Rodney-Lewis
commented
7 months ago Known issue. Other things I remember about this:
- It occurs with and without the follower feature active
- The speed controller is getting the correct signal immediately
- No faults were directly shown on the speed controller (we could check Rev hardware client still)
- Occurred after reimaging the spark
My guess would be the motor. Maybe one of the phases has degraded, if that is possible.
The follower features works as a logical link to apply the same voltage level as its leader based on CAN status frames, the leader doesn't necessarily need to move. If we can still shoot with just one side (I assumed the note would just get stuck), we can decouple these.
qwbmo
It happened twice yesterday. It may be an electrical/hardware issue, but we should investigate if the speed controller is complaining about something like a missing encoder signal.
Interestingly, the code shows the left follows the right. How does that work if the right doesn't move? My understanding is that the left would get the same command as the right (the command appropriate for a 0 rpm motor).
Perhaps the follower feature is inappropriate here. Makes sense for the shoulder (they are mechanically coupled), but perhaps not for things in speed or position control modes like the shooter and indexers. In this case, the left side going to max is an appropriate fallback (compensates for no umph right side). However, if the left were to go down, the right side would be unaware and not know to go to max.