Robot Nightmare!

Technical Java
1

I am the head Programmer and Electrician for Team 1369 Minotaur and the robot is becoming a really big agitation to me. Here are some issues that I am having and I hope that you will comment, criticize, advise, etc. on ANY and EVERYthing.

Here are some issues:

1.) Robot Signal Light (RSL)

On our robot, our Digital SideCar (DSC) has properly functioned including the little green “blinky light.” When I connect the RSL to the DSC via the connector, it does not flash. This is annoying and perplexing for such a plug-n-play device. So my electricians and I have tested the points of metal exposure with a voltmeter all the way to the very insides of the RSL as as well as test the new and old lights, which the old light worked back in December 2011, and they both gave the same voltage reading, it was weird to read but it was oscillating. We even tried using other wires and other means of connections (bootleg placement of holding the wires there with three people to help = gave voltage, no lights).

Some say that the cRio layout could correspond to this so here is our layout (to the best of my memory):

Slot 1: empty
Slot 2: 9403
Slot 3: 9201
Slot 4: empty
Slot 5: 9472
Slot 6: empty
Slot 7: empty
Slot 8: empty

I am almost 200% sure that there is error and that it can be corrected. Please do whatever it takes to correct me.

2.) PWMs, Relays, and I/Os
-PWMs
I have 4 Jaguars for the PWM slots. The first 2 are tank Drive motors which have had no problem except for the occasional error in programming. They are all set-up accordingly to -+S on the DSC and the Jaguars. The other two Jaguars (shooter and conveyor) are non-responsive. These are button launchers (shown in code later below) that are remaining in the blinking yellow state. This is confusing, especially when the error is due to not updated enough error:mad:.

-Relays
We are using relays for the window motors we have on a collector and a lever arm. The relays are hooked up in Relay slot one and two. At one point, I got a simple code to run on it to toggle on and off. Now they remain unresponsive. The light is RED and the fuse is intact. There is 12V going into it and no output voltage. I unplugged the wires to the motor from the spike and manually hooked it up to the battery. This proved the motor and subsystem work, but there is no output. The PWMs going into it ae my main issue. I could not remember which way it hooks up, the DSC was not a helpful diagram, so I hooked them in every way on the DSC and the Spike and still no response. This was very perplexing so any diagram, pic or layout would be much appreciated.

-I/Os
I am new to sensors, but I have done some research on them. The ones that I am focusing on are only the encoders (2) and the microswitches (2). First, I would like to see a DETAILED wire diagram and/or pictures of your wiring so that I understand what to do. Also with the DSC with slot a,b,+5,GND and the cRio (I can’t think of the slot number or how to fully connect them.) With encoders, how do you mount them to CIM motors and window motors properly and how do you power encoders and microswitches.

3.) The program
I have tried code from Iterative (A COMPLETE PAIN TO RUN SIMPLEST THING) to SimpleRobot (Something that works decently).

Here are some of my codes (that I was very proud of):

NOTE: Some areas were commented out only for the sake of getting to the problem. They used to be active in the program! Plus I wrote these within three ours at different times with Iterative first.

IterativeRobot (PLEASE DO NOT STEAL!)


/**
 * Team 1369 Minotaur: FRC 2012 Code
 * 
 * Middleton Magnet High School
 * Tampa, FL
 * 
 * Programmers: Marco Schoener
 *              Marvin
 *              Richawn
 */

package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Jaguar;


/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class MinotaurRobot extends IterativeRobot
{
    /*/--------------------DECLARED GLOBAL VARIABLES--------------------/*/
    
    //Motor Controls
    Relay zipTieMotor;                                       // Zip-tie wheel spike motor controller
    Relay flagArmMotor;                                      // Flag arm motor control
    RobotDrive driveTrain;                                   // 2 motor drive train
    Jaguar conveyor;                                         // Conveyor motor set-up
    Jaguar launcher;                                         // Launcher motor set-up
    
    //Sensors
    Encoder encode_1;                                        // Encoder for Conveyor Belt System
    Encoder encode_2;                                        // Encoder for Flag Arm System
    DigitalInput addSwitch;                                  // Add the number of balls entering conveyor
    DigitalInput minusSwitch;                                // Subtracts the number of balls in the conveyor
    
    //Joysticks
    Joystick controller1;                                    // Used for driving and flag arms
    Joystick controller2;                                    // 2nd controller: used for launcher, conveyor
    
    /*/-***Joystick Commands***-/*/
    
    //Controller 1
    public static final int CONT_1_LEFT_Y_AXIS = 2;          // Controller 1: Left motor control (Tank Drive)
    public static final int CONT_1_RIGHT_Y_AXIS = 4;         // Controller 1: Right motor control (Tank Drive)
    
    //Controller 2
    
    public static final int LAUNCHER_CONTROLLER_FULL = 1;    // Controls launcher at full speed
    public static final int LAUNCHER_CONTROLLER_HALF = 2;    // Controls launcher at alf speed
    public static final int LAUNCHER_CONTROLLER_QUTR = 3;    // Controls launcher at quarter speed
    public static final int CONVEYOR_CONTROLLER = 4;         // Controls conveyor belt movements
    public static final int ZIP_TIE_WHEEL_BUTTON = 5;        // Left Sholder: Value to activate zip-tie wheel
    public static final int FLAG_ARM_CONTROLLER = 6;         // Right Shoulder: Controls flag arm

    public static final int CONT_2_LEFT_Y_AXIS = 2;          // Controller 2: 
    public static final int CONT_2_RIGHT_Y_AXIS = 4;         // Controller 2: 
    
    //Variables
    boolean spikeOn_1;                                       // Create a toggle variable for the zip-tie wheel spike relay
    boolean spikeOn_2;                                       // Create a toggle variable for the flag arm spike relay
    public static final int CRIO_SLOT = 4;                   // Tells the slot for sensors to go on cRIO
    public static final int PRELOADED_BALLS = 2;             // Set the number for pre-loaded balls
    //boolean zipTieWheel = false;                           // Allows the zip-tie wheel to move
    //int totalBalls = 0;                                    // Initial number of balls in conveyor
    //public static final int plusBall = 1;                  // Sets up the ball count for adding in coveyor
    //public static final int minusBall = 1;                 // Sets up the ball count for subtracting in coveyor
    
    /*/--------------------CONSTRUCTOR CLASS----------------------------/*/
    public MinotaurRobot()
    {
        getWatchdog().setEnabled(false);                    // The program overlord is set to sleep mode
        
        driveTrain = new RobotDrive(1,2);                   // Drivetrain Motor PWM slots: 1 for left motor; 2 for right motor

        conveyor = new Jaguar(3);                           // Conveyor Jaguar on PWM slot 3
        launcher = new Jaguar(4);                           // Launcher Jaguar on PWM slot 4
        zipTieMotor = new Relay(1);                         // Zip-Tie Spike in Relay slot 1
        flagArmMotor = new Relay(2);                        // Flag Arm Spike in Relay slot 2
        
        driveTrain.setSafetyEnabled(false);
        
        //encode_1 = new Encoder(1, 2, false, Encoder.EncodingType.k4X); // Conveyor Belt: Sets encoder to Digital port 1 and 2, sets forward direction boolean, and detects encoder type
        //encode_2 = new Encoder(3, 4, false, Encoder.EncodingType.k4X); // Flag Arm: Sets encoder to Digital port 3 and 4, sets forward direction boolean, and detects encoder type
        //addSwitch = new DigitalInput(CRIO_SLOT, 5);         // Attach the microswitch to the cRIO in slot 4 and on the sidecar in digital I/O slot 5
        //minusSwitch = new DigitalInput(CRIO_SLOT, 6);       // Attach the microswitch to the cRIO in slot 4 and on the sidecar in digital I/O slot 6
        
        controller1 = new Joystick(1);                      // Controller 1
        controller2 = new Joystick(2);                      // Controller 2
        

    }
    
    /*/--------------------ROBOT INITILIZATION--------------------------/*/
    public void robotInit()
    {
        driveTrain.drive(0,0);                              // Motors are set of 0
        driveTrain.stopMotor();                             // Motors are off (Safety is HERE!)
        
        zipTieMotor.setDirection(Relay.Direction.kForward); // Spike motor direction is forward
        zipTieMotor.set(Relay.Value.kOff);                  // Spike is set to off
        flagArmMotor.setDirection(Relay.Direction.kBoth);   // Spike motor direction is forward and backward
        flagArmMotor.set(Relay.Value.kOff);                 // Spike is set to off
        
        spikeOn_1 = false;                                  // Spike Relay for Zip-tie Motor toggle is set to off
        spikeOn_2 = false;                                  // Spike Relay for Flag Arm Motor toggle is set to off
        
        encode_1.reset();                                   // Reset the conveyor belt encoder
        encode_2.reset();                                   // Reset the flag arm encoder
    }
    
    /*/--------------------DISABLED ROBOT-------------------------------/*/
    public void disabledPeriodic()
    {
        driveTrain.drive(0,0);                              // Motors are set of 0
        driveTrain.stopMotor();                             // Motors are off
        
        zipTieMotor.set(Relay.Value.kOff);                  // Zip Tie Spike is set to off
        flagArmMotor.set(Relay.Value.kOff);                 // Flag Arm Spike is set to off
    }
    
    
    /*/--------------------AUTONOMOUS PERIOD----------------------------/*/
    public void autonomousPeriodic()
    {
        zipTieMotor.set(Relay.Value.kOff);
        while(true)
        {
            zipTieMotor.set(Relay.Value.kOn);
            Timer.delay(0.005);
        }
        //encode_1.stop();                                    // Stop the conveyor belt encoder
        //encode_2.stop();                                    // Stop the flag arm encoder
    }

    /*/--------------------TELEOP PERIOD--------------------------------/*/
    public void teleopPeriodic()
    {
        // Initial Variables: This is to be sure that it is active
        spikeOn_1 = false;
        spikeOn_2 = false;
        zipTieMotor.set(Relay.Value.kOff);
        flagArmMotor.set(Relay.Value.kOff);
        
        // Subsystem Control
        while(true)
        {
            // Tank Drive
            driveTrain.tankDrive(controller1.getRawAxis(CONT_1_LEFT_Y_AXIS), controller1.getRawAxis(CONT_1_RIGHT_Y_AXIS));
            Timer.delay(0.005);
            
            // Fly-Wheel
            if(controller2.getRawButton(ZIP_TIE_WHEEL_BUTTON))
            {
                if(spikeOn_1 == false)
                {
                    spikeOn_1 = true;
                    zipTieMotor.set(Relay.Value.kOn);
                    
                }
                Timer.delay(0.5);
                if(spikeOn_1 == true)
                {
                    spikeOn_1 = false;
                    zipTieMotor.set(Relay.Value.kOff);
                }
                Timer.delay(0.5);
            }
            
            // Conveyor
            
            
            // Launcher
            

            // Flag Arm Control
            if(controller2.getRawButton(FLAG_ARM_CONTROLLER))       // Move the flag arm by button command
            {
                if(spikeOn_2 == false)
                {
                    spikeOn_2 = true;
                    flagArmMotor.setDirection(Relay.Direction.kForward);
                    flagArmMotor.set(Relay.Value.kOn);
                    
                }
                Timer.delay(0.5);
                if(spikeOn_2 == true)
                {
                    spikeOn_2 = false;
                    flagArmMotor.setDirection(Relay.Direction.kReverse);
                    flagArmMotor.set(Relay.Value.kOn);
                }
                Timer.delay(0.5);
            }
            //encode_1.stop();                                            // Stop the conveyor belt encoder
        //encode_2.stop();                                            // Stop the flag arm encoder
        zipTieMotor.set(Relay.Value.kOff);                          // Turn of Zip-Tie Spike
        flagArmMotor.set(Relay.Value.kOff); // Turn off Flag Arm Spike
        }
                                
    }
    
}

SimpleRobot (PLEASE DO NOT STEAL!)


/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.DriverStationLCD;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Encoder;


/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SimpleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class MinotaurCode extends SimpleRobot 
{
    
    private DriverStationLCD dsLCD;
    
    private RobotDrive driveTrain;
    private Jaguar conveyor;
    private Jaguar launcher;
    private Relay zipTieWheel;
    private Relay flagArmWheel;
    
    
    private Joystick controller1;
    private Joystick controller2;
    
    private Timer time;
    
    private Encoder conveyorControl;
    private Encoder flagArmControl;
    
    public static final int FLAG_ARM_AXIS = 6;
    public static final int LEFT_Y_AXIS = 2;
    public static final int RIGHT_Y_AXIS = 4;
    public static final int ZIP_TIE_CONTROLLER = 1;
    public static final int FLAG_ARM_CONTROLLER = 2;
    public static final int PRELOADED_BALLS = 2;
    
    public static final double LAUNCH_SPEED_DEFAULT = 0.5;
    public static final double LAUNCH_SPEED_FULL = 1.0;
    public static final double LAUNCH_SPEED_HALF = 0.5;
    public static final double LAUNCH_SPEED_QUTR = 0.25;
    public static final int LAUNCH_SPEED_FULL_BUTTON = 1;
    public static final int LAUNCH_SPEED_HALF_BUTTON = 4;
    public static final int LAUNCH_SPEED_QUTR_BUTTON = 3;
    public static final int LAUNCH_BUTTON = 2;
    public static final int CONVEYOR_BUTTON = 5;
    
    
    boolean zipTieOn;
    
    public MinotaurCode()
    {
        getWatchdog().setEnabled(false);
        driveTrain = new RobotDrive(1, 2);
        conveyor = new Jaguar(3);
        launcher = new Jaguar(4);
        zipTieWheel = new Relay(1, Relay.Direction.kForward);
        flagArmWheel = new Relay(2, Relay.Direction.kBoth);
        
        controller1 = new Joystick(1);
        controller2 = new Joystick(2);
        
        time = new Timer();
        
        driveTrain.setSafetyEnabled(false);
        
        
        conveyorControl = new Encoder(1, 2, false, Encoder.EncodingType.k4X);
        flagArmControl = new Encoder(3, 4, false, Encoder.EncodingType.k4X);
    }
    
    public void robotInit()
    {
        // dsLCD.getInstance();
        
        driveTrain.drive(0.0, 0.0);
        driveTrain.stopMotor();
        conveyor.stopMotor();
        launcher.stopMotor();
        zipTieWheel.set(Relay.Value.kOff);
        flagArmWheel.set(Relay.Value.kOff);
        
        conveyorControl.reset();
        conveyorControl.stop();
        flagArmControl.reset();
        flagArmControl.stop();
        
        
        zipTieOn = false;

    }
    
    public void disabled()
    {
        driveTrain.drive(0.0, 0.0);
        driveTrain.stopMotor();
        conveyor.stopMotor();
        launcher.stopMotor();
        zipTieWheel.set(Relay.Value.kOff);
        flagArmWheel.set(Relay.Value.kOff);
        
        conveyorControl.reset();
        conveyorControl.stop();
        flagArmControl.reset();
        flagArmControl.stop();
    }
    
    /**
     * This function is called once each time the robot enters autonomous mode.
     */
    public void autonomous()
       {
           
        time.start();
        while(isAutonomous() && isDisabled())
        {
            flagArmWheel.setDirection(Relay.Direction.kForward);
            
            zipTieWheel.set(Relay.Value.kOn);
            Timer.delay(0.005);
            //flagArmWheel.set(Relay.Value.kOn);
            if(time.get() < 4)
            {
                //driveTrain.drive(0.5, 0.0);
                //Timer.delay(0.005);
                
            }
            /*while(time.get() > 0 && time.get() < 20)
            {
                conveyor.set(LAUNCH_SPEED_HALF);
                Timer.delay(0.005);
                
                launcher.set(LAUNCH_SPEED_FULL);
                Timer.delay(0.005);
            }*/

        }
        time.stop();
    }

    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl() 
    {
        while(isOperatorControl() && isEnabled())
        {
            // Drive Train
            driveTrain.tankDrive(controller1.getRawAxis(LEFT_Y_AXIS), controller1.getRawAxis(RIGHT_Y_AXIS));
            Timer.delay(0.005);
            
            // Zip Tie Wheel
            if(controller1.getRawButton(ZIP_TIE_CONTROLLER))
            {
                //zipTieOn = true;
                zipTieWheel.set(Relay.Value.kOn);
            }
            
            // Flag Arm
            /*while(controller2.getRawAxis(FLAG_ARM_AXIS) != 0)
            {
                if(controller2.getRawAxis(FLAG_ARM_AXIS) > 0)
                {
                    flagArmWheel.setDirection(Relay.Direction.kForward);
                    flagArmWheel.set(Relay.Value.kOn);
                }
                else if(controller2.getRawAxis(FLAG_ARM_AXIS) < 0)
                {
                    flagArmWheel.setDirection(Relay.Direction.kReverse);
                    flagArmWheel.set(Relay.Value.kOn);
                }
                Timer.delay(0.005);
            }*/
            // Conveyor
            while(controller2.getRawButton(CONVEYOR_BUTTON))
            {
                conveyor.set(LAUNCH_SPEED_HALF);
                Timer.delay(0.005);
            }                     
            // Launcher
            //launcher.set(1.0);
            Timer.delay(0.005);
            while(controller2.getRawButton(LAUNCH_BUTTON))
            {
                if(controller2.getRawButton(LAUNCH_SPEED_FULL_BUTTON))
                {
                    launcher.set(LAUNCH_SPEED_FULL);
                    Timer.delay(0.005);
                }
                else if(controller2.getRawButton(LAUNCH_SPEED_HALF_BUTTON))
                {
                    launcher.set(LAUNCH_SPEED_HALF);
                    Timer.delay(0.005);
                }
                else if(controller2.getRawButton(LAUNCH_SPEED_QUTR_BUTTON))
                {
                    launcher.set(LAUNCH_SPEED_QUTR);
                    Timer.delay(0.005);
                }
                else
                {
                    launcher.set(LAUNCH_SPEED_DEFAULT);
                    Timer.delay(0.005);
                }
            }
        }
    }
}

There will be RobotDrive…Not updated enough in autonomous and operator control, but the drive train is the thing that works 98% of the time! Any comments or hints or etc. would be GREATLY APPRECIATED!

4.) Watchdog
I have to disable it at school to run the robot, but when competition comes, does it always stay on? (I know it stays on but why is there a difference where it is active?)

5.) Is DriverStationLCD required and if so, what does it do and how. I hear it is for user messages, but I haven’t gotten that far yet.

Thank you in advanced for you useful information in any way shape or form no matter how cruel. It’s crucnch time and we are all going to make it. Happy Competitions and be Professional Gracefully, like a robot!

P.S. I will be posting this in the Electrical thread under same name.

LINK:
http://www.chiefdelphi.com/forums/showthread.php?p=1127739#post1127739

2

In your operatorControl code, while you hold down one button, you are in an inner loop and not sending updates to the other motor.

One way to fix it is to get rid of your inner loops. Instead, calculate values for desired state variables of the conveyor and launcher based on the buttons. If no buttons pressed, set desired states to default state (OFF?). Then actually set the motors/relays to the desired state (unconditionally, not just when button pressed).

3

Ok, I got the jaguars to work fin and the spike works, it was a bad spike! So now we are getting somewhere. Note that this is a very basic program to toggle on and off

4

The criolayout is different i am not postive of what is it but it goes somehting like this
Slot1: analog
slot2: digital
slot3 solenoid
slot 4: empty(or if using the 4 slot crio can be any.)
Slot5: analog
slot6: digital
slot7: solenoid
slot 8: empty(or if using the 4 slot crio can be any.)

I don’t know about watch dog,but my team does not use it so i suspect it will not stay on.
And with the DriverstationLCD it is used to send user messages to your classmate. (but there is also regular DriverStation).

not sure if i am much help, but here you go!:slight_smile:

5

And I believe you should only be using the first 3 slots this year. It’s suddenly really specific. :confused:

6

UPDATE: we have a moving drivetrain, working RSL (now that it’s on, it is annoying, lol), working Jaguar and spikes, simple robot based Java program, not using encoders.

NEED TO DO: I understand what the symbols on micro switches do, but how do I plug it in? Where oncRIO and DSC? What wire do I use? Please be more specific. We are getting the Axis 106 camera and trying to get that to work as well as the Kinect. Any advice or tutorial would be appreciated and I know it is late to be working on this part this late in build season :yikes: .

Can anyone tell me why IterativeRobot does not like my input, even when based off sample programs or other team’s previous years’ programs (for testing ONLY)?

Thank you again in advanced and for all your help! Happy Competition and good luck!

7

The main issue I see with your IterativeRobot code is that you’re using it as though it were a SimpleRobot. The startCompetition() method of iterative robot works like this:

while(robot is alive) {
    check for new driver station packet;
    if(new driver station packet has been received)
        periodic();
    continuous();
}

Obviously, there’s more to it, but that’s the basic setup. Your periodic() functions for both autonomous and teleop have loops inside them that never end. If periodic() never finishes, how is the robot going to update its driver station data (which includes, among other things, joystick values)? The best way to avoid a situation like this (commonly referred to as a “hang”) is to have the robot’s data, or “state”, separate from its functionality.
However, doing something like this requires having your program work repeatedly on state data, which in turn requires a fairly different thought process from “typical” programming. Instead of asking “What series of steps gets me from point A to point B?”, you must ask “If I start at A, how can I determine the next step toward B from the data generated from the previous step(s)?”.

Long story short, IterativeRobot doesn’t like your input because you never give it a chance to receive it.

Also, on the topic of the DriverStationLCD: when you start up the driver station, there’s a light-gray section on the right. This is actually a text display area, and you can use DriverStationLCD to write to it, by doing

DriverStationLCD.getInstance().println(<line>,<column>,<text>);
DriverStationLCD.getInstance().updateLCD()

<line> is an enum (or as close as you can get with Java ME), with the first line being kMain6, and the rest being kUser2 to kUser6. Yeah, I know, weird naming system.
<column> is an int from 1 to 21, defining the start of where you want the text to be displayed.
<text> is the string you want to display.

On the LCD, 2 things happen that you might not be expecting. First, your text is truncated to fit into the 21 character limit. So, for example, if you tell it to write “Hello, World!” starting from the 10th column, it will become “Hello, Worl”, because the last 2 characters don’t fit within the limits. Secondly, things overwrite each other. So if you first print out “Hello”, then print out “hi” to the same line, you will end up with “hillo”.

Best of luck in the upcoming crunch-time!

8

UPDATE: the microswitch was are operational, the robot is wireless, the Driver Station reads voltage.

NEEDED: what are some methods of reading when the micro switches are active because I can only think of the driver station lass in Java. Or does it show up on the driver station. I saw the PSOC I/O device and I had it installed before re-imaging the Classmate, so does that mean that I have to do that again?

When I try to run a default camera program, I get an error in a Windriver code not existing (this is java not c++. Silly netbeans) but seriously, it is confusing to find out how to make the Axis 206 camera working. If I can get an image to feed to the driver station, then I can attempt to build code to detect the environment with tutorials and chiefdelphi!

I have downloaded and installed the Kinect SDK and FRC Knect Server. I plan to test it tomorrow but how does it respond? I could only set it up today. We tested the Kinect via the SDK and it is operatnal!

TIPS: I have learned that when. Jaguar is moving a motor (for sample:CIM Motor), that when a conveyor belt system has enough friction, the following can occur:

With too much friction and the wire sparks and heats up, direct battery Test on CIM motor.

When there is some friction, the Jaguar has to accelerate. If it goes from 0 to 1.0 in speed with force, it overheats for 3-4 seconds and resets. So you have to accelerate or inch closer until the speed is just enough to have full power from that point.

**As for photos, I will see if I can get some tomorrow. We got our cannon initially mounted, so the electronics board looks like a scary cave with an orange RSL and blue and green power LEDs.

Thank you all agin in advanced and this crunch time robot is workin faster, how strange? Well Happy Competitns and have a merry crunch session!

9

The C++ error is actually a C++ error, because the camera (and most of the image processing code) is written in C++ and called from java via JNA.
I had this problem earlier in the season, and if I remember correctly, I fixed it by doing 2 things: formatting the camera (I can’t remember exactly where the software to do this is, but it’s definitely in the KOP), and not specifying the IP when calling AxisCamera.getInstance() (although I can’t remember what IP I gave it, so it was probably just that it was the wrong one :stuck_out_tongue: ). Basically, the camera defaults to 10.te.am.11, and you have to access it as such. If you can connect to the robot, you should be able to connect to the camera if it’s been configured correctly.