Hi! I’m at worlds right now, and my partner is having trouble getting his drive code to work. Like the title indicates, it is only driving forward. Here’s the code:
/*----------------------------------------------------------------------------*/
/* */
/* Module: main.cpp */
/* Author: VEX */
/* Created: Thu Sep 26 2019 */
/* Description: Competition Template */
/* */
/*----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Drivetrain drivetrain 7, 10, 20, 19
// lift motor 9
// ring motor 18
// fourbar motor 8
// pp digital_out A
// Controller1 controller
// ---- END VEXCODE CONFIGURED DEVICES ----
#include "vex.h"
using namespace vex;
// A global instance of competition
competition Competition;
// define your global instances of motors and other devices here
using signature = vision::signature;
using code = vision::code;
// A global instance of brain used for printing to the V5 Brain screen
brain Brain;
// VEXcode device constructors
motor leftMotorA = motor(PORT13, ratio6_1, true);
motor leftMotorB = motor(PORT12, ratio6_1, true);
motor leftMotorC = motor(PORT11, ratio6_1, true);
motor_group LeftDriveSmart = motor_group(leftMotorA, leftMotorB , leftMotorC);
motor rightMotorA = motor(PORT18, ratio6_1, false);
motor rightMotorB = motor(PORT19, ratio6_1, false);
motor rightMotorC = motor(PORT20, ratio6_1, false);
motor_group RightDriveSmart = motor_group(rightMotorA, rightMotorB, rightMotorC);
drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295, 40, mm, 1);
motor lift = motor(PORT9, ratio36_1, false);
motor ring = motor(PORT1, ratio6_1, true);
motor fourbar = motor(PORT10, ratio36_1, false);
digital_out pp = digital_out(Brain.ThreeWirePort.A);
digital_out penis = digital_out(Brain.ThreeWirePort.B);
digital_out daddy_jobe = digital_out(Brain.ThreeWirePort.C);
digital_out mega_nut = digital_out(Brain.ThreeWirePort.D);
controller Controller1 = controller(primary);
// VEXcode generated functions
// define variable for remote controller enable/disable
bool RemoteControlCodeEnabled = true;
// define variables used for controlling motors based on controller inputs
bool Controller1LeftShoulderControlMotorsStopped = true;
bool Controller1UpDownButtonsControlMotorsStopped = true;
bool Controller1XBButtonsControlMotorsStopped = true;
bool DrivetrainLNeedsToBeStopped_Controller1 = true;
bool DrivetrainRNeedsToBeStopped_Controller1 = true;
/*---------------------------------------------------------------------------*/
/* 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) {
// 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) {
// ..........................................................................
// 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) {
// 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.
if(RemoteControlCodeEnabled) {
leftMotorA.setVelocity(100, pct);
leftMotorB.setVelocity(100, pct);
leftMotorC.setVelocity(100, pct);
rightMotorA.setVelocity(100, pct);
rightMotorB.setVelocity(100, pct);
rightMotorC.setVelocity(100, pct);
lift.setVelocity(100, pct);
fourbar.setVelocity(100, pct);
// calculate the drivetrain motor velocities from the controller joystick axies
// left = Axis3 + Axis1
// right = Axis3 - Axis1
int drivetrainLeftSideSpeed = Controller1.Axis3.position() + Controller1.Axis1.position();
int drivetrainRightSideSpeed = Controller1.Axis3.position() - Controller1.Axis1.position();
// check if the value is inside of the deadband range
if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
// check if the left motor has already been stopped
if (DrivetrainLNeedsToBeStopped_Controller1) {
// stop the left drive motor
LeftDriveSmart.stop();
// tell the code that the left motor has been stopped
DrivetrainLNeedsToBeStopped_Controller1 = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the left motor nexttime the input is in the deadband range
DrivetrainLNeedsToBeStopped_Controller1 = true;
}
// check if the value is inside of the deadband range
if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
// check if the right motor has already been stopped
if (DrivetrainRNeedsToBeStopped_Controller1) {
// stop the right drive motor
RightDriveSmart.stop();
// tell the code that the right motor has been stopped
DrivetrainRNeedsToBeStopped_Controller1 = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the right motor next time the input is in the deadband range
DrivetrainRNeedsToBeStopped_Controller1 = true;
}
// only tell the left drive motor to spin if the values are not in the deadband range
if (DrivetrainLNeedsToBeStopped_Controller1) {
LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
LeftDriveSmart.spin(forward);
}
// only tell the right drive motor to spin if the values are not in the deadband range
if (DrivetrainRNeedsToBeStopped_Controller1) {
RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
RightDriveSmart.spin(forward);
}
// check the ButtonL1/ButtonL2 status to control fourbar
if (Controller1.ButtonL1.pressing()) {
fourbar.setVelocity(100,pct);
fourbar.spin(forward);
Controller1LeftShoulderControlMotorsStopped = false;
} else if (Controller1.ButtonL2.pressing()) {
fourbar.setVelocity(100,pct);
fourbar.spin(reverse);
Controller1LeftShoulderControlMotorsStopped = false;
} else if (!Controller1LeftShoulderControlMotorsStopped) {
fourbar.stop(brakeType::hold);
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1LeftShoulderControlMotorsStopped = true;
}
// check the ButtonUp/ButtonDown status to control lift
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1UpDownButtonsControlMotorsStopped = true;
}
// check the ButtonX/ButtonB status to control ring
if (Controller1.ButtonR1.pressing()) {
ring.setVelocity(100,pct);
ring.spin(reverse);
Controller1XBButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonR2.pressing()) {
ring.setVelocity(100,pct);
ring.spin(forward);
Controller1XBButtonsControlMotorsStopped = false;
} else if (!Controller1XBButtonsControlMotorsStopped) {
ring.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1XBButtonsControlMotorsStopped = true;
}
//pp
if (Controller1.ButtonUp.pressing()) {
pp.set(true);
} else if (Controller1.ButtonDown.pressing()) {
pp.set(false);
}
if (Controller1.ButtonA.pressing()) {
penis.set(true);
} else if (Controller1.ButtonY.pressing()) {
penis.set(false);
if (Controller1.ButtonX.pressing()) {
daddy_jobe.set(true);
} else if (Controller1.ButtonB.pressing()) {
daddy_jobe.set(false);
if (Controller1.ButtonUp.pressing()) {
mega_nut.set(true);
} else if (Controller1.ButtonDown.pressing()) {
mega_nut.set(false);
}
}
}
}
// wait before repeating the process
wait(20, msec);
// ........................................................................
// Insert user code here. This is where you use the joystick values to
// update your motors, etc.
// ........................................................................
// 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);
}
}