Robot Jumping on Power Up

[Mike Betts]

Originally Posted by Dave Flowerday

Mike, are you certain that all of your output variables have been initialized before you first call putdata()?

I imagine you've tried this already, but have you checked to make sure that the data you're getting from the OI is OK on the first loop? I vaguely recall someone saying that on the first loop the data they got from the OI was junk and that they had to ignore it to get rid of the problem.

Dave,

From the user initialization:

 void User_Initialization (void)
{
  rom const char *strptr = "IFI User Processor Initialized ...";
  Set_Number_of_Analog_Channels(SIXTEEN_ANALOG);	/* DO NOT CHANGE! */
/* FIRST: Set up the I/O pins you want to use as digital INPUTS. */
  digital_io_01 = digital_io_02 = digital_io_03 = digital_io_04 = INPUT;
  digital_io_05 = digital_io_06 = digital_io_07 = digital_io_08 = INPUT;
  digital_io_09 = digital_io_10 = digital_io_11 = digital_io_12 = INPUT;
  digital_io_13 = digital_io_14 = digital_io_15 = digital_io_16 = INPUT;
  digital_io_17 = digital_io_18 = INPUT;  /* Used for pneumatic pressure switch. */
	/* 
	 Note: digital_io_01 = digital_io_02 = ... digital_io_04 = INPUT; 
		   is the same as the following:
		   digital_io_01 = INPUT;
		   digital_io_02 = INPUT;
		   ...
		   digital_io_04 = INPUT;
	*/
/* SECOND: Set up the I/O pins you want to use as digital OUTPUTS. */
 // digital_io_17 = OUTPUT;	/* Example - Not used in Default Code. */
/* THIRD: Initialize the values on the digital outputs. */
//  rc_dig_out17 = 0;
/* FOURTH: Set your initial PWM values.  Neutral is 127. */
  pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
  pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;

...

I have not changed this at all (even though I now realize that the Victors require a 132 for a true neutral, 127 still works)...

Mke