hello our proggrammes started using pros today instead of vexcode v5 pro and there is a connection issue. we are starting the code and start driving and it disconnects after 3 or 5 mins we asked to the developers of the pros but they said that our code is perfect and they asked to the vex developers and they said that pros is not an problem according to the connection can you just help? (we accept all the suggestion by you)
Could you post the code? Use triple backticks (```) to format it.
It should look like thisHere is the pros file:
#include "main.h"
//defines
pros::Motor OnToplama(-6, MOTOR_GEAR_RED);
pros::Motor ArkaToplama(5, MOTOR_GEAR_RED);
pros::Motor_Group Toplama({OnToplama ,ArkaToplama});
pros::Motor SolOn(18, MOTOR_GEAR_BLUE);
pros::Motor SolOrta(-14, MOTOR_GEAR_BLUE);
pros::Motor SolArka(-7, MOTOR_GEAR_BLUE);
pros::Motor_Group SolDrive({SolOn,SolOrta,SolArka});
pros::Motor SagOn(-16, MOTOR_GEAR_BLUE);
pros::Motor SagOrta(15, MOTOR_GEAR_BLUE);
pros::Motor SagArka(2, MOTOR_GEAR_BLUE);
pros::Motor_Group SagDrive({SagOn,SagOrta,SagArka});
ez::Piston SolKanat('H');
ez::Piston SagKanat('G');
ez::Piston Catapult('F');
ez::Piston Lifting('E');
//booleans
bool cata_state = false;
bool lift_state = false;
float pto_velocity = 127;
//gear change functions
void CatapultZ(){
if(!cata_state){
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Catapult");
master.rumble("-.");
Toplama.brake(); // önce motorları durdurur
Catapult.set(1); // catapult çarkını ittirir
Toplama.move(12.7); // düşük bir voltajda döndürür
pros::delay(300); // catapult çarkının oturması için beklenir
Toplama.brake(); // motor durdurulur
pto_velocity = 127; // motorların voltajı tekrar yükseltilir.
cata_state = !cata_state; // Catapult çarkının ileride olduğu belirtilir.
}
else{
Toplama.brake(); // motorlar durdurulur
Catapult.set(0); // Catapult çarkı çekilir
pto_velocity = 127; // motorlar en yüksek voltaja ayarlanır
cata_state = !cata_state; // Catapult çarkının geride olduğu belirtilir
if(!lift_state){ // eğer catapult çarkı çekildiğinde kolda çekilmiş durumdaysa
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Intake"); // controller ekranına sadece toplamada olduğu belirtilir
master.rumble("-.");
}
if(lift_state && !cata_state){ // eğer catapult çarkı çekildiğinde kol çarkı ilerideyse
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Kol"); // Controller ekranına kol'un kullanılabilir olduğu yazdırılır.
master.rumble("-.");
}
}
if(cata_state && lift_state){ // eğer iki çark da ilerideyse
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Kol Cat Int"); // yapabileceği görevler Controller ekranına yazdırılır.
master.rumble("-.");
}
}
void LiftingZ(){
if(!lift_state){ // Eğer kol çarkı gerideyse
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Kol");
master.rumble("-.");
Toplama.brake(); // önce motorlar durdurulur
Lifting.set(1); // kol çarkı ittirilir
Toplama.move(12.7); // düşük bir voltajda döndürür
pros::delay(300); // kol çarkının oturması için beklenir
Toplama.brake(); // motor durdurulur
pto_velocity = 127; // motorların voltajı tekrar yükseltilir
lift_state = !lift_state; // kol çarkının ileride olduğu belirtilir
}
else{ // kol çarkı ilerideyse eğer
Toplama.brake(); // motorlar durdurulur
Lifting.set(0); // kol çarkı çekilir
pto_velocity = 127; // motorlar en yüksek voltaja ayarlanır
lift_state = !lift_state; // kol çarkının geride olduğu belirtilir
if(!cata_state){ // eğer kol çarkı çekildiğinde catapultda çekilmiş durumdaysa
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Intake"); // Controller ekranına sadece Toplamada olduğu belirtilir
master.rumble("-.");
}
if(cata_state && !lift_state){ // eğer kol çarkı çekildiğinde Catapult çarkı ilerideyse
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Catapult"); // Controller ekranına Catapult'un kullanılabilir olduğu yazdırılır.
master.rumble("-.");
}
}
if(lift_state && cata_state){ // eğer iki çark da ilerideyse
pros::lcd::clear_line(3);
pros::lcd::print(3, "Durum: Kol Cat Int"); // yapabileceği görevler Controller ekranına yazdırılır.
master.rumble("-.");
}
}
/////
// For installation, upgrading, documentations and tutorials, check out our website!
// https://ez-robotics.github.io/EZ-Template/
/////
//multitasking tasks
//auton speeds
const int DRIVE_SPEED = 127;
const int TURN_SPEED = 127;
const int SWING_SPEED = 127;
void RobotSkills(){
chassis.drive_brake_set(MOTOR_BRAKE_HOLD);
chassis.opcontrol_drive_activebrake_set(0.1);
chassis.pid_swing_set(ez::RIGHT_SWING, -130_deg, SWING_SPEED, 45); // match loader a gitme
chassis.pid_wait();
chassis.pid_turn_set(-100_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
CatapultZ();
Toplama.move(127);
pros::delay(28520);
Toplama.brake();
CatapultZ();
SolKanat.set(0);
chassis.pid_swing_set(ez::LEFT_SWING, -195_deg, SWING_SPEED, 0);
chassis.pid_wait();
chassis.pid_drive_set(5_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-20_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(3_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-45_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(-16_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-90_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(-31_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(0_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(12_in, DRIVE_SPEED, true);//-17in
chassis.pid_wait();
chassis.pid_turn_set(-90_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_swing_set(ez::LEFT_SWING, 90_deg, SWING_SPEED, 35);
chassis.pid_wait();
chassis.pid_drive_set(15_in, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
SagKanat.set(0);
chassis.pid_drive_set(-7_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(125_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(-17_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(90_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_drive_set(20_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-10_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(12_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-10_in, DRIVE_SPEED, true);
chassis.pid_wait();
}
void RootSkillsYedek(){
chassis.drive_brake_set(MOTOR_BRAKE_HOLD);
chassis.opcontrol_drive_activebrake_set(0.1);
chassis.drive_brake_set(MOTOR_BRAKE_HOLD);
chassis.opcontrol_drive_activebrake_set(0.1);
chassis.pid_swing_set(ez::RIGHT_SWING, -130_deg, SWING_SPEED, 45); // match loader a gitme
chassis.pid_wait();
chassis.pid_turn_set(-100_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
CatapultZ();
Toplama.move(117);
pros::delay(28520);
Toplama.brake();
CatapultZ();
SolKanat.set(0);
chassis.pid_swing_set(ez::LEFT_SWING, -195_deg, SWING_SPEED, 0);
chassis.pid_wait();
chassis.pid_drive_set(5_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-20_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(3_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-45_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(-8_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-90_deg, TURN_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(15_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(0_deg, TURN_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(13_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(90_deg, TURN_SPEED, true);
chassis.pid_wait();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_drive_set(20_in, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
SagKanat.set(0);
chassis.pid_drive_set(-20_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(0_deg, TURN_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(13_in, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(90_deg, TURN_SPEED, true);
chassis.pid_wait();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_drive_set(20_in, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
SagKanat.set(0);
chassis.pid_drive_set(-7_in, DRIVE_SPEED, true);
chassis.pid_wait();
}
void KendiSiralama() {
// The first parameter is target degrees
// The second parameter is max speed the robot will drive at
chassis.pid_drive_set(50_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(45_deg, TURN_SPEED);
chassis.pid_wait();
Toplama.move(-127);
pros::delay(500);
Toplama.brake();
chassis.pid_drive_set(-10_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-90, TURN_SPEED);
chassis.pid_wait();
////////
Toplama.move(127);
chassis.pid_drive_set(25_cm, DRIVE_SPEED, true);
chassis.pid_wait();
pros::delay(50);
Toplama.brake();
chassis.pid_turn_set(45_deg, TURN_SPEED);
chassis.pid_wait();
Toplama.move(-127);
pros::delay(300);
Toplama.brake();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_swing_set(ez::LEFT_SWING, 90_deg, SWING_SPEED, 50);
chassis.pid_wait();
chassis.pid_turn_set(90_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(60_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-10_cm, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
SagKanat.set(0);
chassis.pid_turn_set(45_deg, TURN_SPEED);
chassis.pid_wait();
LiftingZ();
Toplama.move_relative(1700*4, 127);
chassis.pid_drive_set(-55_cm, DRIVE_SPEED, true);
chassis.pid_wait();
}
void KendiFinal() {
chassis.pid_drive_set(50_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(45_deg, TURN_SPEED);
chassis.pid_wait();
Toplama.move(-127);
pros::delay(200);
Toplama.brake();
chassis.pid_drive_set(-10_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-90, TURN_SPEED);
chassis.pid_wait();
////////
Toplama.move(127);
chassis.pid_drive_set(25_cm, DRIVE_SPEED, true);
chassis.pid_wait();
pros::delay(25);
Toplama.brake();
chassis.pid_turn_set(45_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_swing_set(ez::LEFT_SWING, 90_deg, SWING_SPEED, 85);
chassis.pid_wait();
chassis.pid_turn_set(90_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(-10_cm, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
SagKanat.set(0);
chassis.pid_turn_set(-90_deg, TURN_SPEED);
chassis.pid_wait();
Toplama.move(127);
chassis.pid_drive_set(30_cm, DRIVE_SPEED, true);
chassis.pid_wait();
Toplama.brake();
chassis.pid_turn_set(90_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
SagKanat.set(1);
chassis.pid_drive_set(45_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-30_cm, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
SagKanat.set(0);
}
void KarsiSiralama(){
chassis.pid_turn_set(-45_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(35_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(0_deg, TURN_SPEED);
chassis.pid_wait();
chassis.pid_drive_set(22_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_drive_set(-15_cm, DRIVE_SPEED, true);
chassis.pid_wait();
chassis.pid_turn_set(-45_deg, TURN_SPEED);
chassis.pid_wait();
SolKanat.set(1);
chassis.pid_drive_set(-29_cm, DRIVE_SPEED, true);
chassis.pid_wait();
SolKanat.set(0);
chassis.pid_turn_set(-90_deg, TURN_SPEED);
chassis.pid_wait();
LiftingZ();
Toplama.move_relative(9500, 127);
pros::delay(2500);
chassis.pid_drive_set(-40_cm, DRIVE_SPEED, true);
chassis.pid_wait();
Toplama.move_relative(-2700, 127);
// move_relative ile değiştirilebilir.}
}
// Chassis constructor
ez::Drive chassis(
// Left Chassis Ports (negative port will reverse it!)
// the first port is the sensored port (when trackers are not used!)
{-14, 18, -7}
// Right Chassis Ports (negative port will reverse it!)
// the first port is the sensored port (when trackers are not used!)
,
{2, 15, -16}
// IMU Port
,
4
// Wheel Diameter (Remember, 4" wheels are actually 4.125!)
// (or tracking wheel diameter)
,
4.125
// External Gear Ratio (MUST BE DECIMAL)
// (or gear ratio of tracking wheel)
// eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 2.333.
// eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 0.6.
,
2.33333333
// Left Rotation Port (negative port will reverse it!)
,
8
// Right Rotation Port (negative port will reverse it!)
,
-1);
/**
* Runs initialization code. This occurs as soon as the program is started.
*
* All other competition modes are blocked by initialize; it is recommended
* to keep execution time for this mode under a few seconds.
*/
void initialize() {
// Print our branding over your terminal :D
ez::ez_template_print();
pros::delay(500); // Stop the user from doing anything while legacy ports configure
// Configure your chassis controls
chassis.opcontrol_curve_buttons_toggle(true); // Enables modifying the controller curve with buttons on the joysticks
chassis.opcontrol_drive_activebrake_set(0.1); // Sets the active brake kP. We recommend 0.1.
chassis.opcontrol_curve_default_set(0, 0); // Defaults for curve. If using tank, only the first parameter is used. (Comment this line out if you have an SD card!)
default_constants(); // Set the drive to your own constants from autons.cpp!
// These are already defaulted to these buttons, but you can change the left/right curve buttons here!
// chassis.opcontrol_curve_buttons_left_set (pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT); // If using tank, only the left side is used.
// chassis.opcontrol_curve_buttons_right_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A);
// Autonomous Selector using LLEMU
ez::as::auton_selector.autons_add({
Auton("RobotSkills", RobotSkills),
//Auton("Example Turn\n\nTurn 3 times.", turn_example),
//Auton("Drive and Turn\n\nDrive forward, turn, come back. ", drive_and_turn),
//Auton("Drive and Turn\n\nSlow down during drive.", wait_until_change_speed),
//Auton("Swing Example\n\nSwing in an 'S' curve", swing_example),
//Auton("Combine all 3 movements", combining_movements),
//Auton("Interference\n\nAfter driving forward, robot performs differently if interfered or not.", interfered_example),
});
// Initialize chassis and auton selector
chassis.initialize();
ez::as::initialize();
master.rumble(".");
}
/**
* Runs while the robot is in the disabled state of Field Management System or
* the VEX Competition Switch, following either autonomous or opcontrol. When
* the robot is enabled, this task will exit.
*/
void disabled() {
// . . .
}
/**
* Runs after initialize(), and before autonomous when connected to the Field
* Management System or the VEX Competition Switch. This is intended for
* competition-specific initialization routines, such as an autonomous selector
* on the LCD.
*
* This task will exit when the robot is enabled and autonomous or opcontrol
* starts.
*/
void competition_initialize() {
// . . .
}
/**
* Runs the user autonomous code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the autonomous
* mode. Alternatively, this function may be called in initialize or opcontrol
* for non-competition testing purposes.
*
* If the robot is disabled or communications is lost, the autonomous task
* will be stopped. Re-enabling the robot will restart the task, not re-start it
* from where it left off.
*/
void autonomous() {
chassis.pid_targets_reset(); // Resets PID targets to 0
chassis.drive_imu_reset(); // Reset gyro position to 0
chassis.drive_sensor_reset(); // Reset drive sensors to 0
chassis.drive_brake_set(MOTOR_BRAKE_HOLD); // Set motors to hold. This helps autonomous consistency
ez::as::auton_selector.selected_auton_call(); // Calls selected auton from autonomous selector
}
/**
* Runs the operator control code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the operator
* control mode.
*
* If no competition control is connected, this function will run immediately
* following initialize().
*
* If the robot is disabled or communications is lost, the
* operator control task will be stopped. Re-enabling the robot will restart the
* task, not resume it from where it left off.
*/
void opcontrol() {
// This is preference to what you like to drive on
chassis.drive_brake_set(MOTOR_BRAKE_COAST);
while (true) {
// PID Tuner
// After you find values that you're happy with, you'll have to set them in auton.cpp
if (!pros::competition::is_connected()) {
// Enable / Disable PID Tuner
// When enabled:
// * use A and Y to increment / decrement the constants
// * use the arrow keys to navigate the constants
/*if (master.get_digital_new_press(DIGITAL_X))
chassis.pid_tuner_toggle();
// Trigger the selected autonomous routine
if (master.get_digital_new_press(DIGITAL_B))
autonomous();*/
chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
}
//chassis.opcontrol_tank(); // Tank control
chassis.opcontrol_arcade_standard(ez::SPLIT); // Standard split arcade
// chassis.opcontrol_arcade_standard(ez::SINGLE); // Standard single arcade
// chassis.opcontrol_arcade_flipped(ez::SPLIT); // Flipped split arcade
// chassis.opcontrol_arcade_flipped(ez::SINGLE); // Flipped single arcade
// . . .
// Put more user control code here!
// . . .
if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R1)){
Toplama.move(127);
} else if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L1)){
Toplama.move(-127);
}else{
Toplama.brake();
}
if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L2)){
SolKanat.set(1);
}else{
SolKanat.set(0);
}
if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R2)){
SagKanat.set(1);
}else{
SagKanat.set(0);
}
if(master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_B)){
CatapultZ();
}
if(master.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_X)){
LiftingZ();
}
pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME
}
}