Pololu Romi Robot programmed with FRC 2020 LabVIEW template runs 1.5 seconds and then stops

[Cap127]

Trying to learn LabVIEW programming for First Robotics team and using a Pololu Romi to start with.

Using the FRC LabVIEW templates to create the attached programs and dashboard, the Romi connects and accept Gameboy joystick inputs on USB 0 and runs the correct motors for about 1.5 seconds at which point the motors stop.

The Joy stick inputs and motor response from the simulation can still be observed on the Dashboard after the Romi's motors stop.  If the Robot is disabled and re-enabled via the Dashboard, Romi's motors will once again run for about1.5 seconds and then stop.

[Cap127]

Looks like wpilib-ws-robot-romi implemented PR #95 and wpilibsuite/wpilib-ws-robot#26. Leveraging the constant messaging from the driver station we are able to determine if we are still receiving messages from wpilib. If we don’t receive a message in 500 ms we will kill the heartbeat to the Romi which is checked every 1 sec setting a max overrun of 1.5 sec.

This is the exact cause of the issue as the motors will be re-enabled by switching modes on the Driver Station.

Turning on the Romi’s console output this is confirmed as the monitored FRC DriverStation Heartbeat appears only to be active on DriverStation mode change of state

Romi’s console output…
2022-03-14T09:53:19.996Z [ROMI] info: DS Packet Heartbeat Acquired
2022-03-14T09:53:19.999Z [ROMI] info: Robot ENABLED
2022-03-14T09:53:20.498Z [ROMI] warn: DS Packet Heartbeat Lost
2022-03-14T09:54:39.725Z [ROMI] info: DS Packet Heartbeat Acquired
2022-03-14T09:54:39.726Z [ROMI] info: Robot DISABLED
2022-03-14T09:54:40.226Z [ROMI] warn: DS Packet Heartbeat Lost
2022-03-14T09:54:56.131Z [ROMI] info: DS Packet Heartbeat Acquired
2022-03-14T09:54:56.132Z [ROMI] info: Robot ENABLED
2022-03-14T09:54:56.631Z [ROMI] warn: DS Packet Heartbeat Lost
2022-03-14T09:55:01.332Z [ROMI] info: DS Packet Heartbeat Acquired
2022-03-14T09:55:01.332Z [ROMI] info: Robot DISABLED
2022-03-14T09:55:01.833Z [ROMI] warn: DS Packet Heartbeat Lost

Looks like the updates made in wpilib-ws-robot-romi would not be compatible with FRC Labview and FRC labview based Driver Station for Labview code learning.

Confirmed…
reverting from latest release
WPILibPi_image-v2022.1.1-Romi.zip
to
WPILibPi_image-v2021.2.1-Romi.zip (which does not have PR [#95] implemented )
allows the Romi to run without shutting the motors down after 1.5 seconds