Hey all,
When using chassis.turnAngle in my autonomous with okapilib in PROS, even if I change the value of the degree to a negative value or back to positive, the robot always turns to the left. This is okay for the blue side, but it’s a problem for red. Does anyone have a solution for this?
Thanks in advance!
Are you sure you put negative sign?
What chassis type are you using? We had something similar for turnToAngle, a method using the odom controller. We fixed this by setting the state to 0, 0, 0 before every turn. Better support for OkapiLib exists on the Vex Unofficial Discord Server, I recommend asking in the #software channel there if you can’t find a solution.
Yes, I’m sure I put the negative sign. I even tried going all the way around, but it doesn’t work. I’m fairly new to PROS and completely new to okapilib, so I don’t understand much of what you’re saying. I do know that my version of okapi is slightly outdated, but everything breaks when I try to update it, so I kept it as is. Here is my auton code:
void blue_stack() {
//imu.reset();
chassis.setMaxVelocity(35);
//move forward before releasing tray
//so that robot won't flip over
chassis.moveDistanceAsync(6_in);
release_tray();
//drive forward to intake cubes
intake_drive(200, 200);
chassis.moveDistance(8_in);
chassis.setMaxVelocity(75);
chassis.moveDistance(28_in);
pros::delay(200);
intake_drive(0, 0);
//back up, rotate towards goal,
//and move towards it
chassis.setMaxVelocity(120);
//intake_drive(100, 100);
chassis.moveDistance(-20_in);
chassis.setMaxVelocity(75);
chassis.turnAngle(140_deg);
chassis.setMaxVelocity(100);
pros::delay(150);
chassis.moveDistance(16_in);
//stack the cubes and back away
chassis.setMaxVelocity(100);
stack(90, 55, 100);
chassis.moveDistance(-10_in);
intake_drive(0, 0);
}
void red_stack() {
//imu.reset();
chassis.setMaxVelocity(35);
//move forward before releasing tray
//so that robot won't flip over
chassis.moveDistanceAsync(6_in);
release_tray();
//drive forward to intake cubes
intake_drive(200, 200);
chassis.moveDistance(8_in);
chassis.setMaxVelocity(75);
chassis.moveDistance(28_in);
pros::delay(200);
intake_drive(0, 0);
//back up, rotate towards goal,
//and move towards it
chassis.setMaxVelocity(120);
//intake_drive(100, 100);
chassis.moveDistance(-20_in);
chassis.setMaxVelocity(75);
chassis.turnAngle(-140_deg);
chassis.setMaxVelocity(100);
pros::delay(150);
chassis.moveDistance(16_in);
//stack the cubes and back away
chassis.setMaxVelocity(100);
stack(90, 55, 100);
chassis.moveDistance(-10_in);
intake_drive(0, 0);
}This is my robot.hpp:
#ifndef __ROBOT_HPP
#define __ROBOT_HPP
#include "main.h"
#include "pros/misc.h"
#include "okapi/api.hpp"
//chassis motor ports
const int CHASSIS_LEFT_FRONT = 10;
const int CHASSIS_LEFT_REAR = 7;
const int CHASIIS_RIGHT_FRONT = 8;
const int CHASSIS_RIGHT_REAR = 17;
//inkate motor ports
const int INTAKE_MOTOR_LEFT = 9;
const int INTAKE_MOTOR_RIGHT = 5;
//lever motor
const int LEVER_MOTOR = 11;
//arm motor
const int ARM_MOTOR = 1;
//arm varibles
const int ARM_PRESETS[5] = {0, -666, -734, -845, -1025};
const int ARM_PRESETS_LEN = 5;
//motor, contoller, and sensors
extern pros::Motor chassis_left_front;
extern pros::Motor chassis_left_rear;
extern pros::Motor chassis_right_front;
extern pros::Motor chassis_right_rear;
extern pros::Motor intake_motor_left;
extern pros::Motor intake_motor_right;
extern pros::Motor lever_motor;
extern pros::Motor arm_motor;
extern pros::Controller master;
extern okapi::ChassisControllerIntegrated chassis;
extern okapi::AsyncPosIntegratedController arm;
extern okapi::AsyncPosIntegratedController lever;
extern pros::Imu imu;
//auto selection
extern int autonSelection;
//autons
void cube_1();
void blue_stack();
void red_stack();
void skill5();
void skill10();
void skill16();
//functions
void chassis_tank_drive(float left, float right);
void chassis_control();
void intake_drive(float left_intake_speed, float right_intake_speed);
void arm_drive(int pos);
void intake_control();
void lever_drive(float lever_speed);
void lever_control();
void arm_control();
void arm_control2();
void driver_release_tray();
//auton functions
void translate(float inches, float voltage);
void rotate(float degrees, float voltage);
void trans_intake(float inches, float voltage, float intake_speed);
void stack(float lever_speed, float outtake_speed, float voltage);
void release_tray();
void lowTower();
void highTower();
float avgChassEncoder();
//void rotate_until_straight();
#endifAnd this is my initialize.cpp:
#include "api.h"
#include "robot.hpp"
#include "okapi/api.hpp"
using namespace pros;
using namespace okapi;
pros::Motor intake_motor_left(INTAKE_MOTOR_LEFT);
pros::Motor intake_motor_right(INTAKE_MOTOR_RIGHT);
pros::Motor lever_motor(LEVER_MOTOR);
pros::Motor arm_motor(ARM_MOTOR);
pros::Controller master (E_CONTROLLER_MASTER);
/* choose only one of the following: either separated chassis motors, or the chassis controller */
//chassis motors
pros::Motor chassis_right_rear(CHASSIS_RIGHT_REAR);
pros::Motor chassis_right_front(CHASIIS_RIGHT_FRONT);
pros::Motor chassis_left_rear(CHASSIS_LEFT_REAR);
pros::Motor chassis_left_front(CHASSIS_LEFT_FRONT);
const auto WHEEL_DIAMETER = 4_in;
const auto CHASSIS_WIDTH = 9_in;
// chassis controller
okapi::ChassisControllerIntegrated chassis = ChassisControllerFactory::create(
{-CHASSIS_LEFT_FRONT, -CHASSIS_LEFT_REAR},
{CHASIIS_RIGHT_FRONT, CHASSIS_RIGHT_REAR},
// IterativePosPIDController::Gains{0.003, 0.0012, 0.000012}, // distance args
// IterativePosPIDController::Gains{0.0004, 0.0005, 0.0002}, // angle args (keeps robot straight)
// IterativePosPIDController::Gains{0.003, 0.0065, 0.000045}, // turn args
AbstractMotor::gearset::green,
{WHEEL_DIAMETER, CHASSIS_WIDTH}
);
/* choose only one of the following: either separated chassis motors, or the chassis controller */
AsyncPosIntegratedController arm = AsyncControllerFactory::posIntegrated(ARM_MOTOR);
AsyncPosIntegratedController lever = AsyncControllerFactory::posIntegrated(LEVER_MOTOR);
int autonSelection = 10;
int autonPark = 0;
static lv_res_t redBtnmAction(lv_obj_t *btnm, const char *txt)
{
printf("red button: %s released\n", txt);
//if (txt == "Stack")
if (strcmp(txt, "Stack") == 0)
{
autonSelection = -1; // or whatever red close is
}
if (strcmp(txt, "1 Cube") == 0)
{
autonSelection = -2;
}
if (strcmp(txt, "Disable") == 0)
{
autonSelection = -3;
}
return LV_RES_OK; // return OK because the button matrix is not deleted
}
static lv_res_t blueBtnmAction(lv_obj_t *btnm, const char *txt)
{
printf("blue button: %s released\n", txt);
if (strcmp(txt, "Stack") == 0)
{
autonSelection = 1;
}
if (strcmp(txt, "1 Cube") == 0)
{
autonSelection = 2;
}
if (strcmp(txt, "Disable") == 0)
{
autonSelection = 3;
}
return LV_RES_OK;
}
static lv_res_t skillsBtnAction(lv_obj_t *btn, const char *txt)
{
printf("blue button: %s released\n", txt);
if (strcmp(txt, "Skill 5pt") == 0)
{
autonSelection = 0;
}
if (strcmp(txt, "Skill 10pt") == 0)
{
autonSelection = 10;
}
if (strcmp(txt, "Skill 16pt") == 0)
{
autonSelection = 20;
}
return LV_RES_OK;
}
//Create a button descriptor string array
static const char *btnmMap[] = {"Stack", "1 Cube", "Disable", ""};
static const char *btnSkillsMap[] = {"Skill 5pt", "Skill 10pt", "Skill 16pt", ""};
void initialize()
{
pros::delay(50); // sometimes LVGL won't draw the screen if there is no delay or it is not inverted on the brain
//inertial sensor
pros::Imu imu(6);
imu.reset();
pros::delay(2500);
/*manual lever brake mode
lever_motor.set_brake_mode(E_MOTOR_BRAKE_HOLD);*/
// lvgl theme
lv_theme_t *th = lv_theme_alien_init(280, NULL); //Set a HUE value and keep font default
lv_theme_set_current(th);
// create a tab view object
lv_obj_t *tabview;
tabview = lv_tabview_create(lv_scr_act(), NULL);
// add 3 tabs (the tabs are page (lv_page) and can be scrolled
lv_obj_t *redTab = lv_tabview_add_tab(tabview, "Red");
lv_obj_t *blueTab = lv_tabview_add_tab(tabview, "Blue");
lv_obj_t *skillsTab = lv_tabview_add_tab(tabview, "Skills");
// add content to the tabs
// red tab
// button matrix
lv_obj_t *redBtnm = lv_btnm_create(redTab, NULL);
lv_btnm_set_map(redBtnm, btnmMap);
lv_btnm_set_toggle(redBtnm, true, 0);
lv_btnm_set_action(redBtnm, redBtnmAction);
lv_obj_set_size(redBtnm, 450, 50);
lv_obj_set_pos(redBtnm, 0, 100);
lv_obj_align(redBtnm, NULL, LV_ALIGN_CENTER, 0, 0);
// blue tab
lv_obj_t *blueBtnm = lv_btnm_create(blueTab, NULL);
lv_btnm_set_map(blueBtnm, btnmMap);
lv_btnm_set_toggle(blueBtnm, true, 0);
lv_btnm_set_action(blueBtnm, blueBtnmAction);
lv_obj_set_size(blueBtnm, 450, 50);
lv_obj_set_pos(blueBtnm, 0, 100);
lv_obj_align(blueBtnm, NULL, LV_ALIGN_CENTER, 0, 0);
// skills tab
lv_obj_t *skillsBtnm = lv_btnm_create(skillsTab, NULL);
lv_btnm_set_map(skillsBtnm, btnSkillsMap);
lv_btnm_set_toggle(skillsBtnm, true, 0);
lv_btnm_set_action(skillsBtnm, skillsBtnAction);
lv_obj_set_size(skillsBtnm, 450, 50);
lv_obj_set_pos(skillsBtnm, 0, 100);
lv_obj_align(skillsBtnm, NULL, LV_ALIGN_CENTER, 0, 0);
}I might also ask this question on the discord. Can someone link it to me?
I have an example of okapi on github which i posted here:
It was updated from PROS-3.2.0 & Okapi 3.3.13 to PROS 3.2.1 & Okapi 4.0.3. It may help you update. These are tagged and if you are used to git you can see the difference between the to tags.
Also, it has a test of turnAngle in mar.cpp that shows 90,90,180,-360 and they turn the direction expected.