Better handling of motor faults #3425
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… motor fault tracking implemented.
GrayHoang
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Need to do some final cleanup. I think I left some debugging stuff and I need to make sure all motors restart 3 times before failing (in the video you can see the affected motor only attempt restart twice). |
…eset 3 times, not 2, when fault detected.
itsarune
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itsarune
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…e into HandleMotorFault
Scan all motors per call to poll, rather than one per call
…e into HandleMotorFault
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I'm going to need someone to test this in the mezz, or I can do it in about 2 weeks. |
itsarune
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Jul 18, 2025
…rs per call to poll, rather than one per call" This reverts commit 8271f50
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Looks good! Let me know when you've field tested it and I'll approve!
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Description
See #3408
https://github.com/user-attachments/assets/a77848b3-ee4a-4df8-ad6d-0fa36bc76db8
Changes motor fault handling to a per motor control.
Allows for faulty motors to be disabled without crashing thunderloop.
Disabled motors freewheel and are no longer checked for further issues. They will not be given commands to run.
Testing Done
Tested on robot. When fault is detected, movement halts and motors attempt to restart three times before disabling the affected motor and reinitializing all other motors.
Resolved Issues
Resolves #3408
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue