Hey everyone,
I am having a problem with our pneumatic system and the drivetrain.
We created a programm where we can drive (and it should do the pneumatics stuff too, but it doesn´t) but when we made the exact same code without the drivetrain it worked.
I was wondering if there is anybody who can help us?
If you need this, here´s the code:
/*----------------------------------------------------------------------------*/
/* */
/* Module: main.cpp */
/* Author: VEX */
/* Created: Thu Sep 26 2019 */
/* Description: Competition Template */
/* */
/*----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Controller1 controller
// LFDrive motor 6
// LBDrive motor 9
// RFDrive motor 14
// RBDrive motor 17
// DigitalOutG digital_out G
// DigitalOutH digital_out H
// ---- END VEXCODE CONFIGURED DEVICES ----
#include "vex.h"
using namespace vex;
// A global instance of competition
competition Competition;
// define your global instances of motors and other devices here
/*---------------------------------------------------------------------------*/
/* 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 V5 has been powered on and */
/* not every time that the robot is disabled. */
/*---------------------------------------------------------------------------*/
bool pneu = false;
bool shooting = false;
bool pneushoot = false;
void init() {
DigitalOutG.set(false);
DigitalOutH.set(false);
}
void turnleft() {
RBDrive.spinFor(forward, 1, turns);
RFDrive.spinFor(forward, 1, turns);
LBDrive.spinFor(reverse, 1, turns);
LFDrive.spinFor(reverse, 1, turns);
}
void forwarddrive() {
RBDrive.spinFor(forward, 1, turns);
RFDrive.spinFor(forward, 1, turns);
LBDrive.spinFor(forward, 1, turns);
LFDrive.spinFor(forward, 1, turns);
}
void axisthreechanged() {
LFDrive.spin(forward, Controller1.Axis3.value() * 0.5, pct);
LBDrive.spin(forward, Controller1.Axis3.value() * 0.5, pct);
RFDrive.spin(reverse, Controller1.Axis3.value() * 0.5, pct);
RBDrive.spin(reverse, Controller1.Axis3.value() * 0.5, pct);
}
void axisfourchanged() {
LFDrive.spin(reverse, Controller1.Axis1.value() * 0.5, pct);
LBDrive.spin(reverse, Controller1.Axis1.value() * 0.5, pct);
RFDrive.spin(reverse, Controller1.Axis1.value() * 0.5, pct);
RBDrive.spin(reverse, Controller1.Axis1.value() * 0.5, pct);
}
void solenoid() {
if (!pneu) {
DigitalOutG.set(true);
DigitalOutH.set(true);
pneu = true;
} else if (pneu) {
DigitalOutG.set(false);
DigitalOutH.set(false);
pneu = false;
}
}
void pre_auton(void) {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, ...
}
/*---------------------------------------------------------------------------*/
/* */
/* 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.
// ..........................................................................
}
/*---------------------------------------------------------------------------*/
/* */
/* 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
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.
init();
// ........................................................................
// Insert user code here. This is where you use the joystick values to
// update your motors, etc.
// ........................................................................
Controller1.Axis1.changed(axisfourchanged);
Controller1.Axis3.changed(axisthreechanged);
Controller1.ButtonL1.pressed(solenoid);
wait(20, msec); // Sleep the task for a short amount of time to
// prevent wasted resources.
}
}
//
// Main will set up the competition functions and callbacks.
//
int main() {
// Set up callbacks for autonomous and driver control periods.
Competition.autonomous(autonomous);
Competition.drivercontrol(usercontrol);
// Run the pre-autonomous function.
pre_auton();
// Prevent main from exiting with an infinite loop.
while (true) {
wait(100, msec);
}
}
Thanks for help!