Autonomous Not Functioning Properly During Competition

Programming Support VEXcode Pro V5 Text Tech Support
1

Hey, so for the past two weeks my team and I tested out our autonomous, and it worked just fine. The robot collected cubes and stacked as intended. However, from 10-19-19 (last Saturday) to now, we noticed that at random times the bot will start to diverge from the order of the coded actions even though we did not change anything in the program.

Here is the order of the autonomous. “expand_2()” is a user-made function that expands our tilter. “Driving_Intake” is another function that drives the robot for distance while intaking cubes. “TL” is turn left. “T_Stack()” is a succession of code that makes the bot stack.

expand_2();
Driving_Intake(30, 37);
Backward(30, 28);
TL(30, 173);
Forward(20, 14);
T_Stack(); <-------This is where we are having issues

It is probably important that I mention that we have an autonomous selector that works completely fine with fulfilling its purpose. It uses quite a lot of Boolean logic (or I think that’s what you can call it ;-; ).

int All = 1;
int Red_Select = 0;
int Blue_Select = 0;
int Red_4P = 0;
int Red_PH = 0;
int Blue_4P = 0;
int Blue_PH = 0;

void Alliance() {
Brain.Screen.drawRectangle(0, 0, 240, 240, color::red);
Brain.Screen.printAt(119, 119, “RED”);
Brain.Screen.drawRectangle(240, 0, 240, 240, color::blue);
Brain.Screen.printAt(359, 119,“BLUE”);

if (Brain.Screen.pressing()) {
if (Brain.Screen.xPosition() >= 0 && Brain.Screen.xPosition() <= 239 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
task::sleep(500);
Red_Select++;
All–; <--------------------These are two dashes (-), not one (subtracts 1)
}

else if (Brain.Screen.xPosition() >= 240 && Brain.Screen.xPosition() <= 479 && > Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
  task::sleep(500); 
  Blue_Select++;
  All--;
} 
else {
  task::sleep(0);
}

}
else {
task::sleep(0);
}
}

void Red_Position() {
Brain.Screen.drawRectangle(0, 0, 240, 240, color::white);
Brain.Screen.printAt(119, 119, “4-Point”);
Brain.Screen.drawRectangle(240, 0, 240, 240, color::black);
Brain.Screen.printAt(359, 119, “5-Point”);

if (Brain.Screen.pressing()) {
if (Brain.Screen.xPosition() >= 0 && Brain.Screen.xPosition() <= 239 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {

  task::sleep(500); 
  Red_4P++;
  Red_Select--;
  Brain.Screen.clearScreen();
Brain.Screen.setCursor(1, 1);
Brain.Screen.print("Running 4-Point");
} 

else if (Brain.Screen.xPosition() >= 240 && Brain.Screen.xPosition() <= 479 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
  task::sleep(500); 
  Red_PH++;
  Red_Select--;
  Brain.Screen.clearScreen();
Brain.Screen.setCursor(1, 1);
Brain.Screen.print("Running 5-Point");
}

 else {
  task::sleep(0);
}

}
else {
task::sleep(0);
}
}

void Blue_Position() {
Brain.Screen.drawRectangle(0, 0, 240, 240, color::white);
Brain.Screen.printAt(119, 119, “4-Point”);
Brain.Screen.drawRectangle(240, 0, 240, 240, color::black);
Brain.Screen.printAt(359, 119, “5-Point”);

if (Brain.Screen.pressing()) {
if (Brain.Screen.xPosition() >= 0 && Brain.Screen.xPosition() <= 239 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
task::sleep(500);
Blue_4P++;
Blue_Select–;
Brain.Screen.clearScreen();
Brain.Screen.setCursor(1, 1);
Brain.Screen.print(“Running 4-Point”);
}
else if (Brain.Screen.xPosition() >= 240 && Brain.Screen.xPosition() <= 479 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
task::sleep(500);
Blue_PH++;
Blue_Select–;
Brain.Screen.clearScreen();
Brain.Screen.setCursor(1, 1);
Brain.Screen.print(“Running 5-Point”);
}
else {
task::sleep(0);
}
}
else {
task::sleep(0);
}
}

void Run_Red_4P() {
expand_2();
Driving_Intake(30, 35);
Backward(30, 26);
TR(30, 173);
Forward(20, 16);
T_Stack();
}

void Run_Red_5P() {
Forward(20, 10);
Backward(20, 10);
expand_2();
Driving_Intake(30, 37);
Backward(30, 28);
TR(30, 173);
Forward(20, 14);
T_Stack_NO();
}

void Run_Blue_4P() {
expand_2();
Driving_Intake(30, 37);
Backward(30, 28);
TL(30, 173);
Forward(20, 14);
T_Stack();
}

void Run_Blue_5P() {
Forward(20, 10);
Backward(20, 10);
expand_2();
Driving_Intake(30, 35);
Backward(30, 26);
TL(30, 173);
Forward(20, 14);
T_Stack_NO();
}

void pre_auton(void) {
{
while (All == 1) {
Alliance();
}

while (Red_Select == 1) {
  Red_Position();
}

while (Blue_Select == 1) {
  Blue_Position();
}

}

if (Red_PH == 1) {
Run_Red_5P();
}

if (Red_4P == 1) {
Run_Red_4P();
}

if (Blue_4P == 1) {
Run_Blue_4P();
}

if (Blue_PH == 1) {
Run_Blue_5P();
}
}

void autonomous( void ) {
pre_auton();
}

2

Mkay. That’s wayyyy too long. and it is hard to understand where all the brackets are. I am not so sure how to post the entire code here as I just made this account today (October 23, 2019), so if anyone has a suggestion on how, please tell me… There are a lot of voids in the main code not shown in these two snippets so there is a lot of missing information.

So, our autonomous is very peculiar. When running the main code without a competition switch (only the brain on), the selected autonomous works just fine. But, once the comp switch is connected via the controller, the robot runs the selected autonomous perfectly until it reaches the “T_Stack()” void.

void T_Stack(){
outtake(30, 600);
T.rotateTo(-525, rotationUnits::deg, 20, velocityUnits::pct, true);
outtake(30, 400);
Driving_Outake(20, 1);
outtake(30, 500);
Driving_Outake(-30, -8);
}

Instead of rotating the rollers/intakes of our tray-bot so that cubes get pushed out (first “outake” void/function), the bot drives backwards, turns left (for blue 4 point) or right (for red 4 point), then proceeds to run “T.rotateTo…” Again, this only occurs when using the main code with a competition switch.

From the trials that we recently conducted, running the main program without the switch works fine. When a single autonomous is isolated and ran without the switch, it works fine. When the same isolated code runs WITH the switch, it still works fine.

3

We are not quite sure what is causing this issue. We asked other teams from the competition we were at on Saturday and did everything that we were suggested. If necessary, I can go into detail on what we did, but this post is way too long on its own. Anyways, thank you for your time.

4

Rather than starting every line with a > character, delete all those characters and wrap your entire code in triple backticks (```) or [code]…[/code] tags. Alternately, highlight your code in the post edit window and click the </> button to do that automatically.

2 Likes
5 
#include "Configuration.h"

vex::competition Competition;

void  Forward(int s, int n) {
  float inch = 28.6478897565;
  RD.setStopping(brakeType::coast);
  LD.setStopping(brakeType::coast);

  FL.resetRotation();
  FR.resetRotation();
  BL.resetRotation();
  BR.resetRotation();

  FL.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  FR.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  BL.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  BR.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, true);
}

void Backward(int s, int n) {
  float inch = 28.6478897565;
  RD.setStopping(brakeType::coast);
  LD.setStopping(brakeType::coast);

  FL.resetRotation();
  FR.resetRotation();
  BL.resetRotation();
  BR.resetRotation();

  FL.rotateFor(inch * -n, rotationUnits::deg, -s, velocityUnits::pct, false);
  FR.rotateFor(inch * -n, rotationUnits::deg, -s, velocityUnits::pct, false);
  BL.rotateFor(inch * -n, rotationUnits::deg, -s, velocityUnits::pct, false);
  BR.rotateFor(inch * -n, rotationUnits::deg, -s, velocityUnits::pct, true);
}

void TL(int s, int d) {
 FL.resetRotation();
  FR.resetRotation();
  BL.resetRotation();
  BR.resetRotation();
  
  FL.rotateFor((d*2)*-1, rotationUnits::deg, -s, velocityUnits::pct, false);
  FR.rotateFor((d*2), rotationUnits::deg, s, velocityUnits::pct, false);
  BL.rotateFor((d*2)*-1, rotationUnits::deg, -s, velocityUnits::pct, false);
  BR.rotateFor((d*2), rotationUnits::deg, s, velocityUnits::pct, true);       //45 degree turn on both sides = 90 degree turn total. To halve it halve the amount of degrees on both sides
}

void TR(int s, int d) {
  FL.resetRotation();
  FR.resetRotation();
  BL.resetRotation();
  BR.resetRotation();
  
  FL.rotateFor((d*2), rotationUnits::deg, s, velocityUnits::pct, false);
  FR.rotateFor((d*2)*-1, rotationUnits::deg, -s, velocityUnits::pct, false);
  BL.rotateFor((d*2), rotationUnits::deg, s, velocityUnits::pct, false);
  BR.rotateFor((d*2)*-1, rotationUnits::deg, -s, velocityUnits::pct, true);  //45 degree turn on both sides = 90 degree turn total. To halve it halve the amount of degrees on both sides
}

void intake(int s, int t){
   Intake.spin(directionType::fwd, s, velocityUnits::pct);
   task::sleep(t);
   Intake.stop(brakeType::hold);
}

void outtake(int s, int t){
   Intake.spin(directionType::rev, s, velocityUnits::pct);
   task::sleep(t);
   Intake.stop(brakeType::hold);
}

void Driving_Intake(int s, int n){
  float inch = 28.6478897565;
  RD.setStopping(brakeType::coast);
  LD.setStopping(brakeType::coast);

  FL.resetRotation();
  FR.resetRotation();
  BL.resetRotation();
  BR.resetRotation();

  Intake.spin(directionType::fwd, 70, velocityUnits::pct);
  task::sleep(500);
  FL.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  FR.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  BL.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  BR.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, true);
  Intake.stop(brakeType::hold);
}

void Driving_Outake(int s, int n){
  float inch = 28.6478897565;
  RD.setStopping(brakeType::coast);
  LD.setStopping(brakeType::coast);

  FL.resetRotation();
  FR.resetRotation();
  BL.resetRotation();
  BR.resetRotation();

  Intake.spin(directionType::rev, 30, velocityUnits::pct);
  FL.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  FR.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  BL.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, false);
  BR.rotateFor(inch * n, rotationUnits::deg, s, velocityUnits::pct, true);
  Intake.stop(brakeType::hold);
}

void expand(){
  outtake(100, 900);
task::sleep(1000);
}

void expand_2(){
  outtake(100, 900);
task::sleep(1000);
Intake.rotateFor(1500, rotationUnits::deg, 100, velocityUnits::pct, true);
}

void T_Stack(){
  /*Intake.spin(directionType::rev, 30, velocityUnits::pct);
  task::sleep(600);
  Intake.stop(brakeType::hold);*/
  outtake(30, 600);
  T.rotateTo(-525, rotationUnits::deg, 20, velocityUnits::pct, true);
  /*Intake.spin(directionType::rev, 30, velocityUnits::pct);
  task::sleep(400);
  Intake.stop(brakeType::brake);*/
  outtake(30, 400);
  Driving_Outake(20, 1);
  /*Intake.spin(directionType::rev, 30, velocityUnits::pct);
  task::sleep(500);
  Backward(30, 8);
  Intake.stop(brakeType::hold);*/
  outtake(30, 500);
  Driving_Outake(-30, -8);
}

void T_Stack_NO(){
  Intake.spin(directionType::rev, 30, velocityUnits::pct);
  task::sleep(400);
  Intake.stop(brakeType::hold);
  T.rotateTo(-530, rotationUnits::deg, 20, velocityUnits::pct, true);
  Intake.spin(directionType::rev, 30, velocityUnits::pct);
  task::sleep(480);
  Intake.stop(brakeType::brake);
  Intake.spin(directionType::rev, 30, velocityUnits::pct);
  task::sleep(500);
  Backward(30, 8);
  Intake.stop(brakeType::hold);
}

void T_back(){
  T.spin(directionType::fwd, 100, velocityUnits::pct);
  task::sleep(500);
  T.stop(brakeType::hold);
}

int All = 1;
int Red_Select = 0;
int Blue_Select = 0;
int Red_4P = 0;
int Red_PH = 0;
int Blue_4P = 0;
int Blue_PH = 0;

void Alliance() {
  Brain.Screen.drawRectangle(0, 0, 240, 240, color::red); // Note that (0,0) is at top left.
                                          // Because (0,0) is on the very
  Brain.Screen.printAt(119, 119, "RED"); // first pixel, the POSITION of every pixel is -1 from its actual
  Brain.Screen.drawRectangle(240, 0, 240, 240, color::blue); // position. For a 480 x 272 screen,
                                                             // the the very bottom right
  Brain.Screen.printAt(359, 119,"BLUE"); // pixel is at (479,271), not (480,272).
  // In the case of these rectangles, the last 2 numbers are asking for length,
  // not position. The first 2 numbers are the position.
  if (Brain.Screen.pressing()) {
    if (Brain.Screen.xPosition() >= 0 && Brain.Screen.xPosition() <= 239 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
      task::sleep(500); // gives time to remove any contact with screen
                        // ^Threshold setting for the left side of the screen.
      Red_Select++;
      All--; // Red_Select++ and All-- are used to go from one loop to the next.
             // "--" Subtracts 1 from integer "All", which makes it 0 and ends
             // its loop (0=/1).
    } //"++" Adds 1 to "Red_Select", which makes it 1 and start its loop (1==1).
      //The same logic applies for the rest.
    else if (Brain.Screen.xPosition() >= 240 && Brain.Screen.xPosition() <= 479 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
      task::sleep(500); //^Threshold setting for the right side of the screen.
      Blue_Select++;
      All--;
    } 
    else {
      task::sleep(0);
    }
  } 
  else {
    task::sleep(0);
  }
}

void Red_Position() {
  // Brain.Screen.clearScreen();
  Brain.Screen.drawRectangle(0, 0, 240, 240, color::white);
  Brain.Screen.printAt(119, 119, "4-Point");
  Brain.Screen.drawRectangle(240, 0, 240, 240, color::black);
  Brain.Screen.printAt(359, 119, "5-Point");

  if (Brain.Screen.pressing()) { // Asks if the brain is being pressed. This stops the
                         // code from getting the position of the last press.
    if (Brain.Screen.xPosition() >= 0 && Brain.Screen.xPosition() <= 239 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
      task::sleep(500); //^if press was at D:[0<x<239] and R:[0<y<240] pixels, then...
                //(Only occurs if screen has been pressed during this void)
      Red_4P++;
      Red_Select--;
      Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.print("Running 4-Point");
    } 
    else if (Brain.Screen.xPosition() >= 240 && Brain.Screen.xPosition() <= 479 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
      task::sleep(500); //^if press was at D:[240<x<479] and R:[0<y<240] pixels, then...
                //(Only occurs if screen has been pressed during this void)
      Red_PH++;
      Red_Select--;
      Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.print("Running 5-Point");
    }
     else {
      task::sleep(0);
    }
  } 
  else {
    task::sleep(0);
  }
}

void Blue_Position() {
  // Brain.Screen.clearScreen();
  Brain.Screen.drawRectangle(0, 0, 240, 240, color::white);
  Brain.Screen.printAt(119, 119, "4-Point");
  Brain.Screen.drawRectangle(240, 0, 240, 240, color::black);
  Brain.Screen.printAt(359, 119, "5-Point");

  if (Brain.Screen.pressing()) {
    if (Brain.Screen.xPosition() >= 0 && Brain.Screen.xPosition() <= 239 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
      task::sleep(500);
      Blue_4P++;
      Blue_Select--;
      Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.print("Running 4-Point");
    } 
    else if (Brain.Screen.xPosition() >= 240 && Brain.Screen.xPosition() <= 479 && Brain.Screen.yPosition() <= 240 && Brain.Screen.yPosition() >= 0) {
      task::sleep(500);
      Blue_PH++;
      Blue_Select--;
      Brain.Screen.clearScreen();
    Brain.Screen.setCursor(1, 1);
    Brain.Screen.print("Running 5-Point");
    }
     else {
      task::sleep(0);
    }
  }
   else {
    task::sleep(0);
  }
}

void Run_Red_4P() {
  expand_2();
  Driving_Intake(30, 35);
  Backward(30, 26);
  TR(30, 173);
  Forward(20, 16);
  T_Stack();
}

void Run_Red_5P() {
  Forward(20, 10);
  Backward(20, 10);
  expand_2();
  Driving_Intake(30, 37);
  Backward(30, 28);
  TR(30, 173);
  Forward(20, 14);
  T_Stack_NO();
}

void Run_Blue_4P() {
  expand_2();
  Driving_Intake(30, 37);
  Backward(30, 28);
  TL(30, 173);
  Forward(20, 14);
  T_Stack();
}

void Run_Blue_5P() {
  Forward(20, 10);
  Backward(20, 10);
  expand_2();
  Driving_Intake(30, 35);
  Backward(30, 26);
  TL(30, 173);
  Forward(20, 14);
  T_Stack_NO();
}

void pre_auton(void) {
  //{
    while (All == 1) {
      Alliance();
    }

    while (Red_Select == 1) {
      Red_Position();
    }

    while (Blue_Select == 1) {
      Blue_Position();
    }
  //}

  if (Red_PH == 1) {
    Run_Red_5P();
  }

  if (Red_4P == 1) {
    Run_Red_4P();
  }

  if (Blue_4P == 1) {
    Run_Blue_4P();
  }

  if (Blue_PH == 1) {
    Run_Blue_5P();
  }
}

void autonomous( void ) {
  pre_auton();
}

void usercontrol( void ) {
  while (true) {
    {
    //Drive:
    RD.spin(directionType::fwd, controller1.Axis2.value(), velocityUnits::pct);
    LD.spin(directionType::fwd, controller1.Axis3.value(), velocityUnits::pct);
    }

    //Intake:
    if(controller1.ButtonL1.pressing()){ //Intake 
      Intake.spin(directionType::fwd, 100, velocityUnits::pct);
    }

    else if(controller1.ButtonL2.pressing()){ //Outtake
      Intake.spin(directionType::rev, 60, velocityUnits::pct);
    }

    else{
      Intake.stop(brakeType::hold);
      }
        
    //Tilter:
    if(controller1.ButtonR1.pressing()){  //Tilt back
      T.spin(directionType::fwd, 100, velocityUnits::pct);
    }

    else if(controller1.ButtonR2.pressing()){ //Tilt  Forward
      T.spin(directionType::rev, 20, velocityUnits::pct);
    }
  
    else{
      T.stop(brakeType::brake);
    }
  }
}

int main() {
    Competition.autonomous( autonomous );
    Competition.drivercontrol( usercontrol );
    pre_auton();
    while(1) {
      vex::task::sleep(100);
    }       
}

Thank you @holbrook!