RS550 Causing Robot Disable

[dougwilliams]

Originally Posted by Alan Anderson

The motor's low resistance to the case is a compelling bit of evidence, but you're right to wonder why it would disable the robot. Just for completeness -- what control are you using to activate this motor? Is it a joystick axis, a gamepad button, a Dashboard variable, or what?

We code in C++, and we use one of the triggers on the front of an xbox controller for the intake roller.

Looking at the code though now, I see that it's set up so one trigger is forward and the other trigger is reverse. I'm wondering if there's some strange mode when both triggers are pressed and the code fires off two simultaneous commands, one forward driving the motor and one reverse driving the motor. We have deadbands and smoothing on the analog joysticks, nut none on the triggers.

That's probably a code robustness issue, but I still am not aware of any reason why that would disable the robot.

[scca229]

Originally Posted by dougwilliams

I'm wondering if there's some strange mode when both triggers are pressed and the code fires off two simultaneous commands, one forward driving the motor and one reverse driving the motor.

Maybe put in something that checks the trigger for "pulling the boulder in" first and if that is activated, don't bother checking the second one? Only activate the "pushing the boulder out" if that is the only trigger being pressed. This is assuming that you want a "known fail-safe" where you aren't throwing a boulder out accidentally at a random time but holding onto it instead.

Basically pick one direction as the dominant one to eliminate the dual-trigger issue by ignoring whether the recessive is being pressed or not.

*Yay, Gregor Mendel reference*