Troubleshooting

Error Log

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

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:

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