar issues and is able to help.

self.gyro = wpilib.ADXRS450_Gyro(0)

^Here's the init

wpilib.SmartDashboard.putNumber("GyroAngle",self.g yro.getAngle())
^Here's the output command to the java dashboard.

When we implement the gyro in we can run and drive the robot but we get the

'wpilib.motorsafety : Robot Drive... Output not updated often enough.'

error over and over again.

-We have the latest version of robotpy
-We are on the right port
-our dashboard accepts feedback from other sources
-We've rotated the RIO on all 6 axis's to try and get feedback

[virtuald]

Hm. What does the rest of your code look like?

I've not tried the ADXRS450 gyro (I don't have one)... but it should work? I just reviewed the source code and it looks identical to the java code... the one thing I'm not 100% sure on is the readRegister function, as it creates a ByteBuffer in BIG_ENDIAN mode.. but that's only called on initialization, and if there's an error there it would set .spi to None. Can you check to see if .spi is None? If it is, I can dig into this a bit more tomorrow night.

[virtuald]

I forgot that this came in the kit of parts, I've retrieved one and I'll test it tonight when I get home.

[CloakAndDagger]

We actually tested all of the ports that it can look for, 0/None through 5, and we got errors whenever the ID passed to it isn't equal to 0/None.

I'd post code but I'm currently getting yelled at for not committing my changes to GitHub, and because they aren't committed I can't pull them up right now

I'll merge it tonight at around 6:30 EST and either post a link to the github or just paste it in a post

Thanks for your time.

[CloakAndDagger]

https://github.com/Team74/FRC_2017_Python

All of the code is in the robot.py file

[virtuald]

I tried out the gyro, works like a charm under RobotPy.

The error is in your code, there's no reason to call calibrate -- it's already called in the constructor. Additionally, calibrate basically freezes the robot's operation for 5 seconds -- during which time you'll see the motor safety errors.

Get rid of the calibrate and it should work.

[CloakAndDagger]

We updated the code not to have the calibrate or reset functions, no feedback from the gyro.

Next, we copied the sampleRobot code from the wpilib website, and implemented only the gyro code, no feedback.

We then deployed C++ onto the same robot, and got feedback from the gyro, so we know it's not a hardware problem. You can see the current code we are using in the Initial-Code-Copy branch.

I'd hate to ask for a code snippet but we are on day 4 of trying to get this thing working at this point

https://github.com/Team74/FRC_2017_P...-Copy/robot.py
^Current Robot Code

https://github.com/Team74/FRC_2017_P...ging/Robot.cpp
^C++ code for comparison

https://github.com/Team74/FRC_2017_P...gging/Robot.py
^SampleRobot tests

Currently running pyfrc version 2017.0.4

[virtuald]

Originally Posted by CloakAndDagger

We updated the code not to have the calibrate or reset functions, no feedback from the gyro.

Next, we copied the sampleRobot code from the wpilib website, and implemented only the gyro code, no feedback.

We then deployed C++ onto the same robot, and got feedback from the gyro, so we know it's not a hardware problem. You can see the current code we are using in the Initial-Code-Copy branch.

I'd hate to ask for a code snippet but we are on day 4 of trying to get this thing working at this point

https://github.com/Team74/FRC_2017_P...-Copy/robot.py
^Current Robot Code

https://github.com/Team74/FRC_2017_P...ging/Robot.cpp
^C++ code for comparison

https://github.com/Team74/FRC_2017_P...gging/Robot.py
^SampleRobot tests

Currently running pyfrc version 2017.0.4

Oh interesting, you have something in the constructor. Maybe that's it? Here's how I tested it:

• ssh into the robot
• frcKillRobot.sh -t
• python3

>>> import wpilib
>>> a = wpilib.ADXRS450_Gyro()
>>> print(a.getAngle())

Move the roborio

>>> print(a.getAngle())

So.. that's it. Nothing else getting in the way. I won't be home for a few hours, I'll try your code when I get there.

One difference that I thought of is that I'm using a slightly newer version RobotPy that I'm working on adding some things to, but I don't think there have been any changes that would impact it. I'll try installing 2017.0.4 also to make sure that works also.

[CloakAndDagger]

We just tried it over SSH and it works great, but our robot code doesn't receive any feedback from the gyro

[virtuald]

Originally Posted by CloakAndDagger

We just tried it over SSH and it works great, but our robot code doesn't receive any feedback from the gyro

With or without an argument in the constructor? I note that you have another variable that you're putting to the dashboard... is it incrementing and showing on your dashboard, or is it also not showing?

[virtuald]

I am able to confirm that your sample program does not work. Digging some more into this, it's very strange.

[virtuald]

The issue is that HALInitialize was being called twice. This bug is fixed in RobotPy 2017.0.5, please upgrade and let me know if that addresses your issue.

[CloakAndDagger]

Patch works great! It is all working as intended now, thanks so much for your help, now, on to vision code!