Hello Forum,
My team is having a problem with our autonomous and driver control. When we run our code, the autonomous usually does not work at all, and the driver control works the way it’s supposed to. But, in the few instances when our autonomous programming does work, our drivetrain just doesn’t work, we can’t move around at all. Here is our programming:
#pragma region VEXcode Generated Robot Configuration
// Make sure all required headers are included.
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>
#include "vex.h"
using namespace vex;
// Brain should be defined by default
brain Brain;
// START V5 MACROS
#define waitUntil(condition) \
do { \
wait(5, msec); \
} while (!(condition))
#define repeat(iterations) \
for (int iterator = 0; iterator < iterations; iterator++)
// END V5 MACROS
// Robot configuration code.
controller Controller1 = controller(primary);
motor Tank = motor(PORT10, ratio36_1, false);
motor LeftShooter = motor(PORT16, ratio36_1, false);
motor RightShooter = motor(PORT18, ratio36_1, false);
motor FR = motor(PORT8, ratio36_1, true);
motor FL = motor(PORT2, ratio36_1, false);
motor BR = motor(PORT15, ratio36_1, true);
motor BL = motor(PORT13, ratio36_1, false);
motor Hook = motor(PORT6, ratio36_1, false);
// Helper to make playing sounds from the V5 in VEXcode easier and
// keeps the code cleaner by making it clear what is happening.
void playVexcodeSound(const char *soundName) {
printf("VEXPlaySound:%s\n", soundName);
wait(5, msec);
}
// define variable for remote controller enable/disable
bool RemoteControlCodeEnabled = true;
// define variables used for controlling motors based on controller inputs
bool Controller1LeftShoulderControlMotorsStopped = true;
bool Controller1RightShoulderControlMotorsStopped = true;
bool Controller1UpDownButtonsControlMotorsStopped = true;
bool Controller1XBButtonsControlMotorsStopped = true;
// define a task that will handle monitoring inputs from Controller1
int rc_auto_loop_function_Controller1() {
// process the controller input every 20 milliseconds
// update the motors based on the input values
while(true) {
if(RemoteControlCodeEnabled) {
// check the ButtonL1/ButtonL2 status to control LeftShooter
if (Controller1.ButtonL1.pressing()) {
LeftShooter.spin(forward);
Controller1LeftShoulderControlMotorsStopped = false;
} else if (Controller1.ButtonL2.pressing()) {
LeftShooter.spin(reverse);
Controller1LeftShoulderControlMotorsStopped = false;
} else if (!Controller1LeftShoulderControlMotorsStopped) {
LeftShooter.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1LeftShoulderControlMotorsStopped = true;
}
// check the ButtonR1/ButtonR2 status to control RightShooter
if (Controller1.ButtonR1.pressing()) {
RightShooter.spin(forward);
Controller1RightShoulderControlMotorsStopped = false;
} else if (Controller1.ButtonR2.pressing()) {
RightShooter.spin(reverse);
Controller1RightShoulderControlMotorsStopped = false;
} else if (!Controller1RightShoulderControlMotorsStopped) {
RightShooter.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1RightShoulderControlMotorsStopped = true;
}
// check the ButtonUp/ButtonDown status to control Tank
if (Controller1.ButtonUp.pressing()) {
Tank.spin(forward);
Controller1UpDownButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonDown.pressing()) {
Tank.spin(reverse);
Controller1UpDownButtonsControlMotorsStopped = false;
} else if (!Controller1UpDownButtonsControlMotorsStopped) {
Tank.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1UpDownButtonsControlMotorsStopped = true;
}
// check the ButtonX/ButtonB status to control Hook
if (Controller1.ButtonX.pressing()) {
Hook.spin(forward);
Controller1XBButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonB.pressing()) {
Hook.spin(reverse);
Controller1XBButtonsControlMotorsStopped = false;
} else if (!Controller1XBButtonsControlMotorsStopped) {
Hook.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1XBButtonsControlMotorsStopped = true;
}
}
// wait before repeating the process
wait(20, msec);
}
return 0;
}
task rc_auto_loop_task_Controller1(rc_auto_loop_function_Controller1);
#pragma endregion VEXcode Generated Robot Configuration
/*----------------------------------------------------------------------------*/
/* */
/* Module: main.cpp */
/* Author: {author} */
/* Created: {date} */
/* Description: V5 project */
/* */
/*----------------------------------------------------------------------------*/
void preAutonomous(void) {
// actions to do when the program starts
Brain.Screen.clearScreen();
Brain.Screen.print("pre auton code");
wait(1, seconds);
}
void autoMove(int Hook2, int RightShooter2, int LeftShooter2, int BL2, int BR2, int FL2, int FR2, double time){
Hook.setVelocity(Hook2,percent);
RightShooter.setVelocity(RightShooter2,percent);
LeftShooter.setVelocity(LeftShooter2,percent);
BL.setVelocity(BL2,percent);
BR.setVelocity(BR2,percent);
FL.setVelocity(FL2,percent);
FR.setVelocity(FR2,percent);
Hook.spin(forward);
RightShooter.spin(forward);
LeftShooter.spin(forward);
BL.spin(forward);
BR.spin(forward);
FL.spin(forward);
FR.spin(forward);
wait(time, msec);
Hook.setVelocity(0,percent);
RightShooter.setVelocity(0,percent);
LeftShooter.setVelocity(0,percent);
BL.setVelocity(0,percent);
BR.setVelocity(0,percent);
FL.setVelocity(0,percent);
FR.setVelocity(0,percent);
}
void autonomous(void) {
Brain.Screen.clearScreen();
Brain.Screen.print("autonomous code");
autoMove(-130,0,0,0,0,0,0, 2000);
wait(10, msec);
autoMove(0,-360,360,0,0,0,0, 2000);
wait(10, msec);
autoMove(0, 0, 0, 360, -360, 360, -360, 2000);
}
void userControl(void) {
Brain.Screen.clearScreen();
// place driver control in this while loop
int main(){
}
// create competition instance
competition Competition;
// Set up callbacks for autonomous and driver control periods.
Competition.autonomous(autonomous);
Competition.drivercontrol(userControl);
// Run the pre-autonomous function.
preAutonomous();
// Prevent main from exiting with an infinite loop.
while (true) {
wait(100, msec);
}
}
Any help would be greatly appreciated. Thank you!
edit: code tags added by mods, please remember to use them when posting code.