During autonomous, almost always our skills one (because it is longer) our robot will stop randomly. Sometimes it will go up to a roller, then not roll it, and get stuck, and we push the robot backwards manually and it continues the program. We think this might be because it cannot finish its’ processes, but if it is or if it is not, can you maybe provide advice?
However, the worst part is not that. Now, it will just randomly completely stop mid-code, I don’t know why, and refs at an event I was at didn’t know why. Since then, we have replaced the robot’s brain, but it still does it.
Here is the skills autonomous code:
// "when autonomous" hat block
int onauton_autonomous_0() {
endgame1.set(false);
endgame2.set(true);
Brain.Screen.clearScreen();
Brain.Screen.setPenColor(white);
Brain.Screen.setFillColor(blue);
Brain.Screen.drawRectangle(100, 50, 279, 139);
Brain.Screen.setPenColor(white);
Brain.Screen.setFillColor(cyan);
Brain.Screen.drawRectangle(150, 75, 179, 89);
Brain.Screen.setFont(prop20);
Brain.Screen.setCursor(6, 22);
Brain.Screen.setFillColor(cyan);
Brain.Screen.setPenColor(purple);
Brain.Screen.print("Roger64");
Brain.Screen.setFont(prop20);
Brain.Screen.setCursor(7, 23);
Brain.Screen.setFillColor(cyan);
Brain.Screen.print("6390-R");
roller.setVelocity(100.0, percent);
shooterthing.set(true);
intake.setVelocity(100.0, percent);
flywheel.setVelocity(100.0, percent);
Drivetrain.setDriveVelocity(30.0, percent);
Drivetrain.setTurnVelocity(65.0, percent);
Drivetrain.setStopping(brake);
Drivetrain.driveFor(forward, 2.5, inches);
roller.spinFor(reverse, 0.6, turns);
Drivetrain.driveFor(reverse, 22, inches);
Drivetrain.turnFor(right, 155, degrees);
Drivetrain.driveFor(forward, 22.5, inches);
roller.spinFor(reverse, 0.6, turns);
Drivetrain.driveFor(reverse, 20, inches);
Drivetrain.turnFor(right, 240, degrees);
Drivetrain.driveFor(forward, 123, inches);
Drivetrain.turnFor(right, 75, degrees);
Drivetrain.driveFor(forward, 14, inches);
roller.spinFor(forward, 0.6, turns);
Drivetrain.driveFor(reverse, 15, inches);
Drivetrain.turnFor(left, 155, degrees);
Drivetrain.driveFor(forward, 15, inches);
roller.spinFor(reverse, 0.6, turns);
Drivetrain.driveFor(reverse, 13, inches);
Drivetrain.turnFor(right, 155, degrees);
Drivetrain.driveFor(reverse, 13, inches);
flywheel.spinFor(forward, 5, turns);
shooterthing.set(false);
flywheel.spinFor(forward, 5, turns);
shooterthing.set(true);
flywheel.spinFor(forward, 5, turns);
shooterthing.set(false);
flywheel.spinFor(forward, 5, turns);
shooterthing.set(true);
flywheel.spinFor(forward, 5, turns);
shooterthing.set(false);
flywheel.spinFor(forward, 5, turns);
Drivetrain.driveFor(forward, 26, inches);
Drivetrain.turnFor(right, 80, degrees);
endgame2.set(false);
endgame1.set(true);
return 0;
}
