Using Encoders For Autonomous

VEX V5 General Discussion
#1

So I been doing some testing today and coding so I got a autonomous working but have do I make it more precise. I’m currently using Robot C and have two Optical Shaft Encoders on each side of our bases here is the code I made hope someone could help.

#pragma config(Sensor, dgtl1,  ,               sensorQuadEncoder)
#pragma config(Motor,  port1,           Claw,          tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           LeftDrive,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port3,           MOGO1,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port4,           Lift1,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port5,           Lift2,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port6,           Lift3,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           Lift4,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           MOGO2,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           RightDrive,    tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          ChainBar,      tmotorVex393_HBridge, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma competitionControl(Competition)
#pragma autonomousDuration(15)
#pragma userControlDuration(150)
#include "VEX_Competition_Includes.c"
void pre_auton (){
}
task autonomous () {
	motor[LeftDrive] = 100;
	motor[RightDrive] = 100;
	wait1Msec(4000);
	motor[LeftDrive] = 0;
	motor[RightDrive] = 0;
	//How many inches the bot moves in 1 second
	int secIn = 33.52;
	//Move forward for 49 inches
	motor[LeftDrive] = 127;
	motor[RightDrive] = 127;
	wait1Msec((49/secIn)*1000);
	//Move backward for 49 inches
	motor[RightDrive] = -127;
	motor[LeftDrive] = -127;
	wait1Msec((49/secIn)*1000);
	//Rotate bot clockwise 130 degrees
	motor[RightDrive] = -127;
	motor[LeftDrive] = 127;
	wait1Msec(1300);
	//Move forward 12 inches
	motor[RightDrive] = 127;
	motor[LeftDrive] = 127;
	wait1Msec((12/secIn)*1000);
	//Stop
	motor[RightDrive] = 0;
	motor[LeftDrive] = 0;
	
}
task usercontrol(){
	while (1==1){
		//Right joystick controls right wheels
		motor[RightDrive] = vexRT[Ch3];
		//Left joystick controls left wheels
		motor[LeftDrive] = vexRT[Ch2];

		//Above, we mutiplied the above values by 0.5 to reduce the power going to the motors by 50% in order to reduce overheating

		//Tower controlled by buttons 5U and 5D
		if(vexRT[Btn5D]){
			motor[Lift1] = -100;
			motor[Lift2] = -100;
			motor[Lift3] = -100;
			motor[Lift4] = -100;
		}
		else if(vexRT[Btn5U]){
			motor[Lift1] = 100;
			motor[Lift2] = 100;
			motor[Lift3] = 100;
			motor[Lift4] = 100;
		}
		else{
			motor[Lift1] = 0;
			motor[Lift2] = 0;
			motor[Lift3] = 0;
			motor[Lift4] = 0;
		}
		//Claw opening and closing controlled by Buttons 7U and 8U
		if(vexRT[Btn7U]){
			motor[Claw] = 100;
		}
		else if(vexRT[Btn8U]){
			motor[Claw] = -100;
		}
		else{
			motor[Claw] = 0;
		}
		if(vexRT[Btn8D]){
			startTask(autonomous);
			wait1Msec(15000);
		
			stopTask(autonomous);
		}
		/* press the bottom button of the right buttons to
		start the autonomous*/
	}
}
#2

Using a PID loop (many teams just use P because it will suffice) will drastically improve the reliability of the autonomous as opposed to using time.

#3

Ok thanks would be working on a PID then

#4