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#1
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Re: 2009 Finger Lakes Regional!!!!
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To the robot, the E-Stop button is a disable/enable condition no different than using the dongle normally attached to the competition port. This was evident from the match in finals where the faulty E-Stop was diagnosed. Team 188's robot would sit with their RSL light slowly blinking. This indicates a successful link with the Driver Station, either through the field or when tethered. If the E-Stop was rapidly toggled/intermittent, 1503's robot would have been going in/out of enable mode, thus the RSL would be solid/slow blinking. I regret not having the chance to follow up with 1503 to determine exactly what their situation was once they were in the pits. If anyone from 1503 could contact me/post if you found anything specifically wrong with your robot following that finals match it would be appreciated. I can add your situation to a list of common robot 'gotchas' being compiled. |
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#2
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Re: 2009 Finger Lakes Regional!!!!
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Whenever there was a problem with the robot jumping in and out we would always go back to the FTAA computer and scoring table and check it out. With the FMS software that we are using we are always able to monitor the status of a robot. We are able to determine if it is a robot issue or a field issue. The software is very helpful and we had 2 certified FTA there as well as others that were trained on how the system ran. Second of all you should always go to the FTA if you have a question. Whenever you talk to someone on the field that is not an FTA or Head Ref...usually you get unreliable information that is incorrect which leads to more problems. Whenever there was an issue FTA checked it out and told the teams the issue. FTA is not just a random person...they are trained by FIRST on how to take care of the field and how to run the event. We never assumed it was a robot issue right away. We would always check it out first and communicated over the radios what was wrong and then would communicate with the teams. Some things that I saw throughout the week was bad ports in the Driver Stations, bad wireless gaming adapters (light turned to orange meaning you can try resetting it to factory default settings and go through all the settings and set them again, and if that doesn't work it means it is a bad wireless gaming adapter), power issues (Robot not turning on or power issue of getting power to the wireless gaming adapter), and low batteries. Also please please plug in your wireless gaming adapters back into your CRio and make sure it's in the correct port. I can't tell you how many times this happened and once the field closes in qualification matches you are not allowed back out to fix that problem (You will see this change throughout the regionals depending on how the Ref calls that). Alright now the issue about rushing teams. I do agree with you Andrew that we may have been rushing teams a little bit too fast. I will definitely bring that up in a follow up call this Monday and take care of that for you man and make sure that it's addressed. On Friday tho, regardless I really think the event ran very smoothly and we didn't have any field problems at all. Thank you teams for listening when to plug in and when to turn your robots on. This made it much easier to get the matches started. Alright the issue with 1241. They had a issue with getting power to their wireless gaming adapter for one of the matches I believe. During that match was when the audience screen stayed at 1 sec. After that happened, FTA got together with the scoring table and we talked it over. We first talked about what could have happened to have that image freeze on the screen. Then FTA took it into their hands and talked to the refs to see if they had looked at the official clocks on the field to see if those had gone to 0. I remember that team 229 was told we might not replay that match but it was not told by FTA (as I remember). We then got the two alliance captains together to explain the problem. After talking to them we all agreed on replaying the match. Now what took so long after that was we had to determine what happened to the system and make sure that it would not happen again. We called FIRST and they told us to back up the system and restart the FMS software. After that we had to go through all our checks and make sure that they all worked. After making sure it was all up and running we got all the teams ready to go. ( I am sorry that it took so long but we wanted to make sure that we were taking the right steps to ensure this would not happen again). At that time we allowed teams to put new batteries in their robots. Alright last issue that happened on the field. On the Red alliances side station #2 we did have a bad e-stop switch. Any matches before that were not effected by that though. In matches before that robots were working fine and any issues were to do with robots having power issues or code problems. We determined it was a bad e-stop switch since the robot was in autonomous mode but showed being disabled. After confirming this we changed it out and tested the field to make sure this was working correctly. After that we had no more problems and the event ran smoothly till the end! I would like to thank all the teams for being patient throughout all of this. I just wanted to clear up some of the stuff as some people got relayed the wrong information. I also want to thank Ellery and Andrew for bringing this stuff up. When you guys give us feedback on the event and any issues you had, we like to make sure that other regional's are told about this so that their events run smoother. I would like to thank both of our FTA's (Pete and Liz), and especially Liz Smith as this was her first year being FTA. I think she did a fantastic job at running the event regardless of some issues. I would also like to thank all the volunteers that were helping out. They make it possible for the FLR to run! Also I would like to thank John Darr and Karthik for doing an amazing job! We want you guys back for next year!!!!!!!!!!!!!! Again thank you teams and congrats on all the award winners and regional winners and finalists. Thanks team 340 for all your support and Great job winning the Chairman's regional award. You guys deserve it! Good Luck to all teams for the rest of season! Last edited by Jeremytice : 09-03-2009 at 14:47. |
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#3
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Re: 2009 Finger Lakes Regional!!!!
Congrats to everyone at FLR it was a great regional to watch ( i only saw Saturday). also thanks Karthik for the updates and small chit chats on ustream.
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#4
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Re: 2009 Finger Lakes Regional!!!!
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Last edited by Pat Fairbank : 09-03-2009 at 11:56. |
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#5
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Re: 2009 Finger Lakes Regional!!!!
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Thanks for the followup. I will add your issue to the list of things to try and reproduce given what we saw on the field with regards to the RSL and the eventual situation with the center console's E-Stop. If you were able to watch the robot's operation from your position in the audience/driver station, do you agree the Robot Signal Light was behaving as specified in my post? I'd like to have everyone on the same page regarding robot symptoms to ensure that NI/FIRST have accurate information regarding what happened. While I'm not privy to the design details of the cRIO or the DS (I'm just another mentor), the only way I know of to remotely restart a cRIO is to issue a 'reboot' command on a console connection to the RIO, given your confidence level in the power system and ability to ram your robot into the wall (understandable after what happened). While I don't normally believe in coincidences, your bots behavior matched a brownout or reset condition on the cRIO. I did go over the robot's power and data connections with your drive team immediately after the match to try and identify if there was anything loose, possibly anything that was wrong with your bot on the field was fixed when checking the connections. That's a pretty farfetched theory however, as while they were doing that I did not see any sketchy connections ![]() |
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#6
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Re: 2009 Finger Lakes Regional!!!!
Everything seemed ok... The only think I'm scratching my head about is the one time our autonomous did not go off.
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#7
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Re: 2009 Finger Lakes Regional!!!!
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Specifically in WindRiver, if you do not override StartCompetition() and extend RobotBase instead of SimpleRobot for your main class, it is possible to begin executing code in your Autonomous() function somewhere in the middle, or to be caught in the "while (IsAutonomous() && !IsDisabled()) Wait(.01);" line in StartCompetition. This occurred with both 211 and 229 in the same match, and after they updated their code to cover this case did not experience a problem again. Teams can test this in the pit by having the DS in Auto-Dis, turn their bot on, then toggle to Auto-En, quickly back to Auto-Dis, then back to Auto-En and verify their program works as expected. Also, teams should verify that after this occurs they correctly enter teleop code after going to Auto-Dis, Teleop-Dis, then Teleop-En. When reproducing this in the pits, 211 malfunctioned exactly the same way as they did in the field. Once updated they drove correctly in auto and teleop. |
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#8
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Re: 2009 Finger Lakes Regional!!!!
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1. The robot is powered up before the driver station acquires a DSlink (which occurs within a few seconds of plugging in), e.g. before plugging in; 2. The driver station's Auton/Teleop switch is set to Auton; 3. The driver station is plugged in, immediately links to the already powered-up robot and sets Auton-Enable; 4. The driver station acquires a DSlink from the FMS and sets Auton-Disable. This could be prevented by ensuring that the driver station has a DSlink (it will show FMSMode on the display when it gets it) before powering up the robot. Setting the driver station Auton/Teleop switch to Teleop before plugging in should prevent jumping, but the robot might still get a brief Teleop-Enable if it was powered up before the driver station linked. |
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#9
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Re: 2009 Finger Lakes Regional!!!!
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Last edited by Bongle : 09-03-2009 at 14:20. |
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#10
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Re: 2009 Finger Lakes Regional!!!!
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#11
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Re: 2009 Finger Lakes Regional!!!!
I have it, but I only have a stable shot of 1503 and their RSL for 5-10 seconds total throughout the match. The camera man was concentrating on the moving robots, and would only glance at 1503 periodically when they were not moving. If you think it'd be useful, I could edit the 1503 portions tonight.
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#12
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Re: 2009 Finger Lakes Regional!!!!
Thanks for the update here Pete. Anyone reading this thread should be aware of this and ensure your auto and teleop mode code can handle this occurring and not flip out!
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#13
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Re: 2009 Finger Lakes Regional!!!!
Can you PM me with an email? I'll send it once I've got it edited.
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#14
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Re: 2009 Finger Lakes Regional!!!!
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