paper: New Control Functions - Drive System Testing

[Mark McLeod]

Staged Brown Out when the battery voltage drops too low proceeds through the following stages:

Stage 1: 6.5-7.3v -PWM/CAN motor controllers/Relay outputs are cutoff, 6v power rail drops out
- Driver Station displays “Voltage Brownout”
- Servo power lost
- Disable pulse sent to CAN motor controllers, turning them off.
- Can result in robot stutter as motors pull the voltage low, get cut off, voltage rebounds, motors immediately pull voltage low again

Stage 2: 4.5-6.4v - , GPI outputs go High, 5v/3.3v power rails drop out
- Sensor brownout occurs, e.g., encoders!
- Stage 2 persists until battery voltage recovers to 7.5v

Stage 3:<4.5v - roboRIO drops out
- <3.5v the VRM/DLink drops out