Autonomous IME Help

VEX V5 Technical Support
1

I’m trying to write a program that turns the robot about its center for a certain number of degrees, using IMEs. I’m using EasyCv4. When I run autoTurn(360);, the robot just turns for 75 ms (which I included to remove the slop from the drive train before I started measuring data). Can anyone please help? Thanks in advance. The code is below.

#include "Main.h"

void autoTurn(double degrees)
{
    setLeftDrive(-127*sign(degrees));
    setRightDrive(127*sign(degrees));
    Wait(75);
    double targetIME = degrees/360*chassisSize*pi/(2*pi*wheelRadius)*261.333;
    PresetIntegratedMotorEncoder(3,0);
    PresetIntegratedMotorEncoder(8,0);
    long rIME = 0;
    long lIME = 0;
    long Rerror = targetIME;
    long Lerror = targetIME;
    while(rIME<targetIME||lIME<targetIME)
    {
        rIME = GetIntegratedMotorEncoder(3); 
        lIME = GetIntegratedMotorEncoder(8);
        Rerror = targetIME-rIME;
        Lerror = targetIME-lIME;
        RautoMotor = kTurn*Rerror;
        RautoMotor = RautoMotor>127?127:RautoMotor<-127?-127:RautoMotor;
        LautoMotor = kTurn*Lerror;
        LautoMotor = LautoMotor>127?127:LautoMotor<-127?-127:LautoMotor;
        setLeftDrive(-LautoMotor*sign(degrees));
        setRightDrive(RautoMotor*sign(degrees));
        PrintToScreen ( "Left: %f" , lIME ) ;
        PrintToScreen ( " Right: %f" , rIME ) ; 
        PrintToScreen ( " Target: %f" , targetIME ) ; 
        PrintToScreen(" Avg: %f\n", (lIME+rIME)/2);
        Wait(25);
    }
}
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