Inertial sensor displaying inf as heading on PROS

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1

My inertial sensor is displaying on the terminal an “int” value which causes the pid loop to run infinitely. here is the code

void turn(int target){
    //Creates important variables
    // std::this_thread::sleep_for (std::chrono::seconds(2));
    pros::delay(3000);
    int error;
    int lasterror;
    int totalerror;
    int power;

    int tol = 1;
    int range = 10;

    //Driving loop
    while (true){
        //Calculates the error
        error = target - rotationer.get_heading();

        if(error > 180){
            error -= 360;
        } else if (error < -180){
            error += 360;
        }

        if (std::abs(error) < tol){
            totalerror = 0;
        }

        //Calculates other variables
        totalerror += error;
        totalerror = std::max(std::min(totalerror, range), -1 * range);
        int turnd = error - lasterror;
        // int turnd = 0;

        //Calculates power and drives
        power = (error * turnkp) + (totalerror * turnti) + (turnd * turntd);
        power = std::max(-50, std::min(power, 50));

        LDrive.move(power);
        RDrive.move(-1 * power);

        lasterror = error;
        pros::lcd::clear();
        pros::lcd::set_text(1, std::to_string(error));
        std::cout << "\ntarget: "<< target << std::endl << "rotation: " << rotationer.get_heading() <<"\nerror is\n\n" << error << std::endl << std::endl;

    }
    LDrive.brake();
    RDrive.brake();

    
}
2

Looks like the loop never ends because there’s no break condition. Try adding a check like if (abs(error) < tol) break; so it exits once it reaches the target angle.

3

turns out I didn’t initialize the inertial sensor. loop works fine now.