So we went and downloaded PROS, and followed this YouTube playlist:
We did video 3 about putting in a lift PID, which they added a task to the main.cpp, and after we’ve added said task, auton selector no longer works.
We comment out the task and auton selector comes back, but we’re left without a lift. Anyone else have this issue?
Please post your code.
#include "main.h"
/////
// For installation, upgrading, documentations, and tutorials, check out our website!
// https://ez-robotics.github.io/EZ-Template/
/////
// Chassis constructor
ez::Drive chassis(
// These are your drive motors, the first motor is used for sensing!
{-3, -4, -5}, // Left Chassis Ports (negative port will reverse it!)
{10, 9, 8}, // Right Chassis Ports (negative port will reverse it!)
20, // IMU Port
2.85, // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
600); // Wheel RPM = cartridge * (motor gear / wheel gear)
// Uncomment the trackers you're using here!
// - `8` and `9` are smart ports (making these negative will reverse the sensor)
// - you should get positive values on the encoders going FORWARD and RIGHT
// - `2.75` is the wheel diameter
// - `4.0` is the distance from the center of the wheel to the center of the robot
// ez::tracking_wheel horiz_tracker(8, 2.75, 4.0); // This tracking wheel is perpendicular to the drive wheels
// ez::tracking_wheel vert_tracker(9, 2.75, 4.0); // This tracking wheel is parallel to the drive wheels
/**
* Runs initialization code. This occurs as soon as the program is started.
*
* All other competition modes are blocked by initialize; it is recommended
* to keep execution time for this mode under a few seconds.
*/
pros::Task TaskLift(liftTask);
void initialize() {
// Print our branding over your terminal :D
ez::ez_template_print();
pros::delay(500); // Stop the user from doing anything while legacy ports configure
// Look at your horizontal tracking wheel and decide if it's in front of the midline of your robot or behind it
// - change `back` to `front` if the tracking wheel is in front of the midline
// - ignore this if you aren't using a horizontal tracker
// chassis.odom_tracker_back_set(&horiz_tracker);
// Look at your vertical tracking wheel and decide if it's to the left or right of the center of the robot
// - change `left` to `right` if the tracking wheel is to the right of the centerline
// - ignore this if you aren't using a vertical tracker
// chassis.odom_tracker_left_set(&vert_tracker);
// Configure your chassis controls
chassis.opcontrol_curve_buttons_toggle(false); // Enables modifying the controller curve with buttons on the joysticks
chassis.opcontrol_drive_activebrake_set(0.0); // Sets the active brake kP. We recommend ~2. 0 will disable.
chassis.opcontrol_curve_default_set(0.0, 0.0); // Defaults for curve. If using tank, only the first parameter is used. (Comment this line out if you have an SD card!)
// Set the drive to your own constants from autons.cpp!
default_constants();
// These are already defaulted to these buttons, but you can change the left/right curve buttons here!
// chassis.opcontrol_curve_buttons_left_set(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT); // If using tank, only the left side is used.
// chassis.opcontrol_curve_buttons_right_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A);
// Autonomous Selector using LLEMU
ez::as::auton_selector.autons_add({
Auton{"Testing Auton", testAuton},
/*
Auton("Drive 48", drive_48),
Auton("Drive 96", drive_96),
Auton("Drive Back 48", driveBack_48),
Auton("Drive Back 96", driveBack_96),
Auton("Turn 90", turn_90),
Auton("Turn 180", turn_180),
Auton("Turn 360", turn_360),
Auton("Turn Back", turnBack),
*/
});
// Initialize chassis and auton selector
chassis.initialize();
ez::as::initialize();
master.rumble(chassis.drive_imu_calibrated() ? "." : "---");
LdyBrwn.tare_position();
liftPID.exit_condition_set(80, 50, 300, 150, 500, 500);
}
/**
* Runs while the robot is in the disabled state of Field Management System or
* the VEX Competition Switch, following either autonomous or opcontrol. When
* the robot is enabled, this task will exit.
*/
void disabled() {
// . . .
}
/**
* Runs after initialize(), and before autonomous when connected to the Field
* Management System or the VEX Competition Switch. This is intended for
* competition-specific initialization routines, such as an autonomous selector
* on the LCD.
*
* This task will exit when the robot is enabled and autonomous or opcontrol
* starts.
*/
void competition_initialize() {
// . . .
}
/**
* Runs the user autonomous code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the autonomous
* mode. Alternatively, this function may be called in initialize or opcontrol
* for non-competition testing purposes.
*
* If the robot is disabled or communications is lost, the autonomous task
* will be stopped. Re-enabling the robot will restart the task, not re-start it
* from where it left off.
*/
void autonomous() {
chassis.pid_targets_reset(); // Resets PID targets to 0
chassis.drive_imu_reset(); // Reset gyro position to 0
chassis.drive_sensor_reset(); // Reset drive sensors to 0
chassis.odom_xyt_set(0_in, 0_in, 0_deg); // Set the current position, you can start at a specific position with this
chassis.drive_brake_set(MOTOR_BRAKE_HOLD); // Set motors to hold. This helps autonomous consistency
/*
Odometry and Pure Pursuit are not magic
It is possible to get perfectly consistent results without tracking wheels,
but it is also possible to have extremely inconsistent results without tracking wheels.
When you don't use tracking wheels, you need to:
- avoid wheel slip
- avoid wheelies
- avoid throwing momentum around (super harsh turns, like in the example below)
You can do cool curved motions, but you have to give your robot the best chance
to be consistent
*/
ez::as::auton_selector.selected_auton_call(); // Calls selected auton from autonomous selector
}
/**
* Simplifies printing tracker values to the brain screen
*/
void screen_print_tracker(ez::tracking_wheel *tracker, std::string name, int line) {
std::string tracker_value = "", tracker_width = "";
// Check if the tracker exists
if (tracker != nullptr) {
tracker_value = name + " tracker: " + util::to_string_with_precision(tracker->get()); // Make text for the tracker value
tracker_width = " width: " + util::to_string_with_precision(tracker->distance_to_center_get()); // Make text for the distance to center
}
ez::screen_print(tracker_value + tracker_width, line); // Print final tracker text
}
/**
* Ez screen task
* Adding new pages here will let you view them during user control or autonomous
* and will help you debug problems you're having
*/
void ez_screen_task() {
while (true) {
// Only run this when not connected to a competition switch
if (!pros::competition::is_connected()) {
// Blank page for odom debugging
if (chassis.odom_enabled() && !chassis.pid_tuner_enabled()) {
// If we're on the first blank page...
if (ez::as::page_blank_is_on(0)) {
// Display X, Y, and Theta
ez::screen_print("x: " + util::to_string_with_precision(chassis.odom_x_get()) +
"\ny: " + util::to_string_with_precision(chassis.odom_y_get()) +
"\na: " + util::to_string_with_precision(chassis.odom_theta_get()),
1); // Don't override the top Page line
// Display all trackers that are being used
screen_print_tracker(chassis.odom_tracker_left, "l", 4);
screen_print_tracker(chassis.odom_tracker_right, "r", 5);
screen_print_tracker(chassis.odom_tracker_back, "b", 6);
screen_print_tracker(chassis.odom_tracker_front, "f", 7);
}
}
}
// Remove all blank pages when connected to a comp switch
else {
if (ez::as::page_blank_amount() > 0)
ez::as::page_blank_remove_all();
}
pros::delay(ez::util::DELAY_TIME);
}
}
pros::Task ezScreenTask(ez_screen_task);
/**
* Gives you some extras to run in your opcontrol:
* - run your autonomous routine in opcontrol by pressing DOWN and B
* - to prevent this from accidentally happening at a competition, this
* is only enabled when you're not connected to competition control.
* - gives you a GUI to change your PID values live by pressing X
*/
void ez_template_extras() {
// Only run this when not connected to a competition switch
if (!pros::competition::is_connected()) {
// PID Tuner
// - after you find values that you're happy with, you'll have to set them in auton.cpp
// Enable / Disable PID Tuner
// When enabled:
// * use A and Y to increment / decrement the constants
// * use the arrow keys to navigate the constants
if (master.get_digital(DIGITAL_X) && master.get_digital(DIGITAL_UP))
chassis.pid_tuner_toggle();
// Trigger the selected autonomous routine
if (master.get_digital(DIGITAL_B) && master.get_digital(DIGITAL_DOWN)) {
pros::motor_brake_mode_e_t preference = chassis.drive_brake_get();
autonomous();
chassis.drive_brake_set(preference);
}
// Allow PID Tuner to iterate
chassis.pid_tuner_iterate();
}
// Disable PID Tuner when connected to a comp switch
else {
if (chassis.pid_tuner_enabled())
chassis.pid_tuner_disable();
}
}
/**
* Runs the operator control code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the operator
* control mode.
*
* If no competition control is connected, this function will run immediately
* following initialize().
*
* If the robot is disabled or communications is lost, the
* operator control task will be stopped. Re-enabling the robot will restart the
* task, not resume it from where it left off.
*/
int countController = 0;
void opcontrol() {
// This is preference to what you like to drive on
chassis.drive_brake_set(MOTOR_BRAKE_COAST);
while (true) {
// Gives you some extras to make EZ-Template ezier
ez_template_extras();
//chassis.opcontrol_tank(); // Tank control
chassis.opcontrol_arcade_standard(ez::SPLIT); // Standard split arcade
// chassis.opcontrol_arcade_standard(ez::SINGLE); // Standard single arcade
// chassis.opcontrol_arcade_flipped(ez::SPLIT); // Flipped split arcade
// chassis.opcontrol_arcade_flipped(ez::SINGLE); // Flipped single arcade
// . . .
// Put more user control code here!
// . . .
setIntake((master.get_digital(DIGITAL_R1)-master.get_digital(DIGITAL_R2))*127);
//LdyBrwn.move((master.get_digital(DIGITAL_L1)-master.get_digital(DIGITAL_L2))*127);
if(master.get_digital_new_press(DIGITAL_UP)){
liftPID.target_set(200);
}
else if(master.get_digital_new_press(DIGITAL_L1)){
liftPID.target_set(1800);
}
else if(master.get_digital(DIGITAL_L2)){
liftPID.target_set(0);
}
if (!(countController % 25)){
master.print(0,0, "%lf", LdyBrwn.get_position());
}
countController++;
if(master.get_digital_new_press(DIGITAL_A)){
clampC.toggle();
}
if(master.get_digital_new_press(DIGITAL_B)){
clampD.toggle();
}
pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME
}
}
So this is the main.cpp, the video instructed us to put the pros task before initialize. I tried moving it to globals.cpp but the issues persists
What happens if you put all of your tasks to start in initialize as like the last few lines of code in that function, or at least after all the stuff configures.
Onr thing about my auton selector is that you need to have the auton selector before anything, and the auton selection is done by a variable. I dont use cpp so i dont know their syntax well,
There is a line that has a task already, gonna try and move the task under that one see if that helps.
Ok so we tried moving the task to the end of the tasks list. Still getting the loading screen as ending
Video of loading screen
Not sure how else to fix this issue
I’ve had this issue too. I don’t think that the placement of where the task initialization would fix this.
In the function that the task is calling, I’m guessing you’re using a while(true) loop. Within this loop, is there a small delay at the end? It would look like:
pros::delay(20);
I did jump into the discord for EZ-Template, sorry to bother everyone
this is what someone else suggested on the Discord as well, there is one outside the while loop in the function, but not inside it, we’ll try that today, I dont see my kids till later today.
We just ran it, it works! Thank you everyone
