PID not cooperating with standered User Control

VEX V5 Technical Support UNOFFICIAL Tech Support
1

Our PID control works outside of the Competition code however when we attach it to the Comp code and ask it to attach it to a button we either get no response from the robot or we cannot escape the PID loop. Any advice is appreciated.

#pragma config(Sensor, in1,    in6,            sensorAnalog)
#pragma config(Sensor, dgtl1,  ShooterEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  Limit,          sensorTouch)
#pragma config(Sensor, dgtl4,  LeftQuad,       sensorQuadEncoder)
#pragma config(Sensor, dgtl6,  RightQuad,      sensorQuadEncoder)
#pragma config(Motor,  port1,           IntakeLeft,    tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           ShooterLeft,   tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port3,           ShooterLeft2,  tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port4,           RightBase,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port5,           LiftLeft,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port6,           LiftRight,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           LeftBase,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           ShooterRight,  tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           ShooterRight2, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          IntakeRight,   tmotorVex393_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

//////////////////////////////////////////////////////////////////////////////////////
float currentEncoder ;
float currentRPM ;
float error ;
float percentError ;
float lastAdjustment ;
float currentAdjustment ;
float truePower;
int time  ;
int buffer = 0;
int Toggle=0;
int test;
//////////////////////////////////////////////////////////////////////////////////////
float TIMER_MSEC =  12.5;
float RPM = 60*1000/TIMER_MSEC ;

void CONTROLL_LOOP(float Target, float motorPower)
{
	if (test==0)
	{
		clearAll(actOnSensors);
		motor[ShooterLeft] = motorPower;
		motor[ShooterLeft2] = motorPower;
		motor[ShooterRight] = motorPower;
		motor[ShooterRight] = motorPower;
		test =1;
	}
	////////////////////////////////////////////////////////////////////////
	clearAll(actOnSensors);
	clearTimer (T1);
	Time=0;
	while (time < TIMER_MSEC)
	{
		time = time1[T1];
	}

	//	currentEncoder = (SensorValue[ShooterEncoder]); // Poll Encoder

	currentEncoder = (SensorValue[ShooterEncoder]);
	currentRPM = currentEncoder / 360*RPM; 							// RPM calc
	error	= (Target - currentRPM); 											// Error in RPM
	percentError =  (error/Target); 										// error in percent

	////////////////////////////////////////////////////////////////////////

	if(percentError < 1)
	{
		currentAdjustment = percentError * 127 * 0.0039;
	}
	if(buffer== 0)
	{
		truePower =  motorPower;
		//lastAdjustment=currentAdjustment;
		buffer = 1;
	}
	else 
	{
		truePower = (truePower + currentAdjustment);
	}
	clearAll(actOnSensors);
	motor[ShooterRight] = (truePower);
	motor[ShooterRight2] = (truePower);
	motor[ShooterLeft] = (truePower);
	motor[ShooterLeft2] = (truePower);
}

//////////////////////////////////////////////////////////////////////////////////////
/*
task main
{
while(true)
{
CONTROLL_LOOP (230,45);
}
}*/
#pragma config(Sensor, in1,    AimBot,         sensorGyro)
#pragma config(Sensor, dgtl1,  ShooterEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  Limit,          sensorTouch)
#pragma config(Sensor, dgtl4,  LeftQuad,       sensorQuadEncoder)
#pragma config(Sensor, dgtl6,  RightQuad,      sensorQuadEncoder)
#pragma config(Motor,  port1,           IntakeLeft,    tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           ShooterLeft,   tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port3,           ShooterLeft2,  tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port4,           RightBase,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port5,           LiftLeft,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port6,           LiftRight,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           LeftBase,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           ShooterRight,  tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           ShooterRight2, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          IntakeRight,   tmotorVex393_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(15)
#pragma userControlDuration(105)

#include "Vex_Competition_Includes.c" //Main competition background code...do not modify!
#include "LCD_Display.c"
#include "RangeFinder.c"
#include "ReVamp_PID.c"
#include "Auto library.c"
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
void pre_auton()
{
	//Display();
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
task autonomous()
{
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
int manual = 0;
int ShooterSpeed=0;


task usercontrol()
{
	while(true)
	{
		//while(manual == 0)
		//{

		CONTROLL_LOOP (0,0);
		motor[LeftBase] = vexRT(Ch2);
		motor[RightBase] = vexRT(Ch3);
		motor[IntakeLeft] = vexRT(Ch3Xmtr2);
		motor[IntakeRight] = vexRT(Ch3Xmtr2);
		while(vexRT(Btn5DXmtr2) == true )//&& Toggle ==0) // RedLower
		{
			test =0;
			CONTROLL_LOOP(215,110);
			//RangeFind = 1;
			//RedSideLowerBlock();
			//BlueSideLowerBlock();
		}

	}
	//}
	/////////////////////////////////////////////////////////////////////////////////////////////////////////////
	/*while(manual == 1)
	{
	motor[LeftBase]= vexRT(Ch2);
	motor[RightBase] = vexRT(Ch3);
	motor[ShooterLeft] = ShooterSpeed;
	motor[ShooterLeft2] = ShooterSpeed;
	motor[ShooterRight] = ShooterSpeed;
	motor[ShooterRight2] = ShooterSpeed;

	if(vexRT[Btn7DXmtr2] == 1)
	{
	ShooterSpeed = 127;
	}
	if(vexRT[Btn7RXmtr2] == 1)
	{
	ShooterSpeed = 100; // Walls
	}
	if(vexRT[Btn7UXmtr2] == 1)
	{
	ShooterSpeed = 75; // Center Feild
	}
	if(vexRT[Btn8DXmtr2] == 1) // Speed Adjusment on motors -5
	{
	ShooterSpeed = 	ShooterSpeed - 5;
	while(vexRT[Btn8DXmtr2] == 1)
	{
	}
	}
	if(vexRT[Btn8UXmtr2] == 1) // Speed Adjusment on motors +5
	{
	ShooterSpeed = ShooterSpeed + 5;
	while(vexRT[Btn8UXmtr2] == 1)
	{
	}
	}


	if(vexRT(Btn5UXmtr2) == true)
	{
	motor[IntakeLeft] = 127;
	motor[IntakeRight] = 127;
	}
	if(vexRT(Btn5DXmtr2) == true)
	{
	motor[IntakeLeft] = -127;
	motor[IntakeRight] = -127;
	}
	if(vexRT(Btn5DXmtr2) == false && vexRT(Btn5U) == false)
	{
	motor[IntakeLeft] = 0;
	motor[IntakeRight] = 0;
	}
	if (vexRT(Btn7LXmtr2) == true && vexRT(Btn8RXmtr2) == true && manual==1)
	{
	manual = 0;
	while(vexRT(Btn7LXmtr2) == true && vexRT(Btn8RXmtr2) == true)
	{
	}
	}
	}*/
}
2

This call


CONTROLL_LOOP (0,0);

will cause a divide by zero exception due to this line of code (as Target is 0)


percentError =  (error/Target);

That’s the first thing to fix.