Claw Is Jittery On Code That Should Work

Programming Support ROBOTC Tech Support
1

My code worked on my last bot, but now on my new bot the claw is super jittery and old moving halfway up and down. It is the exact same code, I checked.

#pragma config(Motor,  motor1,          lDrive,        tmotorVexIQ, PIDControl, driveLeft, encoder)
#pragma config(Motor,  motor4,          claw,          tmotorVexIQ, PIDControl, reversed, encoder)
#pragma config(Motor,  motor5,          hDrive,        tmotorVexIQ, PIDControl, encoder)
#pragma config(Motor,  motor6,          rDrive,        tmotorVexIQ, PIDControl, reversed, driveRight, encoder)
#pragma config(Motor,  motor10,         arm,           tmotorVexIQ, PIDControl, encoder)

//                               VARIABLES
bool clawpos = false;

//                                 TASKS
task claws()
{
	while(true)
	{
		if(vexRT(BtnEUp)==1)
		{
			if(clawpos==false)
			{
				clawpos = true;
				setMotorTarget(claw,80,127);
				sleep(250);
			}
			else
			{
				clawpos = false;
				setMotorTarget(claw,0,100);
				sleep(250);
			}
		}
	}
}

//                               TASK MAIN
task main()
{
	while(true)
	{
		//starttasks
		startTask(claws);
		//drivetrain
		setMotor(lDrive,(vexRT(ChA) + vexRT(ChC))*1.27);
		setMotor(rDrive,(vexRT(ChA) - vexRT(ChC))*1.27);
		setMotor(hDrive,vexRT(ChB) * 1.27);
		//armcontrol
		if(vexRT(BtnRUp)==1)
		{
			if(getMotorEncoder(arm)<380)
			{
				setMotor(arm,127);
			}
		}
		else
		{
			if(vexRT(BtnRDown)==1)
			{
				if(getMotorEncoder(arm)>0)
				{
					setMotor(arm,-127);
				}
			}
			else
			{
				setMotor(arm,0);
			}
		}
		//claws
	}
}

Thank you!

2

Nevermind, I just saw the issue. I started the task inside the while(true) loop.

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