Limit Switches not "Active" during pre-auton or auton

VEX V5 Technical Support OFFICIAL Tech Support
1

My team is using the V5 system and VCS (Vex C++). We have several limit switches and a jumper in place on the 3-wire ports.

When we view the values of the limit switches from the brain/devices, the correct values are displayed.

When we attempt to use these switches in pre-auton or autonomous tasks, we do not get the correct values. When the user control task is run, the switches work properly.

To debug the problem:

Printed the values of the switches to the brain during autonomous and user-control tasks ==> the values printed during autonomous are incorrect and the values printed during user-control are correct.

So we added printing the values of the switches to the brain during pre-auton also ==> INTERESTINGLY, the pre-auton values were INCORRECT, but the values in autonomous and user-control were CORRECT.

We still cannot get the values in pre-auton to be correct (for example, if we try to run our lift down until the limit switch is hit and then reset the encoder value, the limit switch is never shown in the code as triggered and we tear the lift apart).

Is this a known bug? If it is, any idea when it might be corrected?

2

I probably wont be able to help you too much, but if you give us your code, those of us that are better than I with this kind of thing will have better luck helping you.

3

Limit switches can be read at any time, post some code that demonstrates the problem so we can help.

4

void pre_auton( void ) {
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, …
// RUN THE LIFT TO THE BOTTOM LIMIT SWITCH AND THEN SET THE REVOLUTIONS TO ZERO.
// initLift(); THIS CODE IS CAUSING MAJOR PROBLEMS – REMOVE IT FOR NOW – ON STARTUP MAKE SURE LIFT IS FULLY DOWN!
Brain.Screen.print(“PRE-AUTON: %4.2f”,Lift.rotation(rotationUnits::rev));
Brain.Screen.newLine();
Brain.Screen.print(“BS: %d BL: %d RS: %d RL: %d”, AutonBlueSmall.pressing(), AutonBlueLarge.pressing(), AutonRedSmall.pressing(), AutonRedLarge.pressing());
Brain.Screen.newLine();
}

void autonomous( void ) {
// …
// Insert autonomous user code here.
// …

//blue small is port A
//blue large is port B
//red small is port C
//red large is port D
/=================================================================================================/
// BLUE ALLIANCE (SMALL GOAL)
// Starting position: start on right edge of first square on the left with back touching wall
// Pre-load: cube in closed claw
/=================================================================================================/
Brain.Screen.print(“BS: %d BL: %d RS: %d RL: %d”, AutonBlueSmall.pressing(), AutonBlueLarge.pressing(), AutonRedSmall.pressing(), AutonRedLarge.pressing());
Brain.Screen.newLine();
}

void usercontrol( void ) {
// User control code here, inside the loop
Brain.Screen.print(“BS: %d BL: %d RS: %d RL: %d”, AutonBlueSmall.pressing(), AutonBlueLarge.pressing(), AutonRedSmall.pressing(), AutonRedLarge.pressing());
Brain.Screen.newLine();
while (1){

// normal user control stuff in here
}

When you run this:

BS: 0 BL: 0 RS: 0 RL: 0 (from pre-auton)
BS: 1 BL: 0 RS: 0 RL: 0 (from auton)
BS: 1 BL: 0 RS: 0 RL: 0 (from user control)

NOTE: that there is a jumper in port A, which should always return 1.

If I remove the print statement from pre-auton, then the result is this

BS: 0 BL: 0 RS: 0 RL: 0 (from auton)
BS: 1 BL: 0 RS: 0 RL: 0 (from user control)

The above are snippets. The full code is below:

#define _USE_MATH_DEFINES
#include “robot-config.h”

/---------------------------------------------------------------------------/
/* /
/ Description: Competition template for VCS VEX V5 /
/ /
/---------------------------------------------------------------------------*/

/---------------------------------------------------------------------------/
/* 2019 Tower Takeover /
/---------------------------------------------------------------------------/
/ /
/ Summer 2019 Configuration /
/ 6 wheel robot – driven on center friction wheels /
/ port 1 – Left Drive /
/ port 10 – Right Drive (reversed) /
/ Claw – single side rotation for open and close /
/ port 8 /
/ Lift – Linear Lift – provides 10-1/8 inches of lift /
/---------------------------------------------------------------------------/
/ Change Log /
/---------------------------------------------------------------------------/
/ /
/ 7-24-2019 Dylan, Andy, Jonas /
/ Initial Version /
/ User Control of Drive Train, Lift, and Claw /
/ Beginnings of Autonomous Mode /
/ /
/ 7-28-2019 Andy Borden /
/ Added code for autonomous driving /
/ driveStraight function completed /
/ turnRobot function completed /
/ /
/ 7-29-2019 Andy Borden and Dylan Waldman /
/ Added the lift code for autonomous /
/ ARE REV THE RIGHT UNITS /
/ /
/ 7-30-2019 COACHES NOTES /
/ NOTES WITH THIS HEADING HAVE BEEN ADDED TO THE CODE /
/ STUDENTS SHOULD REFER TO NOTES AND MAKE NECESSARY CHANGES /
/ /
/---------------------------------------------------------------------------*/

//Creates a competition object that allows access to Competition methods.
vex::competition Competition;

/=================================================================================================/
// CONSTANTS
/=================================================================================================/
const double K_WHEEL_DIAMETER = 4.0;
const double K_TURNING_TWEAK = 1.0;
const double K_HALF_WHEEL_BASE = 7.3125; // 13.75" - 15.5" Use 14.625
const double MAX_LIFT_INCHES = 10.125;
const double MAX_LIFT_REV_VALUE = -6.450;
double currentPower = 1;

/=================================================================================================/
// initLift
// moves the lift all the way down until it hits the limit switch
// stop the motor
// set the revolutions to 0
// Written by Andy on 7-30-2019
/=================================================================================================/

void initLift() {
Brain.Screen.print(DownLimit.pressing());
Brain.Screen.newLine();
if (!DownLimit.pressing()) Lift.spin(directionType::fwd, 40, velocityUnits::pct); // DOWN
while (!DownLimit.pressing())
{
Brain.Screen.print(DownLimit.pressing());
Brain.Screen.newLine();
}
Lift.stop(brakeType::brake);
Lift.resetRotation();
}

/---------------------------------------------------------------------------/
/* Pre-Autonomous Functions /
/ /
/ You may want to perform some actions before the competition starts. /
/ Do them in the following function. You must return from this function /
/ or the autonomous and usercontrol tasks will not be started. This /
/ function is only called once after the cortex has been powered on and /
/ not every time that the robot is disabled. /
/---------------------------------------------------------------------------*/

void pre_auton( void ) {
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, …
// RUN THE LIFT TO THE BOTTOM LIMIT SWITCH AND THEN SET THE REVOLUTIONS TO ZERO.
// initLift(); THIS CODE IS CAUSING MAJOR PROBLEMS – REMOVE IT FOR NOW – ON STARTUP MAKE SURE LIFT IS FULLY DOWN!
Brain.Screen.print(“PRE-AUTON: %4.2f”,Lift.rotation(rotationUnits::rev));
Brain.Screen.newLine();
Brain.Screen.print(“BS: %d BL: %d RS: %d RL: %d”, AutonBlueSmall.pressing(), AutonBlueLarge.pressing(), AutonRedSmall.pressing(), AutonRedLarge.pressing());
Brain.Screen.newLine();
}

/=================================================================================================/
// openClaw
// Move the claw to the open position and hold it open
// NOTE: only the right side of the claw opens
/=================================================================================================/
void openClaw() {
Claw.setStopping(brakeType::hold);
Claw.setVelocity(20, velocityUnits::pct);
Claw.rotateTo(-0.098,rotationUnits::rev);
}

/=================================================================================================/
// closeClaw
// Move the claw to the closed position and hold it open
// NOTE: only the right side of the claw closes
/=================================================================================================/
void closeClaw() {
Claw.setStopping(brakeType::hold);
Claw.setVelocity(20, velocityUnits::pct);
Claw.rotateTo(0.075,rotationUnits::rev);
}

/=================================================================================================/
// driveStraight
// NOTE: This function is based on theoretical distance based on tire diameter
// 7-29 - swapped the parameters Speed and Distance so that Distance comes first
/=================================================================================================/
void driveStraight(double Distance, double Speed, bool Blocking){
//velocity in inches per second
//distance in inches, negative numbers will make you drive backwards

double circumference = K_WHEEL_DIAMETER * M_PI;
double degreesPerInch = 360 / circumference;
RWheels.setVelocity(Speed * degreesPerInch, velocityUnits::dps);
LWheels.setVelocity(Speed * degreesPerInch, velocityUnits::dps);
RWheels.rotateFor(Distance * degreesPerInch, rotationUnits::deg, false);
LWheels.rotateFor(Distance * degreesPerInch, rotationUnits::deg, Blocking);
//the boolean "blocking", if true, will wait to finish executing the function before moving on to the next line of code.

}

/=================================================================================================/
// turnRobot
// NOTE: This function is based on wheel diameter and wheel distance from center
// K_TURNING_TWEAK is an adjustment factor.
// 7/29 - Changed Arm to constant K_ARM, added speed as a parameter to the function
// 7-30 - Changed K_ARM to K_HALF_WHEEL_BASE
/=================================================================================================/
void turnRobot(double Degrees, double Speed, bool Blocking){
//negative numbers will make you turn to the left
//A=robot rotation (in degrees)
//D=wheel diameter
//W=1/2 wheel base
//T= wheel rotation (in degrees)
//M= linear distance of wheel movement

//robot rotation: A=(M/W)*(180/pi)
//wheel movement: M=T*(pi/180)*D/2
//substituting: A=((T*(pi/180)*D/2)/W)*(180/pi)
//cancelling: A=(T*D/2)/W
//simplifying: A=TD/2W
//rearranging: T=2WA/D

double turnAmount = Degrees * K_TURNING_TWEAK * 2 * K_HALF_WHEEL_BASE / K_WHEEL_DIAMETER;
double turnSpeed = Speed * K_TURNING_TWEAK * 2 * K_HALF_WHEEL_BASE / K_WHEEL_DIAMETER;
RWheels.setVelocity(turnSpeed, velocityUnits::dps);
LWheels.setVelocity(turnSpeed, velocityUnits::dps);
RWheels.rotateFor(-turnAmount, rotationUnits::deg, false);
LWheels.rotateFor(turnAmount, rotationUnits::deg, Blocking);

}

/=================================================================================================/
// moveLift
// moves the lift to an absolute height in inches
// Written by Andy on 7-30-2019
// 0 revolutions = 0 inches (lift at the bottom)
// -6.450 revolutions = 10.125 inches (lift at the top)
// every > and < needs to be checked, we might want to reverse this motor
/=================================================================================================/

void moveLift(double Inches) {
// NOTE: VELOCITY IS NEGATIVE WHEN LIFT IS RISING

double height = MAX_LIFT_REV_VALUE / MAX_LIFT_INCHES * Inches;
if (height <= 0.00 && height >= MAX_LIFT_REV_VALUE) Lift.rotateTo(height, rotationUnits::rev, 40, velocityUnits::pct, true);
else Brain.Screen.print("LIFT OUT OF BOUNDS");

Brain.Screen.newLine();
Brain.Screen.print("height: %4.2f", height);
Brain.Screen.newLine();

// WE SHOULD BE CHECKING THE LIMIT SWITCHES -- HOWEVER, THIS CODE HAS BEEN PROBLEMATIC
// WE WILL ADDRESS AT A LATER DATE!
/*===========================================================
Lift.startRotateTo(height, rotationUnits::rev, 40, velocityUnits::pct);
while (Lift.isSpinning()) 
{
    if (Lift.velocity(velocityUnits::pct) > 0)  // GOING DOWN -- CHECK DOWNLIMIT
    {
        if (DownLimit.pressing() || Lift.rotation(rotationUnits::rev) >= height) Lift.stop();            
    }
    if (Lift.velocity(velocityUnits::pct) < 0)  // GOING UP -- CHECK UPLIMIT
    {
        if (UpLimit.pressing() || Lift.rotation(rotationUnits::rev) <= height) Lift.stop();
    }
}
=============================================================*/

}

double stickAdjust(double StickIn) {
return StickIn * 100/127 * currentPower;
}

/---------------------------------------------------------------------------/
/* /
/ Autonomous Task /
/ /
/ This task is used to control your robot during the autonomous phase of /
/ a VEX Competition. /
/ /
/ You must modify the code to add your own robot specific commands here. /
/---------------------------------------------------------------------------*/

void autonomous( void ) {
// …
// Insert autonomous user code here.
// …

//blue small is port A
//blue large is port B
//red small is port C
//red large is port D
/=================================================================================================/
// BLUE ALLIANCE (SMALL GOAL)
// Starting position: start on right edge of first square on the left with back touching wall
// Pre-load: cube in closed claw
/=================================================================================================/
Brain.Screen.print(“BS: %d BL: %d RS: %d RL: %d”, AutonBlueSmall.pressing(), AutonBlueLarge.pressing(), AutonRedSmall.pressing(), AutonRedLarge.pressing());
Brain.Screen.newLine();

/*
Brain.Screen.print(AutonBlueSmall.pressing());
Brain.Screen.newLine();
Brain.Screen.print(AutonBlueLarge.pressing());
Brain.Screen.newLine();
Brain.Screen.print(AutonRedSmall.pressing());
Brain.Screen.newLine();
Brain.Screen.print(AutonRedLarge.pressing());
*/
//******************Auton Blue Small *********************Slot 1
if (true) {
// Close claw
closeClaw();
// Move robot forwards 24 inches
driveStraight(24, 10, true);
// Turn robot counterclockwise 135 degrees
turnRobot(-135, 60, true);
// Move robot forward 25 inches
driveStraight(25, 10, true);
// Open the claw and let the cube go
openClaw();
// Back up 6 inches
driveStraight(-6, 10, true);
// Close the claw
closeClaw();
// Move forward 14 inches and push the block
driveStraight(14, 10, true);
// Turn our robot clockwise 15 degrees
turnRobot(15, 60, true);
// Move robot backwards
driveStraight(-6, 10, true);
}

/=================================================================================================/
// BLUE ALLIANCE (LARGE GOAL)
// Starting position: start on the left side of the first tile to the right, with the right of the robot touching the wall
// Pre-load: cube in closed claw
/=================================================================================================/
if (false) {
driveStraight (14, 10, true);
driveStraight (-14, 10, true);
}
/=================================================================================================/
// RED ALLIANCE (SMALL GOAL)
// Starting position: start on left edge of first square on the right with back touching wall
// Pre-load: cube in closed claw
/=================================================================================================/
if (false) {
// Close claw
closeClaw();
// Move robot forwards 24 inches
driveStraight(24, 10, true);
// Turn robot clockwise 135 degrees
turnRobot(135, 60, true);
// Move robot forward 25 inches
driveStraight(25, 10, true);
//open the claw
openClaw();
//move backwards 6 inches
driveStraight(-6, 10, true);
//close the claw
closeClaw();
//move forwards 14 inches
driveStraight(14, 10, true);
//turn the robot counterclockwise 15 degrees
turnRobot(-15,60,true);
// Move the robot backwards 6 inches
driveStraight(-6, 10, true);
}

/=================================================================================================/
// RED ALLIANCE (LARGE GOAL)
// Starting position: start on the left edge of the first tile on the right with the left side of the robot touching the wall
// Pre-load: cube on closed claw
/=================================================================================================/
if (false)
{
driveStraight (14, 10, true);
driveStraight (-14, 10, true);
}

}

/----------------------------------------------------------------------------/
/* /
/ User Control Task /
/ /
/ This task is used to control your robot during the user control phase of /
/ a VEX Competition. /
/ /
/ You must modify the code to add your own robot specific commands here. /
/----------------------------------------------------------------------------*/

void usercontrol( void ) {
// User control code here, inside the loop
Brain.Screen.print(“BS: %d BL: %d RS: %d RL: %d”, AutonBlueSmall.pressing(), AutonBlueLarge.pressing(), AutonRedSmall.pressing(), AutonRedLarge.pressing());
Brain.Screen.newLine();
while (1){
// This is the main execution loop for the user control program.
// Each time through the loop your program should update motor + servo
// values based on feedback from the joysticks.

// ........................................................................
// Insert user code here. This is where you use the joystick values to 
// update your motors, etc.
// ........................................................................

  /*=================================================================================================*/
  // DRIVE TRAIN (2 STICK ARCADE)
  //       AXIS3 (LEFT STICK Y-AXIS):  SPEED
  //       AXIS1 (RIGHT STICK X-AXIS): AMOUNT OF TURN
  /*=================================================================================================*/
  /*---------------------------------------------------------------------------*/
  /* 7-30-2019   COACHES NOTES                                                 */
  /*             1) THIS IS REALLY SUPER FAST THINK ABOUT ADDING A PRECISION   */
  /*                BUTTON THAT WILL SLOW IT WAY WAY DOWN                      */
  /*             2) THE CONTROLLER RETURNS AN AXIS VALUE OF -127 TO 127        */
  /*                THIS IS NOT A PERCENTAGE -- REACH FULL SPEED LONG BEFORE   */
  /*                THE STICK IS PUSHED TO ITS EXTREME                         */
  /*---------------------------------------------------------------------------*/
  
  if (Controller1.ButtonA.pressing()) currentPower = 1;
  if (Controller1.ButtonB.pressing()) currentPower = 0.5;
  LWheels.spin(directionType::fwd, stickAdjust(Controller1.Axis3.value() + Controller1.Axis1.value()), velocityUnits::pct);  //LEFT SIDE
  RWheels.spin(directionType::fwd, stickAdjust(Controller1.Axis3.value() - Controller1.Axis1.value()), velocityUnits::pct);  //RIGHT SIDE
  
  /*=================================================================================================*/
  // LIFT 
  //       L1: UP        LIMITED BY LIMIT SWITCH UpLimit
  //       L2: DOWN      LIMITED BY LIMIT SWITCH DownLimit
  /*=================================================================================================*/
  if (Controller1.ButtonL1.pressing())  //UP
  {
      if (UpLimit.pressing()) Lift.stop();
      else Lift.spin(directionType::rev,40,velocityUnits::pct);
  }
  else if (Controller1.ButtonL2.pressing())     //DOWN
  {
      if (DownLimit.pressing()) Lift.stop();
      else Lift.spin(directionType::fwd,40,velocityUnits::pct);    
  }
  else Lift.stop();
  
  /*=================================================================================================*/
  // CLAW 
  //       R1: OPEN
  //       R2: CLOSE
  /*=================================================================================================*/
  if (Controller1.ButtonR1.pressing()) openClaw() ;       // OPEN
  else if (Controller1.ButtonR2.pressing()) closeClaw();  // CLOSE
  else Claw.stop();                                       // STOP

  vex::task::sleep(20); //Sleep the task for a short amount of time to prevent wasted resources.

}
}

//
// Main will set up the competition functions and callbacks.
//
int main() {

//Run the pre-autonomous function. 
pre_auton();

//Set up callbacks for autonomous and driver control periods.
Competition.autonomous( autonomous );
Competition.drivercontrol( usercontrol );

//Prevent main from exiting with an infinite loop.                        
while(1) {
  vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
}

}

5

Ok here is your problem - the if will ALWAYS be executed - you need to evaluate it to something - like if( SLOT_ONE == true) {} else {}

How you get the value of SLOT_ONE is up to you…

1 Like
6

Because we have a tournament on Saturday, we resorted to copying our code 4 times and simply making the section of code we wanted to execute true. We did this because the values of the .pressing() function is not correct in pre-auton or auton.

In our original code, we use: if (AutonBlueSmall.pressing()), etc. Since the results of the .pressing command are incorrect, the code doesn’t execute anything.