VEX V5 code and brain connection

browne · March 31, 2021, 7:02pm

My students are using the code below for their V5 clawbot. Right now they are just trying to get the drivetrain working correctly. The problem is, when we disconnect the brain from the computer, the robot stops performing the code. For example, although the code was designed to make the wheels go in the same direction, but when it’s disconnected, they go in opposite directions again. Also, when they click button a, the whole robot freaks out, suddenly going as fast as possible. Any suggestions?

/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Module:       main.cpp                                                  */
/*    Author:       james                                                     */
/*    Created:      Sat Nov 02 2019                                           */
/*    Description:  V5 project                                                */
/*                                                                            */
/*----------------------------------------------------------------------------*/

// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name]               [Type]        [Port(s)]
// LeftMotor1              motor         1               
// RightMotor1             motor         2               
// LeftMotor2              motor         3               
// RightMotor2             motor         4                           
// Controller1          controller                    
// ---- END VEXCODE CONFIGURED DEVICES ----

#include "vex.h"

using namespace vex;
using signature = vision::signature;
using code = vision::code;

// A global instance of brain used for printing to the V5 Brain screen
brain  brain;

// VEXcode device constructors
motor LeftMotor1 = motor(PORT1, ratio18_1, false);
motor RightMotor1 = motor(PORT2, ratio18_1, false);
motor LeftMotor2 = motor(PORT3, ratio18_1, true);
motor RightMotor2 = motor(PORT4, ratio18_1, true);
controller Controller1 = controller(primary);

// VEXcode generated functions



/**
 * Used to initialize code/tasks/devices added using tools in VEXcode Text.
 * 
 * This should be called at the start of your int main function.
 */
void vexcodeInit( void ) {
  // nothing to initialize
}

/*----------------------------------------------------------------------------*/
// define the motor groups
// the motors should have been setup with correct the gear cartridge ratios
// and the reverse flag set as necessary so they rotate in the correct direction
// when commanded to more forwards

// left hand side of the robot has two motors
motor_group   leftDrive( LeftMotor1, LeftMotor2 );

// right hand side of the robot has two motors
motor_group   rightDrive( RightMotor1, RightMotor2 );

/*----------------------------------------------------------------------------*/
// define the drivetrain
// this one is a smart drive which uses the gyro
// gyro and all motors were defined using graphical config
// we have 4 inch wheels
// drive is 16 inches wide between the wheels
// drive has a 16 inch wheelbase (between fron and back wheel axles)
//
drivetrain  robotDrive(leftDrive, rightDrive, 12.56, 16, 16, distanceUnits::in );
// this is how the above definition would be if no gyro is used
//drivetrain    robotDrive( leftDrive, rightDrive, 12.56, 16, 16, distanceUnits::in );


/*----------------------------------------------------------------------------*/
//
// A task that just displays motor velocity and position
// The motors that are part of a motor group and/or drivetrain can still be accessed
// directly.
//
int displayTask() {
    while(1) {
      // display some useful info
      Brain.Screen.setCursor(2,1);
      Brain.Screen.print( "  MotorLb    speed: %4.0f   position: %6.2f", LeftMotor1.velocity( percent ), LeftMotor1.position( rev ) );
      Brain.Screen.newLine();
      Brain.Screen.print( "  MotorLf    speed: %4.0f   position: %6.2f", RightMotor1.velocity( percent ), RightMotor1.position( rev ));
      Brain.Screen.newLine();
      Brain.Screen.print( "  MotorRb    speed: %4.0f   position: %6.2f", LeftMotor2.velocity( percent ), LeftMotor2.position( rev ));
      Brain.Screen.newLine();
      Brain.Screen.print( "  MotorRf    speed: %4.0f   position: %6.2f", RightMotor2.velocity( percent ), RightMotor2.position( rev ));
      Brain.Screen.newLine();
      Brain.Screen.newLine();

      // motor group velocity and position is returned for the first motor in the group
      Brain.Screen.print( "  leftDrive  speed: %4.0f   position: %6.2f", leftDrive.velocity( percent ), leftDrive.position( rev ));
      Brain.Screen.newLine();
      Brain.Screen.print( "  rightDrive speed: %4.0f   position: %6.2f", rightDrive.velocity( percent ), rightDrive.position( rev ));
      Brain.Screen.newLine();
      Brain.Screen.newLine();

      // drivetrain velocity is the average of the motor velocities for left and right
      Brain.Screen.print( "  robotDrive speed: %4.0f", robotDrive.velocity( percent ) );
      Brain.Screen.newLine();

      // no need to run this loop too quickly
      wait( 20, timeUnits::msec );
    }

    return 0;
}

/*----------------------------------------------------------------------------*/
//
// main program entry and drive control
//
int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();

    // set 10 second timeout for robot drive movements
    robotDrive.setTimeout(10, seconds);

    // set the speed used for drive turns
    robotDrive.setTurnVelocity(50, percent);

    // start the display task
    task displayTaskInstance( displayTask );

    // loop forever
    while( true ) {
      // Button A is used to rotate drive 90 degrees
      if( Controller1.ButtonA.pressing() ) {
        // tell drivetrain to rotate 90 deg
        robotDrive.turnFor( 90, degrees );
        // wait for it to be done
        while( robotDrive.isMoving() )
          wait( 10, timeUnits::msec );
      }
      else {
        // not rotating, then we can drive using controller

        // read percent from controller axis
        int leftSpeed  = Controller1.Axis3.position();
        int rightSpeed = Controller1.Axis2.position();
        // deadband
        if( abs(leftSpeed)  < 10 ) leftSpeed  = 0;
        if( abs(rightSpeed) < 10 ) rightSpeed = 0;

        // send to motors
        leftDrive.spin( forward, leftSpeed, percent );
        rightDrive.spin( forward, rightSpeed, percent );
      }
          
      // no need to run this loop too quickly
      wait( 20, timeUnits::msec );
    }

    return 0;
}

edit by mods: code tags

Robo_Chicken · March 31, 2021, 7:20pm

Are you sure you are running the program they uploaded onto the brain, or are they hitting “drive”. Drive is the default program and not the one they put on there…

As for the “A button” issue, I belive this could be because of this line

You don’t need that while loop because the “turnFor” function automatically waits until completion to advance. So take out the while loop.

But to be honest I think a callback would be better suited here. Check out this thread.

Example of Vex pro v5 callback

using namespace vex;

// just for the example ......
vex::motor IntakeL(PORT1);
vex::motor IntakeR(PORT2);
vex::controller Controller;

void spinIntakes() {
     IntakeL.spin(forward);
     IntakeR.spin(forward);
}

void usercontrol() {
    while(true) {
      //user code here
    
      // sleep a while
      this_thread::sleep_for(20);
    }
}

int main(){
    // register callbacks once only...
    Controller.ButtonL1.pressed( spinIntakes );

    while(true){
      // perhaps something can happen here

      // sleep a while
      this_thread::sleep_for(20);
    }
}