Hi there, my 27301 A team is having issues with their robot spinning all over the place, not sure if its the inertial sensor acting up, but it drives forward no issues, but turning it just starts spinning. Could someone just see if I missed anything? I cant tell what else is wrong:
/*----------------------------------------------------------------------------*/
/* */
/* Module: main.cpp */
/* Author: VEX */
/* Created: Thu Sep 26 2019 */
/* Description: Competition Template */
/* */
/*----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// leftFront motor 8
// leftBack motor 9
// rightFront motor 2
// rightBack motor 1
// Inertial16 inertial 16
// Controller1 controller
// armLeft motor 7
// armRight motor 4
// Piston_1 digital_out A
// Drivetrain drivetrain 3, 5
// ---- END VEXCODE CONFIGURED DEVICES ----
#include "vex.h"
using namespace vex;
// A global instance of competition
competition Competition;
motor_group LeftSide(leftFront, leftBack);
motor_group RightSide(rightFront,rightBack);
motor_group ArmsTog(armLeft, armRight);
smartdrive robotDrive(LeftSide, RightSide, Inertial16, 12.56, 16, 16, distanceUnits::in);
int armsSpeed = 90; //Arms speed
// define your global instances of motors and other devices here
// define your global instances of motors and other devices here
/*---------------------------------------------------------------------------*/
/* Pre-Autonomous Functions */
/* */
/* You may want to perform some actions before the competition starts. */
/* Do them in the following function. You must return from this function */
/* or the autonomous and usercontrol tasks will not be started. This */
/* function is only called once after the V5 has been powered on and */
/* not every time that the robot is disabled. */
/*---------------------------------------------------------------------------*/
void pre_auton(void) {
Inertial16.calibrate();
robotDrive.setDriveVelocity(100,pct);
robotDrive.setTurnVelocity(100,pct);
robotDrive.setStopping(coast);
robotDrive.setTurnConstant(1.0);
robotDrive.setTurnThreshold(1.0);
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, ...
}
/*---------------------------------------------------------------------------*/
/* */
/* Autonomous Task */
/* */
/* This task is used to control your robot during the autonomous phase of */
/* a VEX Competition. */
/* */
/* You must modify the code to add your own robot specific commands here. */
/*---------------------------------------------------------------------------*/
void autonomous(void) {
robotDrive.setDriveVelocity(55,percent);
robotDrive.driveFor(reverse,64,inches);
Piston_1.set(true);
wait(.5, seconds);
robotDrive.driveFor(fwd,60,inches);
robotDrive.turnFor(right, 90, degrees);
robotDrive.stop();
// ..........................................................................
// Insert autonomous user code here.
// ..........................................................................
}
/*---------------------------------------------------------------------------*/
/* */
/* User Control Task */
/* */
/* This task is used to control your robot during the user control phase of */
/* a VEX Competition. */
/* */
/* You must modify the code to add your own robot specific commands here. */
/*---------------------------------------------------------------------------*/
void usercontrol(void) {
robotDrive.setDriveVelocity(100,percent);
// User control code here, inside the loop
while (1) {
// This is the main execution loop for the user control program.
// Each time through the loop your program should update motor + servo
// values based on feedback from the joysticks.
LeftSide.spin(vex::directionType::fwd, (- Controller1.Axis1.value()) - Controller1.Axis3.value(), vex::velocityUnits::pct);
RightSide.spin(vex::directionType::fwd, (Controller1.Axis1.value()) - Controller1.Axis3.value(), vex::velocityUnits::pct);
// ........................................................................
// Insert user code here. This is where you use the joystick values to
// update your motors, etc.
// ........................................................................
if(Controller1.ButtonR2.pressing()){
ArmsTog.spin(fwd, armsSpeed, vex::velocityUnits::pct);
}
else if (Controller1.ButtonR1.pressing()){
ArmsTog.spin(vex::directionType::rev, armsSpeed, vex::velocityUnits::pct);
}
else {
ArmsTog.stop(hold);
}
if (Controller1.ButtonL1.pressing()){
Piston_1.set(true);
}
else {
Piston_1.set(false);
wait(20, msec); // Sleep the task for a short amount of time to
// prevent wasted resources.
}
}
}
//
// Main will set up the competition functions and callbacks.
//
int main() {
// Set up callbacks for autonomous and driver control periods.
Competition.autonomous(autonomous);
Competition.drivercontrol(usercontrol);
// Run the pre-autonomous function.
pre_auton();
// Prevent main from exiting with an infinite loop.
while (true) {
wait(100, msec);
}
}edit: mods fixed the code tags
