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npol / RoboCapstone

An autonomous weed eliminating robot
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Mobility_Firmware: Encoder packet errors #10

Closed npol closed 8 years ago

npol commented 8 years ago

Error 0x8101: WARN_RC_SM_ENC1_PCKT_FAIL is triggered when motors turn off. Seems to be that encoder packets are being dropped due to voltage spikes?

npol commented 8 years ago

Also comes up when motors change speeds

npol commented 8 years ago

WARN_RC_RX_BUF_FULL 0x8002 also is triggered, probably related if encoder packet fails during speed change, but recieved data is not cleared from buffer.

npol commented 8 years ago

Error is triggered: both 0x8101 and 0x8002 are listed about every 30 seconds. happens when motors are off too, at higher encoder data rates.

npol commented 8 years ago

Seems to be that random bytes are showing up in the data stream between packets

UART data trace: rx_tail: 54 rx_head: 69

54: 0 55: 0 56: 0 57: 0 58: 0x80 59: 0x65 60: 0x55 61: 0xFF <random 0xff byte present> 62: 0x00 63: 0x00 64: 0x00 65: 0x00 66: 0x80 67: 0x20 68: 0xF5 69: 0x00

npol commented 8 years ago

Seems to have gone with resolution of bad reading of roboclaw status packet. Confirm with further tests