Vision sensor block finding program

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1

So my team has been pushing for a vision sensor program. I coded a program that I thought would work but it had several errors. For example, when I start the program, the robots spins around and seems like it goes toward the block but then turns and goes toward a wall.
Here is my code:

void Visionalign(int block){
  int offset = 100;
  int count = 0;
  while(1){
  VisionSensor.takeSnapshot(block);
  
  if(VisionSensor.largestObject.exists and VisionSensor.largestObject.width<50 and  VisionSensor.largestObject.width>5 ){
    int offset = VisionSensor.largestObject.centerX - (centerFOV+offsetX);
    LeftMotorFront.spin(directionType::fwd, 20-offset/2, velocityUnits::pct);
    LeftMotorBack.spin(directionType::fwd, 20-offset/2, velocityUnits::pct );
    RightMotorFront.spin(directionType::fwd, 20+offset/2, velocityUnits::pct);
    RightMotorBack.spin(directionType::fwd, 20+offset/2, velocityUnits::pct);
    if(offset == 0){
      count++;
    }
  }
  else if(VisionSensor.largestObject.exists == false ){
    turn(true, 10);
  }

  }

}

I made a program that just ran this function so there are no other functions interfering with this code. Are there any errors in code logic that are throwing this off?

2

One of the errors I see is when you use “and” instead of &&.

&& means AND
|| means OR

Also I’m not sure if you defined centerFOV based on your code. If you defined it somewhere else you should be fine.

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