After removing the top motor from VIPER,I tried to troubleshoot why the motor no longer functioned. The problem does not appear to be with the motor itself. There was no water inside of it and all the wiring seems to be intact. The brakes are also operational because we can hear the click that signifies that they are disengaged and we are able to move the motor by hand.
The problem also does not appear to be with the power supply as we measured the output with a voltmeter and the measurement checked out.
The angle encoder appears to be fine as well. I had originally thought that there may have been something wrong with the wire that connects the angle encoder to the relays was malfunctioning because when you shook the wire while the angle encoder was not attached, the counts would increase. However, while the encoder was attached this problem did not persist.
To ensure that there were no problems with the code or that I accidentally changed some parameters, I redownloaded the original code that I had used when we successfully moved the motors the first time.
This leads me to believe that the problem lies with the relays because it is the only aspect left unchecked and I measured the voltage at the leads where the motors connect to the relays and there was no output.
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