Our Driver Station Data Log is not showing current readings from the PDH on our competition robot. It’s working fine on our practice bot with mostly identical code, so I’m suspecting the PDH may be bad. Is there a setting somewhere to disable current logging?
A search shows a few threads on this topic for the PDB 10+ years ago and that pointed to a firmware issue at the time.
What are you using to log the PDH values? It could be something wrong with your code, or maybe the firmware version like you mentioned. Is it up to date? Have you tried restarting the DS?
Yes, the PDH is up to date (23.0.0 if I remember correctly). What code is needed for the DS to access the PDH? This isn’t something we’ve seen before, so maybe it is something out of boilerplate code that accidentally got deleted?
It’s possible. Can you show me the code that you use to get at the PDH and read its values?
Maybe tomorrow. Like I say, it isn’t code we normally work with. I’m going to have a programmer instantiate the PDH object tomorrow and display a current to see if we can see a non-zero value. Here’s the page describing the code we’ll be adding to test this.
What is the CAN ID of your PDH?
I’ve tried this with the standard log viewer and the V2.2 reader and they both show nothing. Not even zero values… I haven’t dug into the binary log file yet to see if the data is there or not (hoping to not have to go down that path).
PDH is properly set at ID 1
Perhaps a dumb question, but can you confirm the PDH is connected via CAN and properly (i.e. no yellow<->green flips)?
The rev hardware client will show current readings while you are troubleshooting the logging issue. Double check CAN wiring and termination switch.
that’s what is leaning me toward faulty hardware. Even when connected to the PDH via USB-C RevHC still shows all zeros for the current readings. I assume I should see some minimum current on the channels (especially Roborio power port).
When you look at the Diagnostics Tab on the Driver Station, does it list a version number for the PDH?
The plot thickens. I do see proper termination near 60 ohms (57.8) on the CAN bus. The coloring is correct (yellow to yellow, green to green - thanks Fletch137, always good to start with the basics). That implies the connections to the PDH are good (at 0 Hz, DC).
I do not see:
So either:
More debugging…
If the roboRIO can talk to the last SparkMax, but not the PDH, that suggests to me, either that there’s a problem with the CAN bus wiring between the last SparkMax and the PDH, or there is a problem with the PDH. Have you checked the PDH status lights?
Ah, status lights, buried in the robot… The PDH status is blinking orange/magenta indicating ‘device overcurrent’. Anyone know which device? Is there a fix or does this mean the PDH needs to be replaced?
Here are a couple of threads that might be useful:
I think you are at or near the point of contacting Rev for support.
Agreed. I dropped them an email and they say they’ll respond in a few days. We’ll probably swap it out before competing Week 1. Maybe we’ll try taking the PDH through Recovery Mode to see if that helps.
To follow up, I realized this PDH is showing 100% CAN bus errors (you can see that in Rev Hardware Client when you click on the CAN-bus) while a SparkMax on the same bus reports zero errors. Working with Rev it also won’t downgrade the firmware back to v22.0.3, so I expect this PDH is going back for repair. We swapped it off the robot.
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