Review drive system and code

Supernova1114 commented 2 months ago

The team did a long range test today. The drive system was acting very strange:

Sometimes it seemed to completely ignore drive commands.
Sometimes it would receive command but accelerate at an extremely slow rate.
Sometimes it would drive normally.
Sometimes it would just stop on its own.
During this entire time, green closed loop lights were flashing on the odrives.
Would have to stop the drive service and start it again every minute or so to get things minimally drivable again.
CAN transceiver acting strange with the Jetson. CAN network would stop running every so often.

Supernova1114 commented 2 months ago

Supernova1114 commented 2 months ago

CAN is working again. Seemed to be loose dupont connections. Created a proper harness and have not run into CAN errors.

Supernova1114 commented 2 months ago

@Terracom12 Did a drive test on 4/28, no drive issues arose.

SaddlebackCollegeRobotics / .github