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Unread 09-03-2009, 13:24
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Re: 2009 Finger Lakes Regional!!!!

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Originally Posted by Coffeeism View Post
Everything seemed ok... The only think I'm scratching my head about is the one time our autonomous did not go off.
Depending on whether all DS's are detected during the initial match setup (before robots are out on the field for the next match), the FMS seems to briefly toggle through Auto-Disable, Auto-Enable, then Auto-Disable as it sets up. This caused a number of teams using both WindRiver and Labview who did not take special precautions to ensure that enabling and disabling in autonomous mode would fully reset their code each time to malfunction.

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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Unread 09-03-2009, 14:22
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Re: 2009 Finger Lakes Regional!!!!

Quote:
Originally Posted by esquared View Post
Depending on whether all DS's are detected during the initial match setup (before robots are out on the field for the next match), the FMS seems to briefly toggle through Auto-Disable, Auto-Enable, then Auto-Disable as it sets up.
According to FIRST this is not the case. Rather, what is probably happening is:
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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