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#1
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Wireless Bridge Disconnects when driving?
Our team has been having an issue with the cRIO disconnecting while attempting to drive. Not sure if there is a problem with the wireless bridge or not, but basically everything works okay(able to download code and run it) when we connect the classmate directly to the cRIO. However, when we connect the cRIO to the wireless bridge, the wireless bridge to the router, and our classmate to the router, our code runs until we attempt to drive and then summarily disconnects after 2-3 seconds. It then does not reconnect until we completely restart the robot. One interesting thing is that it ONLY disconnects when attempting to drive. If the code does not send any pwm outputs, there are no problems.
Any idea what could be causing this? Thanks in advance! |
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#2
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Re: Wireless Bridge Disconnects when driving?
Is the wireless bridge connected to the dedicated 12V port at the end of the Power Distribution board and not to a regular breaker?
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#3
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Re: Wireless Bridge Disconnects when driving?
Yeah, last year before we connected the bridge to dedicated power we noticed that every once in a while the bridge would reset. We were confused until we realized that it was correlated with low battery voltage.
What was happening was that large current draws (like drive motors) were causing voltage to drop down below 6V, which was essentially a brownout for the bridge. |
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#4
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Re: Wireless Bridge Disconnects when driving?
We were getting this with dead batteries. If we drove very slow and never accelerated hard, then we could move, but as soon as we did anything that would cause a voltage spike, the robot would disconnect (we'd loss comms on the classmate) and the jaguars would show a slow red blink, which is a jaguar fault code.
Are your jaguars giving you a slow red blink when the robot disconnects? If so, that's more evidence that your voltages get too low when driving. |
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#5
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Re: Wireless Bridge Disconnects when driving?
When the bridge is connected to the PD normal outputs and not the dedicated outputs, the battery voltage drops when ever a motor starts or reverses. That is why the dedicated output is required. The PD has an internal boost buck regulator designed specifically for this purpose. The wireless has another problem though. It was not designed to be attached to a moving object and as such has a vibration sensitive power connector and a delicate ethernet connector. Teams should be careful to use wire ties to take the strain and vibration of the these cables so that the vibration doesn't cause noise in the connectors. If you move the power connector and it seems loose, the second contact in the connector is likely out of alignment or you have replaced the power connector with the wrong size part. The power connector should have a firm feel and should provide some resistance to pullout. If it does not, check that the connector is the right size. It that appears correct, the connector on the bridge may be damaged.
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#6
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Re: Wireless Bridge Disconnects when driving?
Quote:
Thank you for share the information about the internal Boost Buck regulator on PD!! |
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#7
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Re: Wireless Bridge Disconnects when driving?
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Another note that might support the vibration/shock idea, when we drove up the ram and fell down the robot disconnected. (Fell from half way to the top of the ramp) |
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#8
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Re: Wireless Bridge Disconnects when driving?
Quote:
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#9
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Re: Wireless Bridge Disconnects when driving?
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- Bryce |
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