[C++] Use CAN Talons in RobotDrive

[1452-Leo]

I tried turning the safeties off already and it didn't work, but I'll try the disabled loop tomorrow and get back. I agree that dummy PWMs is a bad solution, but we're going all CAN this year so it shouldn't really affect anything, and we will probably revert to it if your solution doesn't work because we've spent too long trying to get this to work. Thanks for the help though!

[ozrien]

Originally Posted by 1452-Leo

I tried turning the safeties off already and it didn't work, but I'll try the disabled loop tomorrow and get back. I agree that dummy PWMs is a bad solution, but we're going all CAN this year so it shouldn't really affect anything, and we will probably revert to it if your solution doesn't work because we've spent too long trying to get this to work. Thanks for the help though!

Turning off the safeties in the CANTalons is not sufficient. They are already off (they default off). The problem is RobotDrive has it's own safety enable.

Anyway if you are still seeing the EXACT symptom of "...Motor Safety Timeout..." errors in the DS then you need to remedy it. Even with the PWM workaround (eek) you're still generating errors in your DS log. That's going to prevent your drive team from seeing other reported errors (because they will get used to seeing errors in that area of the DS".

m_robotDrive->SetSafetyEnabled(false); will absolutely prevent MS errors. If you are still seeing them then something is very wrong, and it will likely be a problem throughout the season.

[BradAMiller]

Definitely turn off the motor safety on the RobotDrive object, not the individual motor controllers and see if that fixes the problem. In the library, RobotDrive is the only place where the motor safety stuff is enabled by default, and as Omar said, it is part of the RobotDrive class as a whole. The thought was that it would stopping the runaway program from driving on it's own was the highest priority.

Use something like:
drive.SetSafetyEnabled(false);

Please let us know if does it for you.