Pneumatics Button Delay

Programming Support VEXcode V5 Tech Support
1

When running this

while(true){
    if (Controller1.ButtonA.pressing()){
      wing1.set(true);
      wing2.set(true);
    }
    else if (Controller1.ButtonY.pressing()){
      wing1.set(false);
      wing2.set(false);
    }
    if (Controller1.ButtonUp.pressing()){
      intakepneum.set(true);
    }
    else if (Controller1.ButtonDown.pressing()){
      intakepneum.set(false);
    }

When I try running this code, you have to hold down the button for about 2 seconds before the pneumatics actually change states. How do I fix this? I want them to move instantly. Also, we tried a similar code in Blocks where this issue was not present.
This is V5 C++ btw
(also, there is an ending bracket, it was omitted because of other stuff under the loop, just so people don’t say that’s the issue.)

edit: mods fixed the code formatting so we can actually read it.

2

Try adding a delay to your loop; right now you’re running at warp speed.

1 Like
3

To expand on what 2775 Josh said.

If you don’t have a delay in your loop the Vex brain can run any background tasks which includes updating the built-in adi ports.

I would have a 10 or 20-ms delay at the end of the while loop to allow background tasks to run.

4

yea, that’s completely untrue.

VEXcode/vexos has code to deal with loops without a delay, it’s not really a big deal, just best practice to have one.

You must have something else in your code that’s blocking the button pressing check.

4 Likes
5

What might be blocking it?

6

Would adding a delay make it faster? I guess it makes sense. What would you recommend?

To use the pneumatics, I have to hold the buttons for about 2 seconds before they go instead of them being instant.

7

Since it’s at the bottom of all Vex and Pros projects I just assumed it was necessary. Guess not. Still a good idea to have one though.

Never realised Vex used multitasking which is pretty interesting.

8

It would be easiest to find out if you just sent the code.

3 Likes
9 
#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 leftMotorA = motor(PORT9, ratio6_1, false);
motor leftMotorB = motor(PORT2, ratio6_1, false);
motor_group LeftDriveSmart = motor_group(leftMotorA, leftMotorB);
motor rightMotorA = motor(PORT3, ratio6_1, true);
motor rightMotorB = motor(PORT4, ratio6_1, true);
motor_group RightDriveSmart = motor_group(rightMotorA, rightMotorB);
drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295, 40, mm, 0.2);

motor intake = motor(PORT7, ratio18_1, false);

motor catapultMotorA = motor(PORT5, ratio36_1, true);
motor catapultMotorB = motor(PORT6, ratio36_1, false);
motor_group catapult = motor_group(catapultMotorA, catapultMotorB);

digital_out intakepneum = digital_out(Brain.ThreeWirePort.D);
digital_out wing1 = digital_out(Brain.ThreeWirePort.A);
digital_out wing2 = digital_out(Brain.ThreeWirePort.B);



// 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;
// define variables used for controlling motors based on controller inputs
bool Controller1LeftShoulderControlMotorsStopped = true;
bool Controller1RightShoulderControlMotorsStopped = true;
bool DrivetrainLNeedsToBeStopped_Controller1 = true;
bool DrivetrainRNeedsToBeStopped_Controller1 = true;

// 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 + Axis1
      // right = Axis3 - Axis1
      int drivetrainLeftSideSpeed = Controller1.Axis3.position() + Controller1.Axis1.position();
      int drivetrainRightSideSpeed = Controller1.Axis3.position() - Controller1.Axis1.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 ButtonL1/ButtonL2 status to control intake
      if (Controller1.ButtonL1.pressing()) {
        intake.spin(forward);
        Controller1LeftShoulderControlMotorsStopped = false;
      } else if (Controller1.ButtonL2.pressing()) {
        intake.spin(reverse);
        Controller1LeftShoulderControlMotorsStopped = false;
      } else if (!Controller1LeftShoulderControlMotorsStopped) {
        intake.stop();
        // set the toggle so that we don't constantly tell the motor to stop when the buttons are released
        Controller1LeftShoulderControlMotorsStopped = true;
      }
      // check the ButtonR1/ButtonR2 status to control catapult
      if (Controller1.ButtonR1.pressing()) {
        catapult.spin(forward);
        Controller1RightShoulderControlMotorsStopped = false;
      } else if (Controller1.ButtonR2.pressing()) {
        catapult.spin(reverse);
        Controller1RightShoulderControlMotorsStopped = false;
      } else if (!Controller1RightShoulderControlMotorsStopped) {
        catapult.stop();
        // set the toggle so that we don't constantly tell the motor to stop when the buttons are released
        Controller1RightShoulderControlMotorsStopped = true;
      }
    }
    // wait before repeating the process
    wait(20, msec);
  }
  return 0;
}

task rc_auto_loop_task_Controller1(rc_auto_loop_function_Controller1);

#pragma endregion VEXcode Generated Robot Configuration

// Include the V5 Library
#include "vex.h"
  
// Allows for easier use of the VEX Library
using namespace vex;

competition Competition;

float myVariable;

// "when autonomous" hat block
int onauton_autonomous_0() {
  // settings
  Drivetrain.setDriveVelocity(10, percent);
  Drivetrain.setTurnVelocity(10, percent);
  intake.setVelocity(100, percent);
  catapult.setVelocity(100, percent);
  Drivetrain.setStopping(hold);
  catapult.setStopping(hold);
  Drivetrain.driveFor(forward, 15, inches);
  Drivetrain.turnFor(right, 20, degrees);
  Drivetrain.driveFor(forward, 7, inches);
  Drivetrain.turnFor(left, 10, degrees);
  Drivetrain.driveFor(forward, 6, inches);
  Drivetrain.turnFor(left, 50, degrees);
  wing1.set(true);
  wing2.set(true);
  Drivetrain.driveFor(forward, 13, inches);
  while(true){
   Brain.Screen.setPenColor("#ff0000");
   Brain.Screen.setFillColor("#ff0000");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff4700");
   Brain.Screen.setFillColor("#ff4700");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff8d00");
   Brain.Screen.setFillColor("#ff8d00");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ffd400");
   Brain.Screen.setFillColor("#ffd400");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#c6ff00");
   Brain.Screen.setFillColor("#c6ff00");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#39ff00");
   Brain.Screen.setFillColor("#39ff00");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ff55");
   Brain.Screen.setFillColor("#00ff55");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ffe3");
   Brain.Screen.setFillColor("#00ffe3");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#6f8eff");
   Brain.Screen.setFillColor("#6f8eff");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#fa00ff");
   Brain.Screen.setFillColor("#fa00ff");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#6f8eff");
   Brain.Screen.setFillColor("#6f8eff");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ffe3");
   Brain.Screen.setFillColor("#00ffe3");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ff55");
   Brain.Screen.setFillColor("#00ff55");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#39ff00");
   Brain.Screen.setFillColor("#39ff00");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#c6ff00");
   Brain.Screen.setFillColor("#c6ff00");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ffd400");
   Brain.Screen.setFillColor("#ffd400");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff8d00");
   Brain.Screen.setFillColor("#ff8d00");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff4700");
   Brain.Screen.setFillColor("#ff4700");
   Brain.Screen.drawRectangle(0, 0, 479, 239);
   Brain.Screen.setPenColor(black);
   Brain.Screen.print("Æ");
   wait(0.05, seconds);
  }
  return 0;
}

// "when driver control" hat block
int ondriver_drivercontrol_0() {
  Drivetrain.setDriveVelocity(100, percent);
  Drivetrain.setTurnVelocity(100, percent);
  intake.setVelocity(100, percent);
  catapult.setVelocity(100, percent);
  catapult.setStopping(hold);
  Drivetrain.setStopping(coast);
  while(true){
    if (Controller1.ButtonA.pressing()){
      wing1.set(true);
      wing2.set(true);
    }
    else if (Controller1.ButtonY.pressing()){
      wing1.set(false);
      wing2.set(false);
    }
    if (Controller1.ButtonUp.pressing()){
      intakepneum.set(true);
    }
    else if (Controller1.ButtonDown.pressing()){
      intakepneum.set(false);
    }
    if (Controller1.ButtonLeft.pressing()){
      Drivetrain.setStopping(hold);
    }
    else if (Controller1.ButtonRight.pressing()){
      Drivetrain.setStopping(coast);
    }
   Brain.Screen.setPenColor("#ff0000");
   Brain.Screen.setFillColor("#ff0000");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff4700");
   Brain.Screen.setFillColor("#ff4700");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff8d00");
   Brain.Screen.setFillColor("#ff8d00");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ffd400");
   Brain.Screen.setFillColor("#ffd400");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#c6ff00");
   Brain.Screen.setFillColor("#c6ff00");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#39ff00");
   Brain.Screen.setFillColor("#39ff00");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ff55");
   Brain.Screen.setFillColor("#00ff55");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ffe3");
   Brain.Screen.setFillColor("#00ffe3");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#6f8eff");
   Brain.Screen.setFillColor("#6f8eff");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#fa00ff");
   Brain.Screen.setFillColor("#fa00ff");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#6f8eff");
   Brain.Screen.setFillColor("#6f8eff");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ffe3");
   Brain.Screen.setFillColor("#00ffe3");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#00ff55");
   Brain.Screen.setFillColor("#00ff55");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#39ff00");
   Brain.Screen.setFillColor("#39ff00");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#c6ff00");
   Brain.Screen.setFillColor("#c6ff00");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ffd400");
   Brain.Screen.setFillColor("#ffd400");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff8d00");
   Brain.Screen.setFillColor("#ff8d00");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
   Brain.Screen.setPenColor("#ff4700");
   Brain.Screen.setFillColor("#ff4700");
   Brain.Screen.drawPixel(Controller1.Axis1.position() + 240, Controller1.Axis2.position() + 136);
   wait(0.05, seconds);
  }
  return 0;
}

void VEXcode_driver_task() {
  // Start the driver control tasks....
  vex::task drive0(ondriver_drivercontrol_0);
  while(Competition.isDriverControl() && Competition.isEnabled()) {this_thread::sleep_for(10);}
  drive0.stop();
  return;
}

void VEXcode_auton_task() {
  // Start the auton control tasks....
  vex::task auto0(onauton_autonomous_0);
  while(Competition.isAutonomous() && Competition.isEnabled()) {this_thread::sleep_for(10);}
  auto0.stop();
  return;
}



int main() {
  vex::competition::bStopTasksBetweenModes = false;
  Competition.autonomous(VEXcode_auton_task);
  Competition.drivercontrol(VEXcode_driver_task);

  // post event registration

  // set default print color to black
  printf("\033[30m");

  // wait for rotation sensor to fully initialize
  wait(30, msec);

}
10

Well, there’s your issue. all the wait(0.05, seconds);

3 Likes
11

Why is wait(0.05, seconds) an issue? Is it because the wait is too long?

12

There are multiple calls to wait(0.05, seconds) in the while loop before the controller buttons are checked for pressing. The multiple calls add up to about 1 second.

4 Likes