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Unread 14-02-2012, 22:02
simpsonboy77 simpsonboy77 is offline
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AKA: Garrett Dicken
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Odd Jaguar runaway while DISABLED (2can)

For our shooter we are experiencing an extrememly odd issue. We are using last year's 2CAN with the latest firmware (2.24). Regardless of our P constants while configured for speed control (quad encoder feedback with index pin floating), full forward, xor full reverse will cause the CIM motor to spin to full speed. Our I and D constants are 0. When the cRio is disabled, the jaguars begin to blink yellow indicating they are not receiving a heartbeat, however all motors caught in this runaway will continue to spin at full. A power cycle is required to clear this issue. If our robot is still enabled, we cannot change our setpoint to get out of this stuck position.

Thinking that it was some odd flaw in how we configured speed mode, we tried voltage mode. Same issues as speed control.

In th diagnostic tab in the driver station we get Error Code = 44087.

The exact error message is
Code:
<Code>-44087 ERROR:status = -44087 (0xFFFF53C9) sendMessage ...in setTransaction in C:/Windriver/Workspace/WpiLib/CANJaguar.cpp at line 409
FRC: JaguarCANDriver timed out waiting to receive a response from a Jaguar.
This issue has a 100% repeatability. We just hold the joystick in the full throttle position for maybe half a second, and a audible change is heard in the motor. After this point we cannot recover without power cycling. The motor will work, varying its speed as we command, as long as this does not occur.

We have a CAN Evaluation board so we can pull firmware off the jaguar. I verified the flashes against the downloaded flashes, and they were correct. I only downloaded over the CAN bus, I did not install a JTAG on the back.

It seems as though the Jaguar is not following the heartbeat, yet it is. The blinking yellow light indicates that they are disabled, however the motor spinning indicates it is not.

We used WPILib version 3111.

It really doesnt make any sense to us,
Any ideas? Thanks in advance.
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