{"action":"created","issue":{"url":"https://api.github.com/repos/spartanracingelectric/SRE-2/issues/36","repository_url":"https://api.github.com/repos/spartanracingelectric/SRE-2","labels_url":"https://api.github.com/repos/spartanracingelectric/SRE-2/issues/36/labels{/name}","comments_url":"https://api.github.com/repos/spartanracingelectric/SRE-2/issues/36/comments","events_url":"https://api.github.com/repos/spartanracingelectric/SRE-2/issues/36/events","html_url":"https://github.com/spartanracingelectric/SRE-2/issues/36","id":134179755,"number":36,"title":"Change Torque Encoder Plausibility Check to disable inverter instead of command 0 torque?","user":{"login":"GuySmily","id":6540111,"avatar_url":"https://avatars.githubusercontent.com/u/6540111?v=3","gravatar_id":"","url":"https://api.github.com/users/GuySmily","html_url":"https://github.com/GuySmily","followers_url":"https://api.github.com/users/GuySmily/followers","following_url":"https://api.github.com/users/GuySmily/following{/other_user}","gists_url":"https://api.github.com/users/GuySmily/gists{/gist_id}","starred_url":"https://api.github.com/users/GuySmily/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/GuySmily/subscriptions","organizations_url":"https://api.github.com/users/GuySmily/orgs","repos_url":"https://api.github.com/users/GuySmily/repos","events_url":"https://api.github.com/users/GuySmily/events{/privacy}","received_events_url":"https://api.github.com/users/GuySmily/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2016-02-17T05:03:59Z","updated_at":"2016-02-22T06:53:32Z","closed_at":null,"body":"Issue: Currently/temporarily, the TEPC commands 0 torque but does not shut down the inverter.  This will not comply with rules, as the motor controller still applies some power at 0 torque as evidenced by the motor bumping around slightly on the bench.\r\n\r\nTodo: Disable the inverter (and don't change the torque command anymore?)\r\n~~Todo: Figure out restart procedure.  Re-enable automatically once error condition goes away?  Require RTD button to enable inverter?~~\r\nTodo: Do more testing with re-enabling inverter while motor is still spinning down.  On the bench there is a hard force applied and there may be a risk of damage to the motor/controller.\r\n\r\nEV2.3.5 If an implausibility occurs between the values of these two sensors the power to the motor(s) must be immediately shut down completely. It is not necessary to completely deactivate the tractive system, the motor controller(s) shutting down the power to the motor(s) is sufficient.\r\n"},"comment":{"url":"https://api.github.com/repos/spartanracingelectric/SRE-2/issues/comments/187040675","html_url":"https://github.com/spartanracingelectric/SRE-2/issues/36#issuecomment-187040675","issue_url":"https://api.github.com/repos/spartanracingelectric/SRE-2/issues/36","id":187040675,"user":{"login":"chucktesta154k","id":15354808,"avatar_url":"https://avatars.githubusercontent.com/u/15354808?v=3","gravatar_id":"","url":"https://api.github.com/users/chucktesta154k","html_url":"https://github.com/chucktesta154k","followers_url":"https://api.github.com/users/chucktesta154k/followers","following_url":"https://api.github.com/users/chucktesta154k/following{/other_user}","gists_url":"https://api.github.com/users/chucktesta154k/gists{/gist_id}","starred_url":"https://api.github.com/users/chucktesta154k/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chucktesta154k/subscriptions","organizations_url":"https://api.github.com/users/chucktesta154k/orgs","repos_url":"https://api.github.com/users/chucktesta154k/repos","events_url":"https://api.github.com/users/chucktesta154k/events{/privacy}","received_events_url":"https://api.github.com/users/chucktesta154k/received_events","type":"User","site_admin":false},"created_at":"2016-02-22T06:53:32Z","updated_at":"2016-02-22T06:53:32Z","body":"Ohhh. Okay. Then I'm not sure about that. Is commanding no torque a\npossibility?\nOn Feb 21, 2016 4:36 PM, \"Rusty\" <notifications@github.com> wrote:\n\n> Yes, there is an inverter enable/disable bit. However, if you disable the\n> inverter and re-enable the inverter while the motor is still rotating, it\n> physically shocks the motor pretty hard. It sounds like something is\n> slamming into the workbench. I'll setup demo code for the next meeting if I\n> have enough time.\n>\n> —\n> Reply to this email directly or view it on GitHub\n> <https://github.com/spartanracingelectric/SRE-2/issues/36#issuecomment-186952256>\n> .\n>\n"}}