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Unread 25-03-2009, 16:31
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Re: Discrepancy at Chesapeake, Israel, Waterloo?

Quote:
Originally Posted by Dave Flowerday View Post
We lost almost an hour at BMR due to the failure of FMS and the field.
It's more than a little unfair to call a complete loss of externally provided power to the entire pit and field a "failure of FMS".

For those of you complaining about the time it takes for the 2009 FRC control system to "link up with the field", my observation is that it's really a very quick process, on the order of five or ten seconds. What takes time is the cRIO booting up and starting to run the user code. The WGA is fully active and in the loop long before the cRIO even starts looking for the DS. I doubt that the FMS can tell that a team has managed to leave the network cable disconnected between the cRIO and the WGA until 30-45 seconds after the robot has been powered on. It isn't the FMS you need to be focusing your attention on; it's the cRIO. (Maybe the boot time can be reduced in the future by implementing something like a "hibernate" mode, or even a precomputed RAM image deployed as part of the program load process.)
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