RamseteCommand doesn't stop

Technical Programming
#1

Hello,

I’ve been working on getting RamseteCommand working for our auto code this year, although I’ve run into an issue where the command doesn’t stop running. The command appears to run in auto, although once it’s finished it appears to attempt to run again. After attempting to debug this without putting print statements in the command itself(because I cannot) I copy and pasted the command to a new file. I put print statements in that new file and what I found is that even though isFinished() returns true the command doesn’t end, although it also doesn’t re-run and call the constructor or initialized(), in fact, it doesn’t even call the end() method. I also found out that it doesn’t trigger callbacks on CommandScheduler either. The timer in RamseteCommand appears to reset and then continue to the run the execute() body repeatedly. I haven’t been able to figure out what is causing the command to not terminate, I even tried putting return true; into the isFinished() method although that seemed to apply a slight forward voltage to the motor but did not terminate the command. Any help in diagnosing this issue would be highly appreciated. Thanks!

#2

Can you share your code?

#3

Yes, it can be found here

#4

Your code is a bit all over the place. Can you narrow it down for me? What specifically are you having issues with?

#5

I am having trouble with the command running in auto, so if you trace the command that is retrieved in autonomousInit() and scheduled, that is the command I am working with.

#6

This is kind of jank, but have you tried calling end() in isFinished() and seeing if that fixes the behavior?

Theoretically, that should stop it from running

#7

I have not. I could try that, but I think that it might be some sort of problem with the CommandScheduler

#8

Unlikely that it is a problem with the scheduler.

You are calling timer.hasPeriodPassed() in your print statement, which will reset the timer as soon as the period passes, thus preventing the timer from ever returning true in the isFinished() method.

I am skeptical that the command never ended when isFinished() returned true; if you could produce a reproducible, minimal test case in which this happens that would be very helpful.

One reason you may have thought the command did not terminate in the first place is that RamseteCommand does not set the motors to zero output when the command ends.

#9

We had a similar issue when we tried to do something custom like this (paths would run twice weirdly), could you try removing your commnd FollowTrajectory, and only using the inbuilt Ramsete command directly? I have a strong feeling this will solve the issue, later you can zone in on why your implementation is causing problems.

#10

I am aware that RamseteCommand does not reset the motor powers to zero after the command ends. This is why I created the stopTalons() method to run after the command was finished. However, I tried simply write return true; in the isFinished() method inside RamseteCommandCopy and that did not terminate the command.

#11

I cloned and ran the code in your repository in sim, and the command ended immediately, as it ought to.

Edit: I removed your print statements with the problematic hasPeriodPassed() calls, and restored the original isFinished() condition, and it worked, as well.

#12

That is odd, I will try re-imaging the RIO and making sure everything is up to date when I get a chance. Otherwise I will try to do some more testing when I have the time.

#13

I did try updating the RIO to the newest image(it wasn’t running it) but that didn’t seem to help. I tried running the code again and this was the console output:

Loop time of 0.02s overrun
Watchdog not fed within 0.020000s
Warning at edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage(IterativeRobotBase.java:276): Loop time of 0.02s overrun
RamseteCommandCopy has been initialized and has requirements: [frc.robot.subsystems.DriveSubsystem@1c7cbad]
RamseteCommandCopy has been initialized and has requirements: [frc.robot.subsystems.DriveSubsystem@1c7cbad]
RamseteCommandCopy has been initialized and has requirements: [frc.robot.subsystems.DriveSubsystem@1c7cbad]
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autonomousInit(): 0.048202s
SmartDashboard.updateValues(): 0.000018s
robotPeriodic(): 0.000795s
LiveWindow.updateValues(): 0.001169s
Shuffleboard.update(): 0.000205s
autonomousPeriodic(): 0.007390s
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Pose2d(Translation2d(X: 1.23, Y: -0.00), Rotation2d(Rads: 0.01, Deg: 0.40))
I'm done!
RamseteCommandCopy has been interrupted and has requirements: [frc.robot.subsystems.DriveSubsystem@1c7cbad]
RamseteCommandCopy has been interrupted and has requirements: [frc.robot.subsystems.DriveSubsystem@1c7cbad]
RamseteCommandCopy has been interrupted and has requirements: [frc.robot.subsystems.DriveSubsystem@1c7cbad]

While it is running it looks like this


Every time it finishes going forwards(and starts going backwards) it prints I'm done. I changed the code to store the value returned by the hasPeriodPassed() and then return it in isFinished() so that shouldn’t be an issue.

#14

Pulled your changes, modified it to drive a simple 1-meter-forward trajectory, and it terminated exactly as expected.

#15

What are you running it on?

#16

./gradlew simulateJava.

Also note that your log output prints the “initialized” event marker three times, which suggests something weird might be happening.

#17

After a lot of troubleshooting and help from @Oblarg I found the issue. When I installed WPILib I didn’t check the C++ Compiler option(as our team doesn’t use C++) and sure enough, after installing WPILib with the option checked, it seems to work just fine.

#18

This seems very unlikely to change how your java program behaves. Are you sure some other troubleshooting step isn’t the real solution?

#19

So apparently reinstalling with the C++ compiler was a complete fluke(it was the first time it ever worked for me) and the real cause was that I was calling isFinished() in another place, resetting the timer which makes much more sense.

#20

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