My competition code does not work and it has no errors

Programming Support VEXcode V5 Tech Support
1

I’m using VexCode v5 text C++ and this is the code.

#pragma region VEXcode Generated Robot Configuration
// Make sure all required headers are included.
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>


#include "vex.h"

using namespace vex;

// Brain should be defined by default
brain Brain;


// START V5 MACROS
#define waitUntil(condition)                                                   \
  do {                                                                         \
    wait(5, msec);                                                             \
  } while (!(condition))

#define repeat(iterations)                                                     \
  for (int iterator = 0; iterator < iterations; iterator++)
// END V5 MACROS


// Robot configuration code.
controller Controller1 = controller(primary);
motor Motor1 = motor(PORT1, ratio18_1, false);

motor Motor2 = motor(PORT2, ratio18_1, false);

motor Motor3 = motor(PORT3, ratio18_1, false);

motor Motor4 = motor(PORT4, ratio18_1, false);

motor scoop = motor(PORT5, ratio18_1, false);

motor Climbing = motor(PORT6, ratio18_1, false);




// Helper to make playing sounds from the V5 in VEXcode easier and
// keeps the code cleaner by making it clear what is happening.
void playVexcodeSound(const char *soundName) {
  printf("VEXPlaySound:%s\n", soundName);
  wait(5, msec);
}



// define variable for remote controller enable/disable
bool RemoteControlCodeEnabled = true;

#pragma endregion VEXcode Generated Robot Configuration
float X1, X2, Y1, OVER;
bool controlmode_auto = true;
bool controlmode_driver = true;
int auto_period = 15;
bool scoop_bool = true;//true = open, false=close

//{forward/backward, crab walk, turn}
int instructions[25][3]{
  {0, 50, 0},
  {0, 50, 0},
  {0, 50, 0},
  {0, 50, 0},
  {0, 50, 0},
  {0, 20, 0},
  {0, -50, 0},
  {0, -50, 0},
  {0, -50, 0},
  {0, -50, 0},
  {0, -50, 0},
  {0, -20, 0},
  {0, 0, 20},
  {50, 0, 0},
  {50, 0, 0},
  {0, 70, 0},
  {50, 0, 0},
  {50, 0, 0},
  {-50, 0, 0},
  {0, 0, 0},
  {0, 0, 0},
  {0, 0, 0},
  {0, 0, 0},
  {0, 0, 0},
  {123, 0, 0} //123 in the first spot signifys the end of the instructions.  
};

void Mecanum(){
  // Break
  if (Y1 + X1 + X2 > 100.0) {
    OVER = 100.0 / (Y1 + X1 + X2);
  } else if (-100.0 > Y1 + X1 + X2) {
    OVER = 100.0 / (Y1 + X1 + X2);
  
  } else if (Y1 - X1 - X2 > 100.0) {
    OVER = 100.0 / (Y1 - X1 - X2);
  } else if (-100.0 > Y1 - X1 - X2) {
    OVER = 100.0 / (Y1 - X1 - X2);

  } else if (Y1 + X1 - X2 > 100.0) {
    // Break
    OVER = 100.0 / (Y1 + X1 - X2);
  } else if (-100.0 > Y1 + X1 - X2) {
    // Break
    OVER = 100.0 / (Y1 + X1 - X2);
  
  }
   else if (Y1 - X1 + X2 > 100.0) {
      OVER = 100.0 / (Y1 - X1 + X2);
    } else if (-100.0 > Y1 - X1 + X2) {
      OVER = 100.0 / (Y1 - X1 + X2);
    
    } else {
      OVER = 1.0; //Won't Affect Wheel Speed At All
    }
  Motor1.setVelocity((OVER * (Y1 + X1 + X2)), percent);
  Motor2.setVelocity((OVER * (0-Y1 + X1 + X2)), percent);
  Motor3.setVelocity((OVER * (Y1 - X1 + X2)), percent);
  Motor4.setVelocity((OVER * (0- Y1 - X1 + X2)), percent);
  
} 


void L1_pressed(){
  if (scoop_bool == true){
    scoop_bool = false;
  }else{
    scoop_bool = true;
  }

  if (scoop_bool){
  scoop.spinToPosition(90,degrees);
  }else{
  scoop.spinToPosition(0,degrees);
  }}

  void R1_pressed(){
  Climbing.spin(forward);
   }

    void R2_pressed(){
  Climbing.spin(reverse);
   }

     void R1_released(){
  Climbing.stop();
   }

    void R2_released(){
  Climbing.stop();
   }

/*
  X1 = Controller1.Axis4.position();
  Y1 = Controller1.Axis3.position();
  X2 = Controller1.Axis1.position();
  X2 = X2*0.75; // Allows For Higher Turning Speed
*/




void control_auto(void){
  Motor1.spin(forward); //Setting Up Variables and Motors
  Motor2.spin(forward);
  Motor3.spin(forward);
  Motor4.spin(forward);
  OVER = 1.0;
  int num_time = round(Brain.Timer.time(seconds)); // Converts Seconds Into Steps
  
  if (num_time == auto_period or num_time > auto_period){
    controlmode_auto = false;
  }
  
  if (instructions[num_time][0] == 123) {
    controlmode_auto = false;
    Brain.Screen.print("Auto Done");
  }

  if (controlmode_auto){    
    num_time = num_time * 2;
    Y1 = instructions[num_time][0];
    X1 = instructions[num_time][1];
    X2 = instructions[num_time][2];
    Mecanum();
}
}

void control_human(){
  printf("Human");
  Motor1.spin(forward); //Setting Up Variables and Motors
  Motor2.spin(forward);
  Motor3.spin(forward);
  Motor4.spin(forward);
  OVER = 1.0;

  Y1 = Controller1.Axis3.position();
  X1 = Controller1.Axis4.position();
  X2 = Controller1.Axis1.position();
  Mecanum();
}


void scoops(){
  if(Controller1.ButtonL1.pressing()){
    L1_pressed();
  }}

void R1up(){
  if(Controller1.ButtonR1.pressing()){
    R1_pressed();
  }}

  void R2down(){
  if(Controller1.ButtonL1.pressing()){
    R2_pressed();
  }}

 /* void R1stop(){
  if(Controller1.ButtonR1.released()){
    R1_released();
  }}


  void R2stop(){
  if(Controller1.ButtonL1.released()){
    R2_released();
  }}
  */
  void R1stop(){
  if(Controller1.ButtonR1.pressing()){
    R1_released();
  }}

  void R2stop(){
  if(Controller1.ButtonL1.pressing()){
    R2_released();
  }}


int whenStarted1() {
  Motor1.spin(forward); //Setting Up Variables and Motors
  Motor2.spin(forward);
  Motor3.spin(forward);
  Motor4.spin(forward);
  OVER = 1.0;
  control_auto();
 

  while (true) {
    control_human();
    scoops();
    R1up();
    R2down();
    R1stop();
    R2stop();
    wait(5, msec);
  }
}






void preAutonomous(void) {
  // actions to do when the program starts
  Brain.Screen.clearScreen();
  Brain.Screen.print("pre auton code");
  wait(1, seconds);
}


int main() {
  // create competition instance
  competition Competition;

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

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

  // Prevent main from exiting with an infinite loop.
  while (true) {
    wait(100, msec);
  }
}

edit: code tags added by mods, please remember to use them.

2

so what doesn’t work ?
Although there are no syntax errors, there are plenty of logical errors. For example, whenStarted1() is never called if you were expecting that to happen.

2 Likes
3

the problem I have is that I run it but then it does nothing

4

As in, it won’t let you drive around the field?

5

Well the driver control code control_human doesn’t really do much. You read the controller, call the mecanum function, which initially will probably set motor velocity to zero, and then exit.

2 Likes