Does EZ Template Support 6-Motor Drive?

[User_Lucas]

I’m completely new to Pros. I just want to get started with it by driving the robot forward and backward in auton. I can do this in VEXCode V5, but I can’t seem to get my 6-motor drive working in Pros. Is it even possible? If it is, then my code is probably the issue.

[tortugator]

Does the drive work in driver control? We have a 6 motor drive that works in driver control mode but does not move during auton.

When auton starts, the drive jerks a little bit, but does nothing else. However, when we try to power another mechanism, there is no problem with moving that mechanism, so we know it is not an issue with auton not starting.

This question also gives me an idea to test the drivetrain with only four motors to determine whether that is the issue. I will test it and update later.

[Max_Waldman]

Can you send your code?

[tortugator]

Changing the number of motors did not do anything. Auton drive still does not work.

This was printed on the terminal when running the example drive. I am not sure what the “Velocity Exit” means.

Drive Started… Target Value: 24.000000 (423.107295 ticks) with slew
Left: Velocity Exit. Right: Velocity Exit.
Drive Started… Target Value: -12.000000 (-211.553647 ticks)
Left: Velocity Exit. Right: Velocity Exit.
Drive Started… Target Value: -12.000000 (-211.553647 ticks)
Left: Velocity Exit. Right: Velocity Exit.

Anybody else had a similar problem before?

[Foster]

Please, please, please post your code. We ask this all the time, and those that do get the fastest results.

[tortugator]

Sorry for no code.

Here is the chassis constuctor:

Drive chassis (
  // Left Chassis Ports (negative port will reverse it!)
  //   the first port is the sensored port (when trackers are not used!)
  {-1, -2, 3}

  // Right Chassis Ports (negative port will reverse it!)
  //   the first port is the sensored port (when trackers are not used!)
  ,{4, 5, -6}

  // IMU Port
  ,0

  // Wheel Diameter
  ,3.25

  // Cartridge RPM
  ,600

  // External Gear Ratio (MUST BE DECIMAL)
  ,0.6
);

Here is the auton used to test it:

pros::Motor testmotor(5, MOTOR_GEAR_GREEN);

void autontest()
{
  testmotor.move_relative(-500, 127);
  pros::delay(1000);
  testmotor.move_relative(500, 127);
  pros::delay(1000);

  chassis.set_drive_pid(12, DRIVE_SPEED);
  chassis.wait_drive();
}

I did not change any auton constants.

When this auton is run, the testmotor does what it is supposed to. When it gets to the drive, there is no motion besides a small jerk.

[2775Josh]

Your IMU port is set to 0 but there is no port 0 on the V5 brain.

[tortugator]

There is no IMU connected. Changing this to another number does not solve the problem.

[2775Josh]

EZ Template doesn’t support no-IMU setup.

[tortugator]

oh…

I dont think this is mentioned on the website

thanks for the help