TeamMarcies
29-01-2015, 16:30
Hey!
We've been trying for hours to fix the issue with our Gyro and we're not sure whether it's a software issue or hardware issue.
Here is our wiring (i only posted links since they are huge images):
http://i.imgur.com/ChcTKaV.jpg
http://i.imgur.com/6MXDKSq.jpg
As we rotate our gyro, we're expecting the gyro pointer to move but it isn't:
http://puu.sh/fcJgn/209d7ff45f.jpg (when we are connected to joystick/communication/code)
This is our code snippet for the gyro to drive forward straight and to drive backwards straight.
Btw, the gyro.reset(); is already called before this thread starts.
public double gyroSensitivity = 0.05; // (voltage / 1000)
public void run() { // This method is executed only for DriveForward and
// DriveBackward
r.autonomousCounter = 0;
r.theRobot.setExpiration(0.1);
while ((Math.floor(r.autonomousCounter / r.loopsPerSecond)) <= DriveClass.seconds) {
if (RecycleRush.InTeleop) {
break;
}
if (forward) {
r.theRobot.drive(r.robotDriveSpeed, -r.gyro.getAngle() * r.gyroSensitivity);
} else if (!forward) {
r.theRobot.drive(-r.robotDriveSpeed, -r.gyro.getAngle() * r.gyroSensitivity);
}
Timer.delay(r.timerDelay);
}
r.theRobot.drive(0.0, 0.0);
}
It drives forward, but does not drive complete straight - same for backwards.
We also made code to make it rotate while its stationary.... We made two methods, one of which we deprecated for now because we found simpler logic.
public void DriveRotate(int rotateAngle) {
r.queueThread(new Runnable() {
public void run() {
r.gyro.reset();
while (r.gyro.getAngle() < rotateAngle) {
r.theRobot.drive(0.0, 1);
}
r.theRobot.drive(0.0, 0.0);
}
});
}
/* DEPRACATED METHOD
public void DriveRotate(int rotateAngle) {
r.queueThread(new Runnable() {
public void run() {
r.gyro.reset();
double angleHeader = r.gyro.getAngle(); // Initial Angle
while (Math.abs(angleHeader - r.gyro.getAngle()) <= Math.abs(rotateAngle)) { // Rotating
r.theRobot.drive(0.0, rotateAngle * r.gyroRotationSpeed);
DriverStation.reportError(r.gyro.getAngle() + "", true);
Timer.delay(r.timerDelay);
}
}
});
}*/
We have the Gyro connected to: 0 so this is our declaration:
// Gyro - Handles Trajectory Paths
public int GyroChannel = 0;
public Gyro gyro = new Gyro(GyroChannel);
Basically, the Gyro isn't working in any way.
We've been trying for hours to fix the issue with our Gyro and we're not sure whether it's a software issue or hardware issue.
Here is our wiring (i only posted links since they are huge images):
http://i.imgur.com/ChcTKaV.jpg
http://i.imgur.com/6MXDKSq.jpg
As we rotate our gyro, we're expecting the gyro pointer to move but it isn't:
http://puu.sh/fcJgn/209d7ff45f.jpg (when we are connected to joystick/communication/code)
This is our code snippet for the gyro to drive forward straight and to drive backwards straight.
Btw, the gyro.reset(); is already called before this thread starts.
public double gyroSensitivity = 0.05; // (voltage / 1000)
public void run() { // This method is executed only for DriveForward and
// DriveBackward
r.autonomousCounter = 0;
r.theRobot.setExpiration(0.1);
while ((Math.floor(r.autonomousCounter / r.loopsPerSecond)) <= DriveClass.seconds) {
if (RecycleRush.InTeleop) {
break;
}
if (forward) {
r.theRobot.drive(r.robotDriveSpeed, -r.gyro.getAngle() * r.gyroSensitivity);
} else if (!forward) {
r.theRobot.drive(-r.robotDriveSpeed, -r.gyro.getAngle() * r.gyroSensitivity);
}
Timer.delay(r.timerDelay);
}
r.theRobot.drive(0.0, 0.0);
}
It drives forward, but does not drive complete straight - same for backwards.
We also made code to make it rotate while its stationary.... We made two methods, one of which we deprecated for now because we found simpler logic.
public void DriveRotate(int rotateAngle) {
r.queueThread(new Runnable() {
public void run() {
r.gyro.reset();
while (r.gyro.getAngle() < rotateAngle) {
r.theRobot.drive(0.0, 1);
}
r.theRobot.drive(0.0, 0.0);
}
});
}
/* DEPRACATED METHOD
public void DriveRotate(int rotateAngle) {
r.queueThread(new Runnable() {
public void run() {
r.gyro.reset();
double angleHeader = r.gyro.getAngle(); // Initial Angle
while (Math.abs(angleHeader - r.gyro.getAngle()) <= Math.abs(rotateAngle)) { // Rotating
r.theRobot.drive(0.0, rotateAngle * r.gyroRotationSpeed);
DriverStation.reportError(r.gyro.getAngle() + "", true);
Timer.delay(r.timerDelay);
}
}
});
}*/
We have the Gyro connected to: 0 so this is our declaration:
// Gyro - Handles Trajectory Paths
public int GyroChannel = 0;
public Gyro gyro = new Gyro(GyroChannel);
Basically, the Gyro isn't working in any way.