Bot repeated dying at Regionals. Can someone review the code?

[kaszeta]

Team 95's robot repeated would die during autonomous mode. The bot would stop, the color LED would go out, and the radio would go offline until the RC was power-cycled (not even a reset).

We were not able to recreate this in the pit (even after getting permission to test with the radio), and replacing radio and cable didn't help.

During the Friday matches, an IFI representative first thought that it had to be a code error and helped us review our wiring (as did a few people from other teams). On Saturday, after being dead in the middle of autonomous, he followed up saying that it looked more like a problem with the master controller, and suggested an RC swap. However, of three different RCs loaned to us, the first two had issues (the first wouldn't accept code uploads and appeared to be an un-upgraded 2004 RC, the second showed the 8.2 Volt problem (with the default code!) mentioned in another thread, and the third finally worked properly, although our last match had passed by then).

I'm going to call IFI tomorrow, but I thought it might be good if I got another set of eyes to look at our code, since I can't see any issues there. The current code we're running is Kevin's frc_gyro code (compiled to use an ADXSR300 instead of the the kit gyro), a PID controller to control rotation (so that the bot drives straight and controllably), and some basic mapping of inputs from controllers to pwms. No real rocket science here, and since the first tme our bot errored out, we don't even have any camera code, shaft encoders, or anything complicated like that.

However, since most teams haven't competed yet, I don't want to openly release the code (although most anything interesting has already been posted). But if your team has already competed, or you're willing to have some discretion with the code, and you're willing to look over the code to see if there is anything wrong, could you PM me or email me at rich@kaszeta.org? We're playing again at Palmetto, and would like our bot to actually function instead of sitting there motionless.

As I said, both our programmers and the IFI rep think it was a problem with our RC, but I'd like to make sure it's *not* a code error causing this.

Edit: By the way, we saw this problem with both the original FRC_library.lib *and* the updated version released the other day on the IFI site.