Code doesn't work for turning at all

Programming Support
#1

this code should make the robot turn 90 degrees, does not work, makes it go straight backwards

Inertial9.setHeading(0, degrees);
  while ((Inertial9.heading(degrees)-90)<0) {
  right1.spin(reverse);
  right2.spin(reverse);
  right3.spin(reverse);
  left1.spin(forward);
  left2.spin(forward);
  left3.spin(forward);
  velocitychange(Inertial9.heading(degrees)-90);
  }
#2

How are your motors defined in your robot config file? If your robot is going “straight backwards” in this code, you probably have some motors defined as reversed.

#3

they are not, my function for controls and going forward works perfectly

#4

Hmm. I’m not sure then. What is in the “velocitychange” function?

#5

change all the motor velocities at same time

#6

i updated the code

int ondriver_drivercontrol_0() {
  arm.setMaxTorque(100.0, percent);
  rEings.setVelocity(40.0, percent);
  arm.setVelocity(100.0, percent);
  while (true){
    controls();
  }
  return 0;
}

// "when autonomous" hat block
int onauton_autonomous_0(){
  Inertial10.setHeading(0, degrees);
  float diff = (Inertial10.heading(degrees)-90);
  while (fabs(diff) > 0.01) {
    velocitychange(fabs(diff)*90/20);
    int diff = (Inertial10.heading(degrees)-90);
    if(diff<0){
      right1.spin(reverse);
      left3.spin(forward);
      right2.spin(reverse);
      left2.spin(forward);
      right3.spin(reverse);
      left1.spin(forward);
    }
    else{
      right1.spin(forward);
      left1.spin(reverse);
      right2.spin(forward);
      left2.spin(reverse);
      right3.spin(forward);
      left3.spin(reverse);
    }
    
    diff = (Inertial10.heading(degrees)-90);
  }
#7

You may want to attenuate velocity instead of flipping forward / reverse. Velocity is a range from -100 to +100 and direction is binary. If you tell a forward motor to spin at -50 it will spin backward. This way you don’t need to use the if / else to change direction and the motors will dynamically change direction if the value falls below zero.

void driveVelocity(float left, float right) {
      left1.spin(forward, left);
      left2.spin(forward, left);
      left3.spin(forward, left);
      right1.spin(reverse, right);
      right2.spin(reverse, right);
      right3.spin(reverse, right);
}

int onauton_autonomous_0(){
  Inertial10.setHeading(0, degrees);
  float diff = (Inertial10.heading(degrees)-90);
  while (fabs(diff) > 0.01) {
    //Whatever your logic is for course correction
    int diff = (Inertial10.heading(degrees)-90);
    driveVelocity(60-diff, 60+diff);
    diff = (Inertial10.heading(degrees)-90);
  }
}
2 Likes