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  • Robot Running On Its Own

    Twice today during tele-op the robot would "Lock-Up" and continue driving or running other motors non stop until we pressed stop on the drivers station. As soon as we would hit play they would start running again even though the remote controls weren't being pressed. We even unplugged the remotes from the phone and hit start and the same thing. From the drivers station we resorted the robot, waited for the phones to connect, initialized and hit start again. The motors still began running. The only way to solve this was by turing the robot power off and back on. Our Tele-Op code hasn't changed in almost a month and it used to run fine. Any thoughts?

  • #2
    Double check that you aren't getting any false inputs by looking at the bottom of the robot controller. It shows the values from the controllers, even if an opMode isn't running.
    CoCaptain and Android Studio Troubleshooter for FTC Team 6566, Circuit Breakers.

    Website: http://www.aledoroboticsclub.com

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    • #3
      We will check that if it happens again. If it is receiving false inputs what could be the culprit and how do we prevent that from occurring?

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      • #4
        Have both controllers plugged in but do not assign them (press start and A or B). Check the robot controller, there should not be any values. Then assign the controllers, taking note of which is 1 and 2. If any values are shown for that controller when nothing is pressed, the controller with the false values is bad and needs to be replaced.
        CoCaptain and Android Studio Troubleshooter for FTC Team 6566, Circuit Breakers.

        Website: http://www.aledoroboticsclub.com

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        • #5
          Both controllers and USB hub are brand new. The issue persisted even after restarting the robot controller app by sending that command from the drivers station. As soon as you hit play, without assigning the controllers, it would move on its own. The only way to solve it was to turn off the robot. The next few times it ran fine but then randomly it showed up mid match and again the only way to clear it was to reboot the power to the robot.

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          • #6
            In that case, I'm not sure what is wrong. I have not seen that behavior before.
            CoCaptain and Android Studio Troubleshooter for FTC Team 6566, Circuit Breakers.

            Website: http://www.aledoroboticsclub.com

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            • #7
              Originally posted by CoachZM View Post
              As soon as you hit play, without assigning the controllers, it would move on its own.
              You're going to need to post your code.

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              • #8
                Is the USB hub the one purchased through FIRST or is it a different USB hub? Is your robot building up an ESD charge? There is the possibility it is software related as well. I have also seen odd behavior as the batteries started to get low.

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                • #9
                  Originally posted by CoachZM View Post
                  Twice today during tele-op the robot would "Lock-Up" and continue driving or running other motors non stop until we pressed stop on the drivers station. As soon as we would hit play they would start running again even though the remote controls weren't being pressed. We even unplugged the remotes from the phone and hit start and the same thing. From the drivers station we resorted the robot, waited for the phones to connect, initialized and hit start again. The motors still began running. The only way to solve this was by turing the robot power off and back on. Our Tele-Op code hasn't changed in almost a month and it used to run fine. Any thoughts?
                  It sounds like you are getting disconnects on your gamepads.

                  This means that while you are driving the gamepad physically gets momentarily unplugged from your hub/phone.
                  When this happens the last command that was issued is still being acted upon.

                  When you stop the program, and restart it, that old value is STILL hanging around.

                  Note: This is a known bug, but the dev team has been reluctant to issue a bug-fix as it would require BOTH the driver station and Robot controller to be updated.
                  This means that if a team has their DS set to auto update, a new incompatible version may get downloaded and prevent further connections.
                  So the fix may not get rolled pout till it's safe to do so.

                  The bottom line is that this is also an easy fix.

                  If this happens the drivers should press Start A or Start B and then continue driving.
                  Reconnecting the gamepads and continuing to drive will have the effect of clearing out the old values.

                  Once again, it's a driver education issue....
                  If the robot stops driving, check that the Gamepads are still connected (look for the gamepad icons on the driver station to light up when buttons are pressed).
                  If they are not active, re-assign them (start a/b) and continue.
                  If this doesn't work, make sure the connectors are all tight.

                  This brings me back to my mantra of:
                  Do you have a Driver Station board with the phone, hub and gamepad connectors all tied down?
                  This is essential for a reliable driving experience. Use dual-lock, or velcro, or zip ties, or rubber bands, but make sure everything is solid.
                  Any team that turns up at the field with just a jumble of wires connected to the phone is asking to fail.

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                  • #10
                    Originally posted by Philbot View Post
                    Once again, it's a driver education issue....
                    If the robot stops driving, check that the Gamepads are still connected (look for the gamepad icons on the driver station to light up when buttons are pressed).
                    If they are not active, re-assign them (start a/b) and continue.
                    If this doesn't work, make sure the connectors are all tight.

                    This brings me back to my mantra of:
                    Do you have a Driver Station board with the phone, hub and gamepad connectors all tied down?
                    This is essential for a reliable driving experience. Use dual-lock, or velcro, or zip ties, or rubber bands, but make sure everything is solid.
                    Any team that turns up at the field with just a jumble of wires connected to the phone is asking to fail.
                    When this occurred the second time we had the drivers hit play, while the motors were running on their own, the drivers redefined the remote controls (Start/A & Start/B) and tried to regain control of the robot but it still just drove on its own. The only way to get the robot out of this was to turn off the power to the PDM and restart. Even sending a restart robot command from the DS to the RC didn't solve it.

                    Our drivers station is mounted on its own board and the phone, USB hub, and cable from USB hub to phone are all tied down inside of 3D printed parts as well as velcro inside of those 3D printed parts.

                    Yesterday we double checked all of our connections on our Motor Controllers, CDIM, Servo Controllers and PDM. We also added a barrier between any metal parts or the robot that could touch the wall during a match. We ran 4 more matches and didn't see the issue arise but are still concerned since we really didn't find anything that stood out as the issue.

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                    • #11
                      Originally posted by Philbot View Post
                      Do you have a Driver Station board with the phone, hub and gamepad connectors all tied down?
                      Are there example photos of some ideas for this? I don't recall seeing anything like this at tournaments - though that certainly doesn't mean they weren't there...

                      We were having a similar issue & actually threw away a controller thinking it was the problem. It turned out to be a loose port on the hub causing a loss in connection. I have seen our "jumble of wires" get picked up and/or carried in many less-than-careful ways. If they were secured somehow it may have protected the ports better.

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                      • #12
                        Originally posted by CoachZM View Post
                        When this occurred the second time we had the drivers hit play, while the motors were running on their own, the drivers redefined the remote controls (Start/A & Start/B) and tried to regain control of the robot but it still just drove on its own. The only way to get the robot out of this was to turn off the power to the PDM and restart. Even sending a restart robot command from the DS to the RC didn't solve it.
                        When the drivers redefined the controls, did they actually see them get defined (icons light up on the Driver station)?

                        I have trouble imagining a scenario where the robot is running (therefore there is a valid active connection) and the Gamepads are properly assigned (with the icons illuminated) and the robot ignores the game pads controls. This assumes that the code isn't blocking this action based on some other button push... (eg: button A causes the shooter to spin, and there is a 2 second delay in the main loop).

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