Update: This discussion applies to Issues from the 2010 FTC season and is no longer relevant for current FTC competition software. If you experience related problems please create a new post.
We are struggling to get the Teleop to shut down cleanly, i.e. to execute the code in the false ("Robot is Disabled") case in the main loop as the program is being terminated by the FCS. Occasionally the code will execute but more often than not the FCS will pull the plug on the whole program before the "Robot is Disabled" code can execute at the end of Teleop leaving the motors and servos to time out and coast down.
1. Is this normal (the coast to a stop), or should the robot stop always be a hard stop, essentially putting on the brakes at the end of Teleop?
2. Can anyone please share what signals in what sequence and with what timing the Teleop receives from the FCS/Samantha as it is ending Teleop? i.e. something like:
a - as the round ends the "FTC Read Latest Packet.vi" passes stop = true
b - approx. 25ms later the Samantha aborts the program on the NXT
I have attached our current code. Please forgive the redundant code and stop blocks hanging off the end of the loop forevers. We have sprinkled stops all over the program playing around in our attempts to force what we call a "hard stop" (stopping the motors and servos immediately in the position of our choosing) rather than a "soft stop" (coasting down).
