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FRO5401 / PowerUp2018

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Arm Brake releases when disabled #50

Closed ptoil closed 6 years ago

ptoil commented 6 years ago

Bug Report

What was the problem?

When the robot is disabled, the brake for the arm is released. This occurs because disabling cuts voltage from the solenoids. When single solenoids have the voltage cut, they return to default position, which is the brake being off. Read the following: https://www.chiefdelphi.com/forums/showthread.php?t=33594

Steps to reproduce:

-Have the brake enabled Disable robot.

kjm16216 commented 6 years ago

Fixed this via hardware. Reversed the plumbing of the solenoid so it defaults to holding. ArmPID, ArmOverride, and ArmWrist subsystem needed to reverse their true/false for the brake since the plumbing is reversed. Done and ready to merge.