turning X Drive

Programming Support ROBOTC Tech Support
1

No matter what speed or distance I put this at, when I try to turn it goes 180 degrees. Thank you if you can help.

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, I2C_1,  rightSide,            sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_2,  leftSide,            sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port1,           LiftLeft2,     tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           frontLeft,     tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port3,           frontRight,    tmotorVex393HighSpeed_MC29, openLoop, reversed)
#pragma config(Motor,  port4,           rearRight,     tmotorVex393HighSpeed_MC29, openLoop, reversed, encoderPort, I2C_1)
#pragma config(Motor,  port5,           rearLeft,      tmotorVex393HighSpeed_MC29, openLoop, encoderPort, I2C_2)
#pragma config(Motor,  port6,           LiftLeft1,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           LiftRight1,    tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port8,           DumpsterLeft,  tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           DumpsterRight, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port10,          LiftRight2,    tmotorVex393_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "Voids.c"
task main()
{


	turn(20, 1);


}

Voids.c

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, I2C_1,  rightSide,            sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_2,  leftSide,            sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port1,           LiftLeft2,     tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           frontLeft,     tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port3,           frontRight,    tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port4,           rearRight,     tmotorVex393HighSpeed_MC29, openLoop, encoderPort, I2C_1)
#pragma config(Motor,  port5,           rearLeft,      tmotorVex393HighSpeed_MC29, openLoop, encoderPort, I2C_2)
#pragma config(Motor,  port6,           LiftLeft1,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           LiftRight1,    tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port8,           DumpsterLeft,  tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           DumpsterRight, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port10,          LiftRight2,    tmotorVex393_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

void turn(int speed, int distance)
{
	nMotorEncoder[rearRight] = 0;
	nMotorEncoder[rearLeft] = 0;
	while(abs(nMotorEncoder[rearRight]) < distance*22.5 || abs(nMotorEncoder[rearLeft]) < distance*22.5){
		motor[frontLeft] = speed;
		motor[frontRight] = speed;
		motor[rearLeft] = speed;
		motor[rearRight] = speed;
	}
	motor[frontLeft] = 0;
	motor[frontRight] = 0;
	motor[rearLeft] = 0;
	motor[rearRight] = 0;
}
2

Even if you use 0 for speed or distance?
Make sure both encoders are counting correctly, look in the motors debug window to try and see what may be happening.

3