Lift issues

Programming Support ROBOTC Tech Support
1

task autonomous() // right side autonomous is in place right now
{
resetMotorEncoder(clamp1);
resetMotorEncoder(clamp2);
SensorValue[rightencoder] = 0;
SensorValue[leftencoder] = 0;

if(SensorValue[potent] < 1200)
{
motor[lift1] = -127;
motor[lift2] = -127;
}
else if(SensorValue[potent] > 1200)
{
motor[lift1] = 0;
motor[lift2] = 0;
}
if(SensorValue[rightencoder] > -1000)
{
motor[motor1] = 63;
motor[motor2] = 63;
motor[motor3] = 63;
motor[motor4] = 63;
}
else if(SensorValue[rightencoder] < -1000)
{
motor[motor1] = 0;
motor[motor2] = 0;
motor[motor3] = 0;
motor[motor4] = 0;
motor[clamp1] = 63;
motor[clamp2] = 63;
}

Using the above code our lift is supposed to stop when the potentiometer reaches a value greater than 1200, yet it does not and instead the lift just raises all the way up. Why?

2

Check that the potentiometer is increasing in value when the lift is being raised. You also need to place the test inside a while loop otherwise your "if statements will only be evaluated once.

task autonomous()
{
  resetMotorEncoder(clamp1);
  resetMotorEncoder(clamp2);
  SensorValue[rightencoder] = 0;
  SensorValue[leftencoder] = 0;

  while( true ) {
    if(SensorValue[potent] < 1200)
    {
      motor[lift1] = -127;
      motor[lift2] = -127;
    }
    else if(SensorValue[potent] > 1200)
    {
      motor[lift1] = 0;
      motor[lift2] = 0;
    }
    if(SensorValue[rightencoder] > -1000)
    {
      motor[motor1] = 63;
      motor[motor2] = 63;
      motor[motor3] = 63;
      motor[motor4] = 63;
    }
    else if(SensorValue[rightencoder] < -1000)
    {
      motor[motor1] = 0;
      motor[motor2] = 0;
      motor[motor3] = 0;
      motor[motor4] = 0;
      motor[clamp1] = 63;
      motor[clamp2] = 63;
    }
    
    wait1Msec(20);
  }
}
3