int main() {
On.rotateFor(5.35,timeUnits::sec,15,velocityUnits::pct);
On.stop();
if(On.stop();){
Main.rotateFor(5,timeUnits::sec,30,velocityUnits::pct);
Off.spin(directionType::fwd,30,velocityUnits::rpm);
}
else{
Main.stop();
Off.stop();
}
}
This is my code. What I want to happen is, I want the “Main” motor to start running whenever the “On” motor stops. I am looking for what I should put in the ( ) of my if statement. Any help would be greatly appreciated!
@Nathan1, you don’t really need if statements here, because rotateFor() function could accept an additional argument, which tells it to wait for the rotation completion:
If you know that nothing would prevent “on” motor to reach the target position, then your code could look like this:
int main()
{
On.rotateFor(5.35,timeUnits::sec,15,velocityUnits::pct, true);
Main.rotateFor(5,timeUnits::sec,30,velocityUnits::pct,true);
Off.spin(directionType::fwd,30,velocityUnits::rpm);
}
However, if there is a chance that “On” motor could run into something then you will need code like this:
int main()
{
On.rotateFor(5.35,timeUnits::sec,15,velocityUnits::pct, false);
while(On.isSpinning) { vex::task::sleep(5); }
Main.rotateFor(5,timeUnits::sec,30,velocityUnits::pct,false);
while(Main.isSpinning) { vex::task::sleep(5); }
Off.spin(directionType::fwd,30,velocityUnits::rpm);
vex::task::sleep(2000); // let it run for 2 seconds
Off.stop();
}
The reference pages for Task.sleep() and Motor.isSpinning() functions:
https://help.vexcodingstudio.com/#pro/namespacevex/classvex_1_1task/sleep
https://help.vexcodingstudio.com/#cpp/namespacevex/classvex_1_1motor/isSpinning
Also, next time you may want to wrap your code into BBCode [code]...[/code] tags for better readability (you can even edit your post and add them now).
Guess I was just thinking about it too much. Thanks for the help!