Unable to run cRIO with cRIO2 program

[marccenter]

Dear CD,
I have been running FRC3548 team robot code on the cRIO2 successfully for some time and am finally getting around to program the original cRIO because the cRIO2 is headed for the robot this weekend at Waterford, MI.
I was success in re-imaging the cRIO from v28 to v43. I was able to deploy and execute the Run at startup command and hit the reboot cRIO as expected.
However, on the driver station the top light goes green but not the bottom light - it remains red (sorry not looking at it right now for proper description).
Any suggestions on how to proceed? Same Labview code, same bench, same ca bles, same Labview IO modules - etc. Only thing different is cRIO.

[RufflesRidge]

Try enabling NetConsole using the Imaging Tool and watching the NetConsole information during the robot boot-up to see if it shows any error messages.

[Alan Anderson]

Does it work if you try to run an unmodified default project?

The physically larger cRIO is smaller on the inside. There are some features left out of the image when it's installed on an 8-slot cRIO because they won't fit. Are you using vision processing?

[marccenter]

Alan,
I'm not using any vision processing per say, the base program is installed but no additional software has been added.

[Greg McKaskle]

As Alan said, please test running an example or basic framework. There are a number of differences in the image, but all test programs are run on both four and eight. If you don't get it resolved, please contact NI technical support and supply your project code. I'd offer more assistance, but I'm out for spring break, after we finish up with WPI regional.

Greg McKaskle

[marccenter]

Finally getting around to updating this post after Waterford, MI district tournament.
Alan, I took your basic idea and proceeded. I was able to run the original cRIO by returning to an earlier version of the team program - so everything operates as expected, although it seems like I need to fight with the original cRIO more in order to update the firmware and download team code.
The primary difference between the earlier version and the latter versions are the size of the autonomous program. Earlier, I had 15, individual one second structures(term?) like the example code in a sequence. For latter versions, I added 3 more copies of the first and began making modifications. With the 4 versions of the autonomous sequence I suspect I maxed out memory and/or throughput.

Does anyone have a simple means of determining if I maxed out memory on the original cRIO?

[Greg McKaskle]

The Charts tab lists the free RAM, largest free RAM block, and free flash to the right side of the window.

What are the numbers, and do the change over time?

Greg Mckaskle

[marccenter]

Greg,
Here's the entire FRC3548 V28 Robot project.

[Mark McLeod]

Wow, that really sucks up the memory doesn't it?

The project requires 28 MB of RAM.
17MB of that is just the Auto vi.

An FRC II has ~72MB available after the OS and other NI software load.
An FRC I has ~26MB available after the OS and other software.

It only leaves 44 MB free on an FRC II, and blows away an FRC I.

The biggest problem is the repeated references to the same sub vi's such as Motor Set Output.
The VI Properties->Execution (under File) are preallocating a clone for each instance. You probably want to change that to "Share clones between instances" to preserve memory.

[marccenter]

Mark,
Thanks for analysis - what I expected - memory hog with 4 copies of autonomous program structure. Can you make a recommendation of how to restructure the autonomous part? I tried a partial conversion to flat sequences with just one parameter sequence for Motor 9 but Labview complained profusely so I gave up that strategy for the moment.

[Mark McLeod]

I tend to think differently and not break auto into one second increments, but there's no problem with doing it you way you've chosen to. You just need to minimize the duplicate copies of code. What you've done can be made over into a sequence, but it'd pretty much look the same.

Here are my suggestions to cut the memory way down (to ~10MB altogether).
Open up Auto:

1) Double click on one (only need to do one and the rest will follow) Motor Set Output to open it up, choose File->VI properties and go to the Category: Execution. Choose "Reentrant execution" and "Share clones."

2) Do the same for Tank Drive and Relay Set.

3) Get rid of the error messages (the drive train name has an extra space in Disabled), that are maxing out your cRIO CPU utilization. That can cause a problem linking to the field while Disabled.