6391 and 1987 GRC Updates

[jasondaming]

We had GRC this weekend with both 1987 (@j0n5m1th) and 6391 (@danursuline and I) running Systemcore Alpha 7. Overall I think things went well with no major problems, but several things that could be improved.

1. 6391 noticed that our code (AKit based) was not logging. Upon investigation we appeared to be getting errors centering around the drive not being mounted. If we restarted robot code that fixed it every time. We suspect a race condition with the program and the mounting of the USB drive.

2. We are still seeing issues with a variety of USB drives mentioned in issue USB Storage Drive Support #31. Curiously we were able to mount ext4 drives on previous revisions but since alpha 7 have been unable to do so. Once we find a drive that works it continues to work but it seems to have no common thread on which ones will / will not work. Also as mentioned before our metal cased USB drives get EXTREMELY hot when used. I am not sure if there is anything that can be done about that but we have taken to using an extender with them because they get so hot if we use that type.

3. 1987 had several problems with the robot running "sluggishly". We think this is because of "brownout" or similar issues but saw no brownout warnings in the logs (I assume we should if they occur? is it only Sc ones?). They ran fine through all of qualifications but after a match or do of elims the problems started. Even with issues happening in auto. It would have been ideal from a troubleshooting standpoint to see the PDH per channel current draw to compare that to previous working matches and look for a difference. It didn't seem dramatic enough for like a blown cell (this also happened across multiple matches and multiple batteries) and the initial voltage looked good. We tried to access hoot logs but AS had trouble converting them and we struggled to get the CTRE built in viewing working.

4. 1987 apparently played all of IRI without a static address set but setting is to .2 seemed to help some initial problems.

[j0n5m1th]

For 4, I confirmed with the person that configured it for IRI did have it set to a static IP. I was incorrect with what I said at GRC.

[j0n5m1th]

For 3, I'll try loading those logs again tomorrow and follow up.

• For the match mentioned here, we did notice the DS to field heartbeat (probably the wrong term) was consistent, but there was a significant amount of robot to field heartbeats that did not appear. This was inconsistent with other matches where the robot performed just fine.

It'll be good to take a step back and dig into these since we had limited time between matches. I'll gather all of these logs and post some findings after tomorrow.

A quick brain dump, I'll try to follow up with more concrete info later:

• After one quals match, a field volunteer said we had significant trip times between the robot and field.
• Another time, when setting up the robot before a quals match, one LL3G was powered on(wired for power and poe) but not responding to the DS. I noticed the Ethernet status lights blinking on the LL3G but not on AUX1 radio port. I moved the LL3G to the DS port and it started responding and got Ethernet status lights. Later, we moved it back to AUX1 for the rest of the event.