View Full Version : Switching from Autonomous to Tele-op
01-22-2011, 05:16 PM
We are having problems getting the driver station to run through autonomous then tele-op. If we start up in practice, it runs our autonomous code, then stops, then starts tele-op. Only thing is that the autonomous code does not stop. the wheels continue to turn and tele op has no motor control. solenoids, servos and the compressor all turn on.
Does anyone know how to fix this?
Edit Attached is our Autonomous code, everything is running under robot main.vi
01-22-2011, 05:20 PM
In your code, do you have the Jaguar objects (or similar) placed somewhere where it would be local to your autonomous routines? IIRC, the motors will keep running until set otherwise, which might be occurring (as the teleop routines don't have direct access to them).
That is the only thing I can think of, last year we used a built-in arcade drive system, which I can only assume does some sort of reset.
01-22-2011, 05:23 PM
Its using the robot main.vi.
I have the code in the autonomous independent.vi
its in a while loop for line tracking
Do i need a condition to end the while loop?
01-22-2011, 05:29 PM
Yes. Although I do not program in LabVIEW, I assume it uses a similar calling structure, e.g., the appropriately named functions are called when required. If you loop forever (no exit condition) it will never return, and whatever calls the appropriate routines will never be given time.
From what I've done in Java, there's some isTeleoperated() and isAutonomous() type functions. See if you can find something similar, I guess.
01-22-2011, 05:32 PM
Each vi is like its own method. The robot main.vi calls the other methods.
From my reading the driver station console is supposed to terminate each vi when the round is over.
01-22-2011, 05:47 PM
Hrrrm, I'll let someone who has more experience with LabVIEW try to help you then (the calling scheme is different than for other languages). If you'd try commenting out the autonomous (or finding a sure way to terminate it), that'd probably be a decisive answer to your problem (or, rather, if what I thought is true. It could understandably be something else, in which case we'll have to wait for someone else).
01-22-2011, 06:37 PM
I'd recommend opening devices in Begin.vi and nowhere else.
I think that's your basic issue here.
What you posted has some problems, but the full answer is in all your code, not just this one piece. I'm just speculating because I'd need to see the rest of your code to positively tell you what 's wrong.
What is happening is that you are opening your drive motors in this vi, then going into an infinite loop. This vi (and only this Autonomous Independent.vi) gets killed automatically at the end of the Autonomous period. That means the Motor closes never happen by the way and they maintain the last value given them in the Autonomous loop.
I bet you try to open the motors again somewhere else (like in Begin.vi maybe?) and that leaves the motor reference in Teleop.vi invalid. You can't Open the same motor more than once.
So Autonomous leaves your motors running forever, and Teleop can't reference those same motors, as it normally should, to stop them.
01-22-2011, 08:00 PM
Thanks! That did the trick! And man the code is so much neater and easier to read now :)
Just one thing, it runs straight through once on practice mode, but autonomous doesn't run if you try a second time without rebooting the cRIO. I was wondering if this was possible a safety feature that it will only run autonomous once in one boot.
If not, do you have any idea why it would do that?
01-22-2011, 09:17 PM
Are you getting errors on the second run? It may be that you are closing references in tele or somewhere so that auto will get errors when it tries to use the refnums again. First, look at the Diagnostics tab on the DS when running the second auto, and you may need to look at VIs that contain Close, to see where this is happening.
01-22-2011, 09:25 PM
Unfortunately I just left the shop, so I can't test it out, but from what I remember I believe we were getting some watchdog errors. Also errors dealing with not powering the motors with enough, but that was only during tele-op because we are using the axis 3 slider on the joystick to be a multiplier of speed of the motors.
Here is the code we have in tele-op and autonomous
01-22-2011, 09:39 PM
The Closes in teleop are killers.
Yea, all the Closes you have in both those vi's should be removed.
Put all your Closes in Finish.vi instead.
The While loop in Autonomous Independent.vi is necessary and that's fine.
However, you don't need the While loop in Teleop.vi. Teleop operates differently.
01-22-2011, 09:48 PM
Ok, I'll recode it use the final.vi. Do you just use the same referencing methods?
Also how would you code it without the while loop?
01-22-2011, 09:56 PM
Yes, the Closes are handled with a Refnum Get straight to a Close.
There are some already in Finish.vi to guide you.
The fundamental difference between Autonomous Independent.vi and Teleop.vi is that Auto gets called only once, so you want to stay in there until you've done all you want to, while Tekeop gets called ~50 times a second, so you'll be back again and again.
In teleop if you leave everything, but just remove the While loop it'll be fine.
01-22-2011, 09:59 PM
I'm a little confused, when I code the closes, do I need to make references to them in the autonomous mode or tele-op mode, or do I just use the get reference and then close, and never use set reference in the tele-op or autonomous vi's
01-22-2011, 10:04 PM
Opens go in Begin.vi
Closes go in Finish.vi
Sets go in Autonomous Independent.vi and Teleop.vi
I'm working from a Mac without LabVIEW, so I can't give you a graphical example right now.
It takes a while to shutdown all the computers in the house and the PCs have already been put to bed.
The Auto that you posted is fine, just remove the Closes to keep it clean.
The Teleop you posted is also fine, just remove the Closes and the While loop (but not the contents).
The Get Refnums feed directly into the Sets in Teleop.
Think of the whole Teleop.vi as one giant While loop.
01-22-2011, 10:06 PM
So I need to put a set reference in tele-op to the final.vi closes?
01-22-2011, 10:11 PM
So I need to put a set reference in tele-op to the final.vi closes?
I'm not clear on what you mean by that.
01-22-2011, 10:13 PM
01-22-2011, 10:16 PM
Finish.vi looks good.
No, you do not need those Sets in Auto.
The Sets are only done once in Begin.vi.
Begin Opens and names the thing that's been opened.
Everywhere else just uses the name.
01-22-2011, 10:18 PM
So do I ever reference the closes in final.vi?
01-22-2011, 10:25 PM
So should like this?
01-22-2011, 10:28 PM
There isn't anything else you do in Finish.vi.
Think of Finish.vi as only running at the very end when you shut your robot down.
It doesn't run at the end of Autonomous or at the end of Teleop if you're running a practice match over and over for instance.
01-22-2011, 10:30 PM
Ok. So that Tele-op code looks fine?
01-22-2011, 10:32 PM
Just saw your attachments.
That is what I meant.
One problem remains with your compressor code.
The compressor is a funny operation.
The compressor should be Opened AND started/enabled in Begin.vi.
No code for the compressor goes in Auto or teleop.
Then the compressor gets Closed in Finish.vi (just like you have it now).
You can get rid of the 1 ms timer in Teleop.vi. It does hurt and it doesn't help.
01-22-2011, 10:33 PM
Okay, where does the stop compressor block go then?
01-22-2011, 10:36 PM
You can add that to Finish.vi between the Get refnum and the close
01-22-2011, 10:39 PM
Ok :) thanks! Ill try it on Monday (we don't meet on Sundays unfortunately) and will post my failure or success here.
01-22-2011, 10:41 PM
01-24-2011, 02:05 PM
So, I tested it out, and teleop doesn't work. Are you sure I don't need the while loop?
Edit: Nevermind, it works! :) Thanks
01-29-2011, 05:20 PM
does autonomous works ??
from the pic you provided in thread, we can't seem to get our autonomous working !
01-29-2011, 05:23 PM
Besides the compressor code, the very last image I posted in here should work, you just have to define all of those things in begin.vi first.
01-29-2011, 05:29 PM
ALSO make sure that your line sensors are calibrated correctly, otherwise it won't run. If it detects with both, the motors won't move.
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