robot lift not working

VEX V5 Technical Support UNOFFICIAL Tech Support
1

#pragma config(Motor, port2, frontRightMotor, tmotorNormal, openLoop, reversed)
#pragma config(Motor, port9, frontLeftMotor, tmotorNormal, openLoop)
#pragma config(Motor, port2, backRightMotor, tmotorNormal, openLoop, reversed)
#pragma config(Motor, port9, backLeftMotor, tmotorNormal, openLoop)
#pragma config(Motor, port3, clawMotor, tmotorNormal, openLoop)
#pragma config(Motor, port8, frontLeftArmMotor, tmotorNormal, openLoop)
#pragma config(Motor, port4, frontRightArmMotor, tmotorNormal, openLoop, reversed)
#pragma config(Motor, port6, backRightArmMotor, tmotorNormal, openLoop, reversed)

// This code is for the VEX cortex platform
#pragma platform(VEX2)

// Select Download method as “competition”
#pragma competitionControl(Competition)

//Main competition background code…do not modify!
#include “Vex_Competition_Includes.c”

/----------------------------------------------------------------------------------------------------
|* - Robot 98225K Single Controller - |
| ROBOTC on VEX 2.0 Cortex |
| |
| This program uses joystick,for right and left drive on the robot. The buttons on the back right of*|
|* the controller are used to raise and lower the arm. The buttons on the front right of |
| the controllerare used to open and close the claw. |
| ROBOT CONFIGURATION |
| NOTES: |
| 1) Running through a y-cable on each side, both motors are connected and flowing into one port.|
| 2) Buttons 8U and 8D on the front right side of the joystick to open and close the claw |
| 3) Buttons 6U and 6D are on the back right of the joystick to move arm up and down. |
| |
| MOTORS & SENSORS: |
| * [Name] [Type] [Description] |
| Motor - Port 2 frontRightMotor Y-Cable Right side motor |
| Motor - Port 2 backRightMotor Y-Cable Right side motor |
| Motor - Port 9 frontLeftMotor Y-Cable Left side motor |
| Motor - Port 9 backLeftMotor Y-Cable Left side motor |
| Motor - Port 3 clawMotor VEX 393 Motor w/ Motor Controler 29 Claw motor |
| Motor - Port 5 armMotor3 VEX 393 Motor w/ Motor Controler 29 Arm motor3 |
| Motor - Port 6 armMotor2 VEX 393 Motor w/ Motor Controler 29 Arm motor2 |
| Motor - Port 7 armMotor1 VEX 393 Motor w/ Motor Controler 29 Arm motor1 |
*----------------------------------------------------------------------------------------------------/

//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++
void pre_auton()
{

bStopTasksBetweenModes = true;

}

task autonomous()
{

AutonomousCodePlaceholderForTesting();
}

task usercontrol()

{
while(1 == 1)
{
//Right side of the robot is controlled by the right joystick, Y-axis
motor[backRightMotor] = vexRT[Ch2];
//Left side of the robot is controlled by the left joystick, Y-axis
motor[backLeftMotor] = vexRT[Ch3];
}
// Raise, lower or do not move arm
{
if(vexRT[Btn5U] == 1) //If button 5U is pressed…
{
motor[frontRightArmMotor] = 100; //…raise the arm.
motor[frontLeftArmMotor] = 100; //…raise the arm.
}
else if(vexRT[Btn5D] == 1) //Else, if button 5D is pressed…
{
motor[frontRightArmMotor] = -100; //…lower the arm.
motor[frontLeftArmMotor] = -100; //…lower the arm.
}
else //Else (neither button is pressed)…
{
motor[frontRightArmMotor] = 0; //…stop the arm.
motor[frontLeftArmMotor] = 0; //…stop the arm.
}

// Raise, lower or do not move upper arm
{
if(vexRT[Btn7U] == 1) //If button 7U is pressed…
{
motor[backRightArmMotor] = 100; //…raise the upper arm.
}
else if(vexRT[Btn7D] == 1) //Else, if button 7D is pressed…
{
motor[backRightArmMotor] = -100; //…lower the upper arm.
}
else //Else (neither button is pressed)…
{
motor[backRightArmMotor] = 0; //…stop the upper arm.
}

// Open, close or do not more claw
if(vexRT[Btn6U] == 1) //If Button 6U is pressed…
{
motor[clawMotor] = 95; //…close the gripper.
}
else if(vexRT[Btn6D] == 1) //Else, if button 6D is pressed…
{
motor[clawMotor] = -95; //…open the gripper.
}
else //Else (neither button is pressed)…
{
motor[clawMotor] = 0; //…stop the gripper.
}
}
}
}

Why will this code not work? The driving works but none of the arm motors or claw motors will move, and all the wires are connected. What could be wrong?
*

2

Your code effectively boils down to:


task usercontrol () {
    while (1 == 1) {
        motor[backRightMotor] = vexRT[Ch2];
        motor[backLeftMotor] = vexRT[Ch3];
    }
    // Raise, lower or do not move arm
    {
    // ... the rest of the code that is never reached ...]
    }
}

Since you have infinite loop at the top that only loops around the first two control statements.
Remove the two curly braces (above and below your “Raise …” comment) and you should be good.

BTW: no need to reinvent the wheel, there is nothing bad with using built-in functions, such as (natural language’s):
armControl(backRightArmMotor, Btn7U, Btn7D, 100)