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MARSProgramming / MARS-2020

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Test Drive Motors #21

Closed iamr2003 closed 4 years ago

iamr2003 commented 4 years ago

This is to be completed once motors are mounted to our actual competition drivebase.

Branch the MOS_XIII code outline, and DISABLE all the subsystems except for the drive subsystem. Update firmware/set CAN IDs according to the wiring spreadsheet. Then ensure that the test controls, as outlined in the control document, work in the way intended. If needed, make small changes to ensure the controls work as intended. MAKE SURE TO UNPLUG ONE OF THE MOTORS in each of the transmissions to make sure you won't run the motors against each other.

Note that falcons do have some fancy features like torque changing, for testing purposes don't worry about it.

If any of this doesn't make sense, talk to a mentor before you do anything, we really don't want you to break anything.

wmstanton commented 4 years ago

wiring spreadsheet is here: https://docs.google.com/spreadsheets/d/1hk4W3EPgBoEb33NhUvyOhPA2kJbpwb9V6ol7X2jnmQQ/edit?usp=sharing control document is here: https://docs.google.com/document/d/1pquTrlEtB69235TmDORi3rteeq8LiPDU8LQLtBZibCA/edit?usp=sharing

wmstanton commented 4 years ago

Justin and Grady have updated the firmware on all four Falcons to 20.1.0.0 and have set the CAN IDs according to the wiring spreadsheet. Recommend keeping this issue open until after the branched code has been tested on the robot, merged with master and then retested with master on the robot. Also the master code should be left on the robot to run as startup after verified. This would give the rest of the team a working version to use. I believe the only necessary changes to the code was to disable all subsystems other than Drive in the Periodic Tasks VI and the Test VI and to invert the Drive_Right_Master motor in the Begin VI, but this should be verified.

Also the Sensor Reads VI should be added to the Periodic Tasks VI and the Right_Drive_Velocity(RPM) and Left_Drive_Velocity(RPM) should be verified

iamr2003 commented 4 years ago

The above things were tested on sunday, seems good at the moment. The control issues they were having were unrelated to the falcons themselves, rather were an issue with the refnums in their project.