Known Bugs/Issues in the Robot

Last Updated 2/4/05

Floating Point Conversion Bug - The MicroBlaze software libraries have a bug in the floating point support. It does not properly convert a floating point number less than 1 in magnitude to an integer. For example, consider the following code:
```
	volatile float f;
	int i;

	f = 0.5;
	i = f;
	PrintInt(i);
```
This code will actually print -2147483648 because it converted the float to 0x80000000 instead of 0.
You can use the function FloatToInt() in Utils.c to do the conversion correctly.
The Robot Freezes after Powering Up / WaitFrameGrab() Never Returns - Sometimes the camera doesn't power up properly and gets stuck in an odd state. When this happens the camera doesn't function, even after powering down the robot. To fix this, power down the robot, disconnect the camera, power on the robot (wait a few seconds), then reconnect the camera. The problem should go away.
Mysterious Restarting of Robot / Task Stack Sizes - Make sure that the task stack sizes (including the idle task) are sufficiently large. If they are too small than mysterious things happen when overflow occurs, such as spontaneous restarting of the system.
Robot Doesn't Work after Reprogramming - Sometimes just reprogramming the robot isn't enough. It may need to be powered down then powered back up.
If that doesn't work, remove every cable (programming cable, serial cable, power/batter cable, etc), let it sit for a few seconds, then reconnect and reprogram it.
Still having trouble? Clean the software build by selecting (in XPS) the "Tools" menu, selecting "Clean", then clicking "Software". This will cause the tools to completely regenerate the software and libraries. As a last resort you can also clean everything by selectin "All" from the same menu.
The Compass Doesn't Work after a Reset - There appears to be a problem with the compass where, after being initialized once or twice, it can't be initialized again and locks up. The cause is unknown and the only known fix is to power down the system then power it back up.