Running the attached python code in the simulator fails with a message about the Watchdog timer not being fed within 0.02s. I can’t find where the code is wrong. Hoping someone else will see the problem.
RobotError.zip (11.6 KB)
It’s just a warning, if it happens just once at the beginning of teleop I wouldn’t worry about it.
No, there’s more than that. Also get a PrintLoopOverrunMessage error and then a Windows fatal exception: 0x80040155 when I try to do something in the simulator window.
I don’t have Windows so I can’t test precisely the same thing that you’re talking about. However, on my mac I get a python error that ends the program when I switch from teleop to autonomous:
File "commands/arcadeDrive.py", line 16, in end
self.drivetrain(0,0)
TypeError: 'DriveTrain' object is not callable
So you’ll want to fix that.
What thing are you clicking that is causing the fatal exception?
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Eliminating the code that allocates the gyro in the physics module solved the overrun problem. The function call wpilib.simulation.AnalogGyroSim() hangs the system.
What I’m trying to do is create a Command Based Python robot with just a drivetrain, no other sensors, etc., that will run in the simulator. However I have totally failed at creating a physics module that actually works. Any help would be appreciated.
P.S. I don’t have an actual robot to test with.
The ramsete example (https://github.com/robotpy/examples/tree/main/commands-v2/ramsete) is command based and only has a drivetrain (and some trajectory stuff, but that should be straightforward to remove) and runs in the simulator.
… did your windows fatal exception go away? If you can provide a way to reproduce it, we can address it.
Thanks for this. It provides exactly what I wanted, a test bed for writing commands that I can show my students.
The Windows exception went away when the overrun problem went away.
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