Autonomous Acting Weirdly

[19072BProgrammer]

Our Auto for skills is working very strangely and does not work at all. We use an auton selector to select our different autos. When we select an auto, the radio blinks green, but the autonomous ONLY will move when we touch the robot. The robot will not do auto unless we move it even a little bit. I’ve linked our code below. How would we solve this problem?

Link to code:
https://pastecode.io/s/2b7f4kct

Thanks for the help!

-Team 197E

[jpearman]

Well, hard to test without a robot. But the first thing to fix is this.

void usercontrol(void) {
  while(!autonSelected){
    Controller1.ButtonLeft.pressed(autonChanger);
    Controller1.ButtonA.pressed([]() -> void {
      autonSelected = true;
      Controller1.ButtonLeft.pressed([]() -> void {});
      Controller1.ButtonA.pressed([]() -> void {});
    });
    autonDisplay();
    wait(100, msec);
  }

assume you want to select an autonomous before connecting to field control, however, that loop is registering the ButtonLeft.pressed and ButtonA.pressed events many times. You must only register event handlers once.

also

Controller1.ButtonLeft.pressed([]() -> void {});

you cannot unregister an event handler unless you stop all tasks when the robot becomes disabled by setting bStopAllTasksBetweenModes to true.

see this post, make necessary changes and then see what happens.

Competition code - common mistakes

ok, now that I fixed the spelling of competition in all the screen shots first topic is incorrect use of event handlers, something we have covered before but it seems everyone forgets. The symptom is that, for example, an event handler on a controller button sometimes works and sometimes doesn’t. At worlds the most common use was for firing pneumatics, a button push to set one state and a second button push to revert back to original state. simple code for a callback could look as…

also this topic.

Competition code and user created tasks

We’ve had some feedback recently from teams who have had issues with competition control. I’ve looked at some of the team code and noticed that often problems are being caused by tasks started in either the driver or autonomous section of the program being allowed to run during the other phase of the match. This can occur with programs written in either VEXcode or PROS (and I assume RobotMesh, but I’m not planning to specifically discuss that programming environment in this topic) although the…

[Elephanf]

Hi, 197E coder here

The problem with the autonomous turned out to be an issue with the velocity scalar I had, robot works like normal now. However, I did have one question about calling the field control variables. From your thread, it seemed like I needed to move the callback into main. Would I need to move the WHOLE while loop or just the callback?

[jpearman]

It would probably be easier to avoid using events at all in this situation, just poll the buttons in a while loop and take action as necessary.

[Elephanf]

just to clarify, this is what you mean?

int main() {
  // Set up callbacks for autonomous and driver control periods.
  while (!autonSelected) {
    Controller1.ButtonLeft.pressed(autonChanger);
    Controller1.ButtonA.pressed([]() -> void {
      autonSelected = true;
      Controller1.ButtonLeft.pressed([]() -> void {});
      Controller1.ButtonA.pressed([]() -> void {});
    });
    autonDisplay();
    wait(100, msec);
  }
  Competition.autonomous(autonomous);
  Competition.drivercontrol(usercontrol);

  // Run the pre-autonomous function.
  pre_auton();

  // Prevent main from exiting with an infinite loop.

  while (true) {
    wait(100, msec);
  }
}```

[jpearman]

@Elephanf

Controller1.ButtonLeft.pressed(autonChanger);

read the topics I linked, never put event registration (the above code line) inside a while loop. every time you call pressed another function is registered. After a few loops many functions (in this case the same one) will be called every time the button is pressed.

I would rewrite the code using pressing() rather than using events.

[jpearman]

here are a couple of options, although you probably figured this out already.

If you want to continue to use events.

int main() {
  // Set up callbacks for autonomous and driver control periods.
  Competition.autonomous(autonomous);
  Competition.drivercontrol(usercontrol);

  // Run the pre-autonomous function.
  pre_auton();

  Controller1.ButtonLeft.pressed(autonChanger);
  Controller1.ButtonA.pressed([]() -> void {
    autonSelected = true;
  });

  // Prevent main from exiting with an infinite loop.

  while (true) {
    wait(100, msec);
  }
}

and in user control (or pre-auton)

void usercontrol(void) {
  while(!autonSelected){
    autonDisplay();
    wait(100, msec);
  }

or just by using a polling loop

void usercontrol(void) {
  bool leftPressed = false;
  while(!autonSelected){
    if( Controller1.ButtonLeft.pressing() && !leftPressed ) {
      autonChanger();
      leftPressed = true;
    }
    else
    if( ! Controller1.ButtonLeft.pressing() ) {
      leftPressed = false;
    }

    if( Controller1.ButtonA.pressing() ) {
      autonSelected = true;
    }

    autonDisplay();
    wait(100, msec);
  }

[Elephanf]

I went with exactly the second option already. Thank you for your help!