FMS Differences with motor safety?

[jwhite]

I'm trying to puzzle out why our robot failed to operate under FMS control today with our vision code active. We can run it tethered, and previously ran it via Wifi, without any sort of failures or odd problems. But put it on the field, under FMS, and it crashes. (We turned vision off once, and it ran fine that time).

We did find one problem: a tight motor safety value (0.1) coupled with a misplaced Wait(0.04) meant that we could (rarely) generate a motor safety warning.

And in two of our crashes today, our robot was dead with a string of motor safety warnings.

When we run in the pit, if you get a motor safety warning, your robot skips a beat, but once you go back to refreshing, it goes right back to working.

Does FMS control imply a different error mode? In other words, if you miss one motor safety check, does your 'bot get shot down?

Right now we're trying to decide whether to run without our nifty auto target code (which requires vision), or to gamble with a motor safety value of 0.5 and risk losing our first match because of it.

Anyone have any experience with differences between pit and FMS?

Cheers,

Jeremy