We’ll need to see your whole code, but I suspect you aren’t updating your motor power based on the new gyro readings.
For example, when you print Brain.Screen.print(GyroSensor.value(rotationUnits::deg));, is it in a while loop that’ll constantly check the gyro for the new value?
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void LeftGyroTurn(double degree, int veloc)// Auton Call for Turning via Left side with degrees and velocity as variables
{
LeftMotor.setVelocity(veloc,vex::velocityUnits::pct);
RightMotor.setVelocity(veloc,vex::velocityUnits::pct);
Controller1.Screen.clearScreen();
Controller1.Screen.print(GyroSensor.value(rotationUnits::deg));
//While loop to do the spin
while (GyroSensor.value(rotationUnits::deg) <= degree)
{
LeftMotor.spin(directionType::rev); // Assuming this is the polarity needed for a clockwise turn
RightMotor.spin(directionType::fwd);
this_thread::sleep_for(10);
}
This is the function for turning that I am using.
The Brain Screen thing is inside Usercontrol in a while(1) loop so it should be checking for a new value.
this should be a pretty obvious one but check to see if the gyro is plugged in property and stuff
Check if the gyro properly works by looking at devices on the V5 brain
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It shows a 4 digit number like 1452 and a percentage on the devices page. So the gyro itself is working.
The green light in the gyro is also on.
Try printing to the terminal. Under a while true loop use:
printf(“Gyro: %.2f”, GyroSensor.value(rotationUnits::deg));
1 Like
Inside the usercontrol?
Yeah see if it prints out the right number
20 characters
It says “Non-ASCII Characters are not allowed…” for quotation marks and that the “Gyro” is unidentified.
Hmm make sure that Gyro: %.2f is in quotation marks, not sure why it’s saying it’s unidentified because it’s a string
This is the error message
Delete the quotation marks and type them again.
If you copied the line @thorstenl312 included in post 8 above, then the quote marks in that line aren’t actually the quote character you get on the keyboard - instead they’re separate “open quote” and “close quote” characters, which look a bit prettier when formatting text. However, they aren’t the character any compiler is expecting to define strings (and are non-ascii characters, hence the error message).
(this is another reason to format code on the forum - if you wrap your code in [code]...[/code] tags or triple backtics (```), then the ASCII quotation marks will be preserved!)
4 Likes
When I run the code, the terminal shows this.
Device: /dev/tty.usbmodem142203
Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyr
o: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro
: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro
: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0.00Gyro: 0. ```Cool, your code compiled and is running!
Maybe consider adding a newline character (\n) to the end of the string you print.
Is this output different from what you expected? If so, how?
1 Like
The thing is, this gyro value thing just keeps on printing and my VEXcode crashes.
Edit: I’m on a mac and have to force quit
Hmm, could you post your complete program (remembering to wrap it in [code]...[/code] tags or triple backtics (```))?
It’s really long. Sorry!
/*----------------------------------------------------------------------------*/
/* */
/* Module: main.cpp */
/* Author: 23ReiT */
/* Created: Wed Oct 30 2019 */
/* Description: V5 project */
/* */
/*----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// CrabMotor motor 12
// Controller1 controller
// LeftArm motor 18
// RightArm motor 19
// LeftRoller motor 5
// RightRoller motor 6
// CubeBase motor 3
// LeftMotor motor 20
// RightMotor motor 9
// CubeBaseSwitch limit B
// GyroSensor gyro A
// RightBumper bumper H
// LeftBumper bumper G
// ---- 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
/*---------------------------------------------------------------------------*/
/* 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 LeftGyroTurn(double degree, int veloc)// Auton Call for Turning via Left side with degrees and velocity as variables
{
//Prints the DegreeAmount for debugging puroses to ensure that it is going for the right degree amount
/*LeftMotor.setVelocity(veloc,vex::velocityUnits::pct);
RightMotor.setVelocity(veloc,vex::velocityUnits::pct);
Controller1.Screen.clearScreen();
Controller1.Screen.print(GyroSensor.value(rotationUnits::deg));
//While loop to do the spin
while (GyroSensor.value(rotationUnits::deg) <= degree)
{
LeftMotor.spin(directionType::rev); // Assuming this is the polarity needed for a clockwise turn
RightMotor.spin(directionType::fwd);
this_thread::sleep_for(10);
}
*/
double targetGyroValue; // earlier in the code
targetGyroValue = GyroSensor.value(rotationUnits::deg) + degree;
while(GyroSensor.value(rotationUnits::deg) < targetGyroValue)
{
LeftMotor.spin(directionType::rev, 50, velocityUnits::pct);
RightMotor.spin(directionType::fwd, 50, velocityUnits::pct);
}
//Stop motors after reached degree turn
LeftMotor.stop();
RightMotor.stop();
Controller1.Screen.clearScreen();
Controller1.Screen.print("Gyro Turn Finished");
}
void RightGyroTurn(double degree, int veloc)
{
//Prints the DegreeAmount for debugging puroses to ensure that it is going for the right degree amount
LeftMotor.setVelocity(veloc,vex::velocityUnits::pct);
RightMotor.setVelocity(veloc,vex::velocityUnits::pct);
Controller1.Screen.clearScreen();
Controller1.Screen.print(degree);
//While loop to do the spin
while (GyroSensor.value(rotationUnits::deg) <= degree)
{
LeftMotor.spin(directionType::fwd); // Assuming this is the polarity needed for a clockwise turn
RightMotor.spin(directionType::rev);
this_thread::sleep_for(10);
}
//Stop motors after reached degree turn
LeftMotor.stop();
RightMotor.stop();
Controller1.Screen.clearScreen();
Controller1.Screen.print("Gyro Turn Finished");
}
void pre_auton(void) {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
task::sleep(2000);
}
/*---------------------------------------------------------------------------*/
/* */
/* 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)
{
while(1)
{
LeftMotor.startRotateFor(vex::directionType::fwd, 1300, vex::rotationUnits::deg, 30, vex::velocityUnits::pct);
RightMotor.startRotateFor(vex::directionType::fwd, 1300, vex::rotationUnits::deg, 30, vex::velocityUnits::pct);
LeftRoller.startRotateFor(vex::directionType::fwd,10, vex::rotationUnits::rev,100, vex::velocityUnits::pct);
RightRoller.startRotateFor(vex::directionType::fwd,10, vex::rotationUnits::rev,100, vex::velocityUnits::pct);
task::sleep(500);
LeftRoller.startRotateFor(vex::directionType::fwd,10, vex::rotationUnits::rev,100, vex::velocityUnits::pct);
RightRoller.startRotateFor(vex::directionType::fwd,10, vex::rotationUnits::rev,100, vex::velocityUnits::pct);
task::sleep(5000);
LeftMotor.startRotateFor(vex::directionType::fwd, -1300, vex::rotationUnits::deg, 50, vex::velocityUnits::pct);
RightMotor.rotateFor(vex::directionType::fwd, -1300, vex::rotationUnits::deg, 50, vex::velocityUnits::pct);
task::sleep(100);
if(LeftBumper.pressing())//Makes sure that the robot is perpendicular to the wall (Step 1)
{
if(RightBumper.pressing())//Makes sure that the robot is perpendicular to the wall (Step 2)
{
RightGyroTurn(90, 50);
LeftMotor.startRotateFor(vex::directionType::fwd, 500, vex::rotationUnits::deg, 70, vex::velocityUnits::pct);
RightMotor.rotateFor(vex::directionType::fwd, 500, vex::rotationUnits::deg, 70, vex::velocityUnits::pct);
task::sleep(500);
RightMotor.startRotateFor(vex::directionType::fwd,1, rotationUnits::rev, 70, velocityUnits::pct);
LeftMotor.startRotateFor(vex::directionType::fwd,1, rotationUnits::rev, 70, velocityUnits::pct);
CubeBase.startRotateFor(vex::directionType::fwd, 240, vex::rotationUnits::deg,50, vex::velocityUnits::pct);
LeftRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
RightRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
wait(2000, msec);
LeftMotor.startRotateFor(vex::directionType::fwd, -3, vex::rotationUnits::rev, 100, vex::velocityUnits::pct);
RightMotor.rotateFor(vex::directionType::fwd, -3, vex::rotationUnits::rev, 100, vex::velocityUnits::pct);
CubeBase.startRotateFor(vex::directionType::fwd, -240, vex::rotationUnits::deg,50, vex::velocityUnits::pct);
}
else
{
RightMotor.spin(vex::directionType::rev);
}
}
else if(RightBumper.pressing())//Makes sure that the robot is perpendicular to the wall (Step 1)
{
if(LeftBumper.pressing())//Makes sure that the robot is perpendicular to the wall (Step 2)
{
RightGyroTurn(90,50);
LeftMotor.startRotateFor(vex::directionType::fwd, 500, vex::rotationUnits::deg, 70, vex::velocityUnits::pct);
RightMotor.rotateFor(vex::directionType::fwd, 500, vex::rotationUnits::deg, 70, vex::velocityUnits::pct);
task::sleep(500);
RightMotor.startRotateFor(vex::directionType::fwd,1, rotationUnits::rev, 70, velocityUnits::pct);
LeftMotor.startRotateFor(vex::directionType::fwd,1, rotationUnits::rev, 70, velocityUnits::pct);
CubeBase.startRotateFor(vex::directionType::fwd, 240, vex::rotationUnits::deg,50, vex::velocityUnits::pct);
LeftRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
RightRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
wait(2000, msec);
LeftMotor.startRotateFor(vex::directionType::fwd, -3, vex::rotationUnits::rev, 100, vex::velocityUnits::pct);
RightMotor.rotateFor(vex::directionType::fwd, -3, vex::rotationUnits::rev, 100, vex::velocityUnits::pct);
CubeBase.startRotateFor(vex::directionType::fwd, -240, vex::rotationUnits::deg,50, vex::velocityUnits::pct);
}
else
{
LeftMotor.spin(vex::directionType::rev);
}
}
LeftMotor.stop();
RightMotor.stop();
LeftRoller.stop();
RightRoller.stop();
task::sleep(100000000);
}
}
/*---------------------------------------------------------------------------*/
/* */
/* 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)
{
Brain.Screen.print(GyroSensor.value(rotationUnits::deg));
//Drivetrain
// Drivetrain.arcade(100,100, percentUnits (percentUnits::pct));
LeftMotor.spin(directionType::fwd,Controller1.Axis3.position(percentUnits::pct)/2,velocityUnits::pct);//Left on Axis 3 but halved
RightMotor.spin(directionType::fwd,Controller1.Axis2.position(percentUnits::pct)/2,velocityUnits::pct);//Right on Axis 2 but halved
//CrabMotor
if(Controller1.ButtonLeft.pressing())
{
CrabMotor.spin(directionType::fwd,50,vex::velocityUnits::pct);
LeftMotor.stop(brakeType::hold);
RightMotor.stop(brakeType::hold);
}
else if(Controller1.ButtonRight.pressing())
{
CrabMotor.spin(directionType::rev,50,vex::velocityUnits::pct);
LeftMotor.stop(brakeType::hold);
RightMotor.stop(brakeType::hold);
}
else
{
CrabMotor.stop();
LeftMotor.setStopping(coast);
RightMotor.setStopping(coast);
}
//gyro test
if(Controller1.ButtonB.pressing())
{
LeftGyroTurn(9,50);
}
//Rollers
if(Controller1.ButtonR1.pressing())
{
LeftRoller.spin(vex::directionType::fwd,50, vex::velocityUnits::pct);
RightRoller.spin(vex::directionType::fwd,50, vex::velocityUnits::pct);
}
else if(Controller1.ButtonR2.pressing())
{
LeftRoller.spin(vex::directionType::fwd,-50, vex::velocityUnits::pct);
RightRoller.spin(vex::directionType::fwd,-50, vex::velocityUnits::pct);
}
else
{
LeftRoller.stop();
RightRoller.stop();
}
//Arms
if(Controller1.ButtonL2.pressing())
{
LeftArm.spin(vex::directionType::fwd, 50, vex::velocityUnits::pct);
RightArm.spin(vex::directionType::fwd, 50, vex::velocityUnits::pct);
}
else if(Controller1.ButtonL1.pressing())
{
LeftArm.spin(vex::directionType::fwd, -50, vex::velocityUnits::pct);
RightArm.spin(vex::directionType::fwd, -50, vex::velocityUnits::pct);
}
else
{
LeftArm.stop();
RightArm.stop();
}
//CubeBase
if(Controller1.ButtonUp.pressing())
{
LeftRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
RightRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
CubeBase.rotateFor(200,vex::rotationUnits::deg, 30, velocityUnits::pct);
CubeBase.stop(brakeType::hold);
task::sleep(500);
}
else if(Controller1.ButtonDown.pressing())
{
CubeBase.rotateFor(-200,vex::rotationUnits::deg, 70, velocityUnits::pct);
CubeBase.stop();
}
else if(CubeBaseSwitch.pressing())
{
CubeBase.stop();
}
else
{
CubeBase.stop();
}
//Automation
if(Controller1.ButtonA.pressing())
{
LeftRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
RightRoller.spin(vex::directionType::fwd,-10, vex::velocityUnits::pct);
CubeBase.rotateFor(200,vex::rotationUnits::deg, 30, velocityUnits::pct);
CubeBase.stop(brakeType::hold);
RightMotor.startRotateFor(vex::directionType::rev,1, rotationUnits::rev, 20, velocityUnits::pct);
LeftMotor.startRotateFor(vex::directionType::rev,1, rotationUnits::rev, 0, velocityUnits::pct);
CubeBase.rotateFor(-200,vex::rotationUnits::deg, 70, velocityUnits::pct);
CubeBase.stop();
}
printf("Gyro: %.2f", GyroSensor.value(rotationUnits::deg));
}
wait(20, msec);
}
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);
}
}
First, you need to bring wait(20, msec) inside while(1) loop of the user control function.
Then you may need to add explicit gyro initialization timeout to your pre auton function. See this example: Vex Coding Studio Gyro endless counting
Also, you don’t need while(1) loop and long sleep in the autonomous function.
Finally, you need to avoid writing to controller screen very often, as it only updates every 50 msec.
I have fixed all of the pointed out problems. The gyro turns sometimes works but sometimes still does the infinite spin.
Why? Any ideas?