Error Log

Error 1:

Tractor induces runaway state after several seconds of teleoperated control

• T1: Put tractor on jacks, run system; Steering to limits, velocity to limits, steering to limits while velocity max, velocity to limits while steering max, estop, start again, repeat 1x.
• R1: Tractor performed nominally; softswitch for autonomous mode not working, everything else fine.
• T2: Tractor off of jacks, perform above tests while tractor running in neutral
• R2: Tractor performs nominally when off, actuators do not update when on; requires estop reboot for actuators to work again.
• T3: Tested starting tractor and controlling multiple times
• R3: Always locked up within a few seconds of starting; if locks up in a turning position, turning actuator attempts to re-home and strips itself.
• T4: Power RoboClaw logic battery separately from power with 5V regulator
• R4: RoboClaw functions nominally, no issues

Solution: Provide RoboClaw with stable, non-fluctuating data line

Error 2:

Tractor velocity actuator does not move when signals are sent

• T1: Ensure all binding pins & clips are removed; run tractor in teleop mode, try to control actuators
• R1: Actuator doesn't move; printouts show signal change, printouts double printing
• T2: Verify most recent code uploaded
• R2: Uploaded more recent code, printouts normal, velocity msgs default to 2
• T3: Independently verify velocity conversion function
• R3: returned velocity values as expected
• T4: Check velocity messages throughout code to make sure they were normal
• R4: Strange numbers resulted from not fully printing strings; values were nominal
• T5: Plug RoboClaw into IonMC and verify that motor responds to controls in software
• R5: Motor takes raw PWM Data, velocity pedal moves as expected - wiring is good Position holding working nominally as well
• T6: Remove hindbrain; Ensure signal wires between Teensy and RoboClaw are nominal
• R6: Relay pins unplugged; re-hot glued and zip-tied wires to prevent sliding out through casings. Connectivity checks on both signal wires nominal
• T7: Upload simple example code to Teensie; verify that commands are being sent to the RoboClaw
• R7:

Error 3:

Tractor does not start upon pushing down the clutch and turning the key.

• Further Info: turning key to on position lights up dash and switches two relays.
• T1: Check if battery is charged
• R1: Battery is at 12.5 V
• T2: Check if starter is powered
• R2: Starter has 12.5 V at lugs
• T3: Check if starter is receiving signal from starter
• R3: Starter is not receiving signal
• T4: Short starter signal pin to power with clutch pressed and starter turned
• R4: Tractor starts with starter turned, not with starter not turned
• T5: Checked manual; returned PTO lever to proper position
• R5: Tractor worked properly

Solution: Check manual; ensure PTO lever is in neutral