Improving Kicker through Software

Programming Support VEXcode V5 Tech Support
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1

We use a distance sensor for our kicker with autofire. If it detects a triball, it will fire it. However, before it fires and detects it again, it makes sure to stop at the same position it started in and then after it comes to a complete stop, will it actually fire again. Kinda slow and ineffective and we want a better skills score.

So the fix is simple, just tell the code to not come to a stop and if it detects a triball while it’s firming, just keep firing. Although, im not sure how to go on about doing that.

      while (shootCounter < 44) {
      

      if (Distance.objectDistance(mm) < 100 && Distance.objectDistance(mm) > 20) {
      
      shoot = true; 
      Shoot();
      Brain.Screen.setCursor(2, 2);
      Brain.Screen.print(shootCounter);
      
      }
      
      
      }
      shoot = false;

And this is the function Shoot:

void Shoot()
{
  if (shoot==true) {

  Shooter.setVelocity(100, percent);
  Shooter.spinTo(-1, rev, true);
  shootCounter = shootCounter+1;
  Shooter.setPosition(Shooter.position(rev)+1, rev);
  if (!Controller1.ButtonR1.pressing()) {Shooter.stop(); shoot = false;}
  
  }
}

I’ve tried making it work by placing the “if distance between is correct to fire a triball” if statement inside the definition of Shoot but I don’t know how I would say to not stop. Just need help to think out the logic. Kinda hit a wall with this one.

2

That last if statement was written really badly, here’s what it’s supposed to be

if (!Controller1.ButtonR1.pressing()) {
 Shooter.stop();
 shoot = false;
}