Driver Station Errors

[Team 4117]

Rookie team here looking for some last minute help...

After ongoing LabVIEW programming issues/errors we decided to restart from scratch:

1. Deleted all cRIO Robot Projects
2. Installed updates for LabVIEW, Driver Station, & Utilities
3. Re-ran cRIO Imaging Tool
4. Created new cRIO Project and have not changed anything

When wireless we have intermittent communication (program still runs but is choppy) and we keep getting

ERROR <Code> -44061 occurred at "Left and Right Motors" in the VI path: Robot Main.vi
FRC: The loop that contains RobotDrive is not running fast enough. This error can occur if the loop contains too much code, or if one or more other loops are starving the RobotDrive loop.

I am trying to determine if our wireless is causing this error or if this error is causing our wireless to have issues (sending too much info?)... when we are tethered to the cRIO we don't get this error and we can still receive the wireless camera image on the dashboard with no apparent delay.

Please advise...

[Greg McKaskle]

If you flip to the rightmost tab on the DS called Charts, it contains a chart of various robot things. One is the voltage of the robot battery, one is CPU usage, and the two top ones are the communication round trip time in milliseconds and the lost packets. If spikes there correspond to the choppiness, the issues is either with the wifi environment (too many competing networks on the same channel(s)), a badly mounted radio (too far into the robot, too close to motors), or if it is latency and not dropped packets, it may be due to load of the DS computer or cRIO.

Greg McKaskle

[Team 4117]

Ok so looks like this is definitely a wireless issue. To me it looks like it's both dropped packets and latency (see attached for screenshot of Chart with no robot code).

So question now is how to fix...

Our wireless radio is on the perimeter of our robot and about 5" (nearest edge to nearest edge) from the closest motor. It is only about 3" from our battery and cRIO and only about an 1" from the digital sidecar. It has a short power cable though and would take a significant amount of re-wiring to get it any further...

I looked under network connections (see second screenshot) and it appears to have a pretty good connection (72Mbps) but I am no expert in these things.

I am tempted to hit the reset button on the back of the wireless radio but from what I recall it was a nightmare to configure it the first time and I'd like to avoid that if possible.

Please advise...

[Greg McKaskle]

The only thing that stands out is the 255.0.0.0 subnet mask. I'm not sure that alone will impact the lost packets, but I'd drop it to 255.255.255.0. Next I'd run InSSIDer and see if the channel is really a good one. I'm not sure what the green bars on the Windows control panel mean, strong signal, not much traffic, etc.

Please post any solution or improvements that you find.

Greg McKaskle

[Jurrian]

Originally Posted by cilginbilgin

ERROR <Code> -44061 occurred at "Left and Right Motors" in the VI path: Robot Main.vi
<time>09:00:09 02/18/2011
FRC: The loop that contains RobotDrive is not running fast enough. This error can occur if the loop contains too much code, or if one or more other loops are starving the RobotDrive loop.

This is the error I am getting and I couldnt manage to solve it!

Here is my Teleop.vi

Did anyone seriously find the answer to this because we need to solve this immediately.

[juchong]

Remove as many things from your teleop.vi and put them in periodic tasks! Also, if you're developing code on another laptop and pushing code into RAM, try removing as many controls on the front panel as possible, that REALLY slows everything down.

[Creator1326]

I too am getting the -44061 drive loop is running too slow errors and let me preface this with we are 100% completely new to LabView this year.

I've taken all of my control code that runs the conveyer, aiming, shooting, and trigger servo/morors out of teleop.vi and placed them into a periodic task while loop and it seems to make no difference if I set it to 10 ms or 100ms I still receive the error. We are hardwired to our develop PC and should have next to no communication errors.

[DavidGitz]

Originally Posted by Creator1326

I too am getting the -44061 drive loop is running too slow errors and let me preface this with we are 100% completely new to LabView this year.

I've taken all of my control code that runs the conveyer, aiming, shooting, and trigger servo/morors out of teleop.vi and placed them into a periodic task while loop and it seems to make no difference if I set it to 10 ms or 100ms I still receive the error. We are hardwired to our develop PC and should have next to no communication errors.

Are you actually having a problem when using the Robot? In my experience this error isn't a big deal if it throws it every now and then (such as when you Enable) but you will get a lag issue if it continually throws it, which is probably a problem with your code.

See Post #4 in this Thread, specifically concerning the Camera. If you are not using the Camera, make sure to delete all the Camera code in the Begin, Finish and Disable/Delete the Vision VI in the Robot Main.

If that doesn't work post your complete code, it's hard to troubleshoot without it.

[blackflame2996]

I can confirm that there is not anything wrong with your teleop. something else is using up all of the RIO's processing power. I would look at any vision processing that you have running; that is what caused us problems. Now, as to the watchdog, feed it in the 10 ms loop of timed tasks. this will eliminate all of these errors except when switching modes.

[Greg McKaskle]

The watchdog is not on by default. If it were, feeding it in a parallel loop is equivalent to turning it off, so you may as well just turn it off.

The safety config if "fed" when you update the RobotDrivr. Don't update them in parallel, just update them. Or set it to be disabled. Make sure that anyone else debugging the code knows it is off so the robot doesn't drive through walls.

Greg Mckaskle

[Mark McLeod]

Watchdog Expiration: System 1, User 0
Don't worry about this one unless you get a lot of them. One is normal for changing robot modes: Disabled, Teleop, Autonomous

ERROR <Code> -44061
This means your Teleop loop might be running too slowly.
It means you aren't calling Arcade or Tank Drive quickly enough.

ERROR <Code> -44003
Is if the camera is not connected or if it's still booting when the cRIO tries to talk to it.

ERROR <Code> -44027
Means you used one of the DIO's twice.
Probably just left one of your Opens with the default DIO 1 and it conflicted with something else you Opened using that same DIO.

[cilginbilgin]

Originally Posted by Mark McLeod

Watchdog Expiration: System 1, User 0
Don't worry about this one unless you get a lot of them. One is normal for changing robot modes: Disabled, Teleop, Autonomous

Actually I am getting lots of those errors!

Watchdog Expiration: System 8, User 0
Watchdog Expiration: System 7, User 0
Watchdog Expiration: System 6, User 0
Watchdog Expiration: System 5, User 0
Watchdog Expiration: System 4, User 0

This is just the one fourth of the errors I am getting!!!

[Mark McLeod]

Originally Posted by cilginbilgin

Actually I am getting lots of those errors!

That usually means the communication between the laptop and robot is flakey. It's slowed way down.

I saw this on one team still using last year's Classmate setup (with updated 2011 Driver Station).
The Classmate turned out to be "stuttering." They had too much going on on their laptop and it couldn't keep up with the robot.
That can be double checked by trying a different laptop running the Driver Station application.

It can also occur due to a weak or subpar wireless connection.
Does it still give these errors when you connect your laptop directly to the DLink on the robot via Ethernet cable?

I can't see images from Imageshack, so I can't give advice there.

[cilginbilgin]

I am getting some other error after I deploy the code:

LabVIEW: Failed to load shared library FRC_UserProgram.out on RT target device.

Deployment completed with errors

[DavidGitz]

Originally Posted by cilginbilgin

Watchdog Expiration: System 1, User 0

I believe these are common, we recieve these and received them last year and didn't have a problem.

Originally Posted by cilginbilgin

ERROR <Code> -44003 occurred at WPI_CameraIssue HTTP Request with Authentication.vi>>WPI_CameraIssue Get.vi>>WPI_CameraSet Image Appearance Property.vi>>WPI_CameraSet Enum Appearance Property.vi>>WPI_CameraSet Image Size.vi>>Begin.vi>>Robot Main.vi
<time>19:41:51 02/17/2011
FRC: Operation failed due to a communication failure with the camera.

Your Camera is timing out. If you are not using the camera, make sure the Enable Vision control is False (if using LV, don't about the other IDE's). If you are using the Camera, is the indicator ring on the front of the Camera green?

Originally Posted by cilginbilgin

ERROR <Code> -44027 occurred at WPI_DigitalModuleDIOCache.vi>>WPI_DigitalModuleDIO Allocator.vi>>WPI_DigitalInputOpen.vi>>Begin.vi>>R obot Main.vi
<time>09:56:32 02/17/2011
FRC: The DIO channel has already been allocated.

In your Begin.vi, check to make sure you are not opening 2 references with the same Digital Input