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kauailabs / allwpilib

Fork of Official Repository of WPILibJ and WPILibC, which contain in addition a HAL for the KauaiLabs VMX-pi.
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PWM output signals truncated abruptly when robot is disabled #42

Closed kauailabs closed 4 years ago

kauailabs commented 4 years ago

The current implementation of this is relying upon the "watchdog" mechanism to terminate the PWM signals. However, this can lead to the output PWM waveform being abruptly terminated, in some cases leading to unwanted motion by the motor controller.

A better solution would appear to be actively and immediately set the PWM output value to 0 when the disable request occurs. This would occur before the watchdog activity takes effect, so this process could work hand-in-hand with the watchdog process.

kauailabs commented 4 years ago

This issue is now resolved; the modification that resolved this occurred in the VMX-pi Platform Library v. 1.1.236, which is used by the VMX GradleRIO Plugin v. 2020.3.2.5