I had these line defined : digital_out Claw = digital_out(Brain.ThreeWirePort.A);
That said, if I put codes in auton area:
Everything works OK. The cylinder moved in, waited 3 seconds and out waited 3 sec few times during auton as expected.
I then put these lines in driver control:
Driver control works fine. But… auton won’t work anymore. Just the 3 sec + 3 sec + 3 sec wait and wait. If I take out driver control codes, auton codes work again. Why is there a conflict? Any help will be greatly appreciated.
Can you send the full functions where you define the movements (these would typically would be usercontrol and your autonomous function. also try defining your pneumatics like so:
"’
// define a task that will handle monitoring inputs from Controller1
int rc_auto_loop_function_Controller1() {
// process the controller input every 20 milliseconds
// update the motors based on the input values
while(true) {
if(RemoteControlCodeEnabled) {
// calculate the drivetrain motor velocities from the controller joystick axies
// left = Axis3
// right = Axis2
int drivetrainLeftSideSpeed = Controller1.Axis3.position();
int drivetrainRightSideSpeed = Controller1.Axis2.position();
// check if the value is inside of the deadband range
if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
// check if the left motor has already been stopped
if (DrivetrainLNeedsToBeStopped_Controller1) {
// stop the left drive motor
LeftDriveSmart.stop();
// tell the code that the left motor has been stopped
DrivetrainLNeedsToBeStopped_Controller1 = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the left motor nexttime the input is in the deadband range
DrivetrainLNeedsToBeStopped_Controller1 = true;
}
// check if the value is inside of the deadband range
if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
// check if the right motor has already been stopped
if (DrivetrainRNeedsToBeStopped_Controller1) {
// stop the right drive motor
RightDriveSmart.stop();
// tell the code that the right motor has been stopped
DrivetrainRNeedsToBeStopped_Controller1 = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the right motor next time the input is in the deadband range
DrivetrainRNeedsToBeStopped_Controller1 = true;
}
// only tell the left drive motor to spin if the values are not in the deadband range
if (DrivetrainLNeedsToBeStopped_Controller1) {
LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
LeftDriveSmart.spin(forward);
}
// only tell the right drive motor to spin if the values are not in the deadband range
if (DrivetrainRNeedsToBeStopped_Controller1) {
RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
RightDriveSmart.spin(forward);
}
// check the ButtonR1/ButtonR2 status to control Arm_Group
if (Controller1.ButtonR1.pressing()) {
Arm_Group.spin(forward);
Controller1RightShoulderControlMotorsStopped = false;
} else if (Controller1.ButtonR2.pressing()) {
Arm_Group.spin(reverse);
Controller1RightShoulderControlMotorsStopped = false;
} else if (!Controller1RightShoulderControlMotorsStopped) {
Arm_Group.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1RightShoulderControlMotorsStopped = true;
}
// check the ButtonUp/ButtonDown status to control Drag
if (Controller1.ButtonUp.pressing()) {
Drag.setVelocity(25, percent);
Drag.spin(forward);
Controller1UpDownButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonDown.pressing()) {
Drag.setVelocity(25, percent);
Drag.spin(reverse);
Controller1UpDownButtonsControlMotorsStopped = false;
} else if (!Controller1UpDownButtonsControlMotorsStopped) {
Drag.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1UpDownButtonsControlMotorsStopped = true;
}
// check the ButtonX/ButtonB status to control Lift
if (Controller1.ButtonX.pressing()) {
Lift.spin(forward);
Controller1XBButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonB.pressing()) {
Lift.spin(reverse);
Controller1XBButtonsControlMotorsStopped = false;
} else if (!Controller1XBButtonsControlMotorsStopped) {
Lift.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1XBButtonsControlMotorsStopped = true;
}
if (Controller1.ButtonL2.pressing()) {
Claw.set(false);
}
else {
Claw.set(true);
}
}
// wait before repeating the process
wait(20, msec);
// define a task that will handle monitoring inputs from Controller1
int rc_auto_loop_function_Controller1() {
// process the controller input every 20 milliseconds
// update the motors based on the input values
while(true) {
if(RemoteControlCodeEnabled) {
// calculate the drivetrain motor velocities from the controller joystick axies
// left = Axis3
// right = Axis2
int drivetrainLeftSideSpeed = Controller1.Axis3.position();
int drivetrainRightSideSpeed = Controller1.Axis2.position();
// check if the value is inside of the deadband range
if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
// check if the left motor has already been stopped
if (DrivetrainLNeedsToBeStopped_Controller1) {
// stop the left drive motor
LeftDriveSmart.stop();
// tell the code that the left motor has been stopped
DrivetrainLNeedsToBeStopped_Controller1 = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the left motor nexttime the input is in the deadband range
DrivetrainLNeedsToBeStopped_Controller1 = true;
}
// check if the value is inside of the deadband range
if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
// check if the right motor has already been stopped
if (DrivetrainRNeedsToBeStopped_Controller1) {
// stop the right drive motor
RightDriveSmart.stop();
// tell the code that the right motor has been stopped
DrivetrainRNeedsToBeStopped_Controller1 = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the right motor next time the input is in the deadband range
DrivetrainRNeedsToBeStopped_Controller1 = true;
}
// only tell the left drive motor to spin if the values are not in the deadband range
if (DrivetrainLNeedsToBeStopped_Controller1) {
LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
LeftDriveSmart.spin(forward);
}
// only tell the right drive motor to spin if the values are not in the deadband range
if (DrivetrainRNeedsToBeStopped_Controller1) {
RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
RightDriveSmart.spin(forward);
}
// check the ButtonR1/ButtonR2 status to control Arm_Group
if (Controller1.ButtonR1.pressing()) {
Arm_Group.spin(forward);
Controller1RightShoulderControlMotorsStopped = false;
} else if (Controller1.ButtonR2.pressing()) {
Arm_Group.spin(reverse);
Controller1RightShoulderControlMotorsStopped = false;
} else if (!Controller1RightShoulderControlMotorsStopped) {
Arm_Group.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1RightShoulderControlMotorsStopped = true;
}
// check the ButtonUp/ButtonDown status to control Drag
if (Controller1.ButtonUp.pressing()) {
Drag.setVelocity(25, percent);
Drag.spin(forward);
Controller1UpDownButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonDown.pressing()) {
Drag.setVelocity(25, percent);
Drag.spin(reverse);
Controller1UpDownButtonsControlMotorsStopped = false;
} else if (!Controller1UpDownButtonsControlMotorsStopped) {
Drag.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1UpDownButtonsControlMotorsStopped = true;
}
// check the ButtonX/ButtonB status to control Lift
if (Controller1.ButtonX.pressing()) {
Lift.spin(forward);
Controller1XBButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonB.pressing()) {
Lift.spin(reverse);
Controller1XBButtonsControlMotorsStopped = false;
} else if (!Controller1XBButtonsControlMotorsStopped) {
Lift.stop();
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1XBButtonsControlMotorsStopped = true;
}
if (Controller1.ButtonL2.pressing()) {
Claw.set(false);
}
else {
Claw.set(true);
}
}
// wait before repeating the process
wait(20, msec);
}
return 0;
}
You’ve only sent a fragment of the code; a task which handles joystick inputs. If you are allowing this task to run during autonomous then it could be causing the behavior you describe. Is there a reason you are using a separate task rather than the standard usercontrol() task?
Sorry, I’m going through end of semester final exams right now and don’t have time to review your project. I suggest you post it publicly so other forum members can assist you.
