"User Program Has Exceeded time limit of 3 seconds"

Programming Support VEXcode IQ Technical Support
1

Hi! I’ve been trying to use a Vex iq robot to test a PID loop, but every time I try to run the program, it shows “… exceeded time limit of 3 seconds” on the screen. I’ve read all of the topics regarding this error, but none of the solutions seem to work for me. This is the code:

#include "iq_cpp.h"

// Allows for easier use of the VEX Library
using namespace vex;

float Rerror;
float Lerror;
float error;

float prevRerror;
float prevLerror;
float totalRerror;
float totalLerror;

float Rderivative;
float Lderivative;

float Loltage;
float Roltage;

float kP = 0.7;
float kI = 0.8;
float kD = 0.9;

void drivefwdPID(int dist)
{

  Rdrive.setPosition(0,degrees);
  Ldrive.setPosition(0,degrees);

  while(true)
  {
    Rerror = dist - Rdrive.position(degrees);
    Lerror = dist - Ldrive.position(degrees);
    error = (Rerror+Lerror)/2;

    Rderivative = Rerror - prevRerror;
    Lderivative = Lerror - prevLerror;


    totalRerror += Rerror;
    totalLerror += Lerror;

    Roltage = Rerror*kP + Rderivative*kD + totalRerror*kI;
    Loltage = Lerror*kP + Lderivative*kD + totalLerror*kI;

    Rdrive.spin(forward,Roltage,volt);
    Ldrive.spin(forward,Loltage,volt);

    if(error == 0)
    {
      break;
    }
  }

  vex::task::sleep(100);
}

int main() {
  // Begin project code
  drivefwdPID(3000);
}
2

Move the sleep call inside the while loop.

6 Likes
3

thank you! that fixed it