Whats wrong with this code???

VEX V5 Technical Support
1 
Im trying to start learning how to code an Autonomous. using v5, im simply just trying to have my robot drive back then forward again. But all it does is jerk back just a tad, i believe its trying to run both at the same time, i may be mistaken. Any and all help is appreciated.

       while (true){
                        FLDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.startRotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
               FRDrv.startRotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
           BRDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
        task::sleep(1000);
                        FLDrv.startRotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
               FRDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
           BRDrv.startRotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
    }
2

You are correct. Startrotateto doesn’t wait for it to finish before going to the next line. By using rotate to you can make it wait

FLDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.rotateTo(108,rotationUnits::deg,500,velocityUnits::pct,true);

This will force the program to wait for this motor to finish before continuing

3

so this should do what i want?

                  FLDrv.startRotateTo(-1008,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.rotateTo(1008,rotationUnits::deg,500,velocityUnits::pct);
               FRDrv.rotateTo(1008,rotationUnits::deg,500,velocityUnits::pct);
           BRDrv.rotateTo(-1008,rotationUnits::deg,500,velocityUnits::pct);
        task::sleep(1000);
                        FLDrv.rotateTo(1008,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.rotateTo(-1008,rotationUnits::deg,500,velocityUnits::pct);
               FRDrv.rotateTo(-1008,rotationUnits::deg,500,velocityUnits::pct);
           BRDrv.rotateTo(1008,rotationUnits::deg,500,velocityUnits::pct);
4

Not exactly. You would want this.

start rotate to (start rotating)
start rotate to (start rotating)
start rotate to (start rotating)
rotate to (also rotate but don’t continue until this is done)

Normally the first three motors will finish at about the same time as the last. This effectively makes the all of them rotate stop and then rotate the other direction and stop

5

i wish for the four wheels in the first segment to go at the same time, and the same for the last four,

alternating like so

                  FLDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.rotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
               FRDrv.startRotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
           BRDrv.rotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
        task::sleep(1000);
                        FLDrv.startRotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
                 BLDrv.rotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
               FRDrv.startRotateTo(-108,rotationUnits::deg,500,velocityUnits::pct);
           BRDrv.rotateTo(108,rotationUnits::deg,500,velocityUnits::pct);
            task::sleep(1000);

just results in a very odd left move- right move- left move- right move

6

That is why you only want the last one to be a rotate to.
I didn’t realise you were doing a 4 motor drive this would be what you want

start rotate to (start rotating)
start rotate to (start rotating)
start rotate to (start rotating)
rotate to (also rotate but don’t continue until this is done)

Normally the first three motors will finish at about the same time as the last. This effectively makes the all of them rotate stop and then rotate the other direction and stop at the same time.