Emergency Stop on Autonomous Program

[PIJack]

Help :), Our team just programmed an autonomous program similar to Bruce Schafer's Lesson 6 with encoders video. Our issue is the program goes through the init step and then on the first "Forward" step the motors go past the two full rotations that I programmed. Then it will do an emergency stop. Any idea on what I have done wrong and how to fix this? One time it said it lost connection with the MR motor controller - not sure if that has something to do with it.

https://docs.google.com/document/d/1vf38QkWmEX1xQhtbQucSn21Am_dObyQhrOThIK1oa-A/edit?usp=sharing

Sorry, I am not sure how to share the link the way it is supposed to be done.

Thank you for your help, we do appreciate the help.

We do have the latest update on both AI and our Driver Station. (Version 1.25 each)


Jack Dodge (Coach/Dad)
PI Robotics #7483

[Tom Eng]

Hi Jack Dodge,

Do you get the E-Stop while your robot is moving? And does it give you an error message that it lost connection with the MR controller? If so, it might be because one or more of your USB cables are vibrating/shaking loose as the robot is moving. The robot doesn't even have to be running aggressively for a loose USB cable to cause a disconnect.

In order to ensure reliable operation, we are suggesting that teams secure/strain relieve their USB cables on both ends (the end that connects into the USB module and the end that connects into the Power Distribution Module). Pay particular attention to the connection between the phone and the PDM. This connection tends to be loose and can vibrate during motion and cause a momentary disconnect that will force an EStop with the current software.

Here are some examples of how some teams have been strain relieving their bots:


TE>>>> here is an example of the a piece of tape and a zip tie that does a really good job of securing the Mini Type B side of a USB cable:

https://drive.google.com/open?id=0B0z7bZfPuXgQelFEMGgyNHliM0k

TE>>>> here is a phone that has a 90 degree USB OTG adapter connected and uses a rubber band to secure the connector to the phone:

https://drive.google.com/open?id=0B0z7bZfPuXgQcnc3MnB3ZmprbGs

TE>>>> here is a module that has the standard USB cable replaced with a 90 degree cable and uses a rubber band to secure the cable from vibrations:

https://drive.google.com/open?id=0B0z7bZfPuXgQLXVyQTB1WXV3b0E

TE>>>> here are some examples of 3d printed devices designed to help secure the phone, modules and cables. Note that in one picture we use rubber bands to hold the connector tip to the phone so that we can easily remove the cable and phone if needed (for charging or programming purposes). The orthodontic rubber bands to a good job of holding the cable and connector in place while being easy to remove.

https://drive.google.com/open?id=0B0z7bZfPuXgQNnNxZHhtWkp0bWs

https://drive.google.com/open?id=0B0z7bZfPuXgQZjNSLXpMMXkyaFU

https://drive.google.com/open?id=0B0z7bZfPuXgQcjEzekNINnByUDg

https://drive.google.com/open?id=0B0z7bZfPuXgQZUlSOTNvejMwVkk

[bassamali01]

We were also disconnecting too much. I will try these out. Can you share 3d file so that I can print it using 3D printer.

[bassamali01]

And for sharing Photos you can use Google Photos.

[FTC6389]

We were also disconnecting too much. I will try these out. Can you share 3d file so that I can print it using 3D printer.

Hi,

Our team has designed and shared several USB strain relief 3D parts on Thingiverse.com. You can download the STL and print. Here is a link to our parts.

- The Lazybotts
www.lazybotts.com

[PIJack]

Yeah, thank you Tom, that was our issue and the pictures helped us a bunch. We really appreciated your help with this. :)

PI Robotics #7483
Parker, CO