Test mode: can't test motors if part of RobotDrive

Technical Java
1

Put together a minimal command based robot with RobotBuilder, just three motor controllers, two subsystems, no commands.

Two of the MotorControllers are part of a RobotDrive in the DriveSubsystem, the other MotorController is in the other subsystem.

When we go into test mode, we can work the single drive motor just fine with the slider in the SmartDashboard; but the motors that are part of RobotDrive mostly stay off, with erratic and brief attempts to turn on. It’s almost as if there are multiple threads or commands working the motor controllers there.

Did I uncover a bug (or rediscover a known one that I can’t find a reference to)? I put this project together just as a test case for this when we discovered the erratic behaviour in a larger project.

2

I think it may be due to this bug: http://firstforge.wpi.edu/sf/go/artf1642

It was closed in May, so it should be fixed in next year’s library.

Is anything printed to the console?

3

yeah, it’s probably the MotorSafety kicking off, saw the safety error messages.

For the time being, we’ll disable them in the Subsystem when making the transition into Test mode, reenable them on the way out (we’re making an additional interface for Subsystems so they can pick up mode transition, and also get called from *periodic to do misc cleanup)…

Went to get current source code from WPI with SVN, the http://firstforge.wpi.edu/svn/repos/wpilibjava repo is empty?