Robinson was under the influence of Porcini Mushrooms

It's unclear from the police radio transmissions whether or not authorities knew Robinson was under the influence of  drugs, but the Madison Police Department has a special Mental Health Liaison program.

"Because it is impossible to predict when and where a mental health crisis may erupt, the Madison Police Department trains each and every officer to respond to persons with mental illness with compassion, to utilize appropriate communication/de-escalation skills, and to work collaboratively toward an effective resolution," the program pamphlet states.