[FTC]: Do Servo's reset during start up?

[jbbjjbt]

Again I'm hoping for more clarification, but from the official Q & A Section 9 Robot Inspection Question 6:

A:

It is possible to have your robot "initialize" servos prior to the enable that signals the start of the autonomousportion of the match. It is as straight-forward as inserting the code prior to waiting for the enable signal.

So I incorrectly said we're powering the servo in the disable section of the code. We're powering the servo (to keep it in one position) in the section of the autonomous code where the bluetooth command is read. This seems legal to me based on the above Q & A. We haven't changed the disable section.

But during the beginning of the match before the autonomous is enabled essentially we are turning on the servo where the blutooth is read and the disabled code section is turning off the servos many times a second. Hence it does jiggle but stays where we need it.

[PhilBot]

Originally Posted by jbbjjbt

A:

It is possible to have your robot "initialize" servos prior to the enable that signals the start of the autonomousportion of the match. It is as straight-forward as inserting the code prior to waiting for the enable signal.[/color]

But during the beginning of the match before the autonomous is enabled essentially we are turning on the servo where the blutooth is read and the disabled code section is turning off the servos many times a second. Hence it does jiggle but stays where we need it.

The original Q & A implied (to me) that you could set the servo position ONCE before starting to wait for the enable. Thereby truly being "disabled" before the match. But that's just my interpretation.

Note that the Q & A was written well before the new templates were created. I hardly think that rapidly enabling and disabling the servo is what they had in mind when they created the new template..... All that jittering is just going to draw attention to the fact that you are driving the servo while the robot is meant to be disabled. Any "field safety" gained by disabling the servos is lost by you reenabling them right away.

If you really feel like arguing on the day, it I guess it's up to you, because there don't seem to be any clear rulings regarding software other than "Use the templates". It may just fall on you to convince the inspector that your robot is "safe".