Chief Delphi - Relay/Spike Problems?

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- - Relay/Spike Problems? (http://www.chiefdelphi.com/forums/showthread.php?t=111291)

Relay/Spike Problems?

I have some code to turn on a spike that is connected to a compressor, and I can turn it on but not off, so I made a second button running a command to turn it off. Problem is, when I added the second command, nothing happens. If I comment it out, It works fine.

Code:

public class OI {

    

    Joystick Joystick = new Joystick(1); //Xbox 360 Controller.

    Button button1 = new JoystickButton(Joystick,1);

   // Button button2 = new JoystickButton(Joystick,4);

    public OI(){

        button1.whenPressed(new SpikeOn()); //Runs command to turn it on.

      //  button2.whenPressed(new SpikeOff()); //Runs command to turn it off.

    }

^^ Works Fine

Code:

public class OI {

    

    Joystick Joystick = new Joystick(1); //Xbox 360 Controller.

    Button button1 = new JoystickButton(Joystick,1);

    Button button2 = new JoystickButton(Joystick,4);

    public OI(){

        button1.whenPressed(new SpikeOn()); //Runs command to turn it on.

        button2.whenPressed(new SpikeOff()); //Runs command to turn it off.

    }

^^ It won't do anything
Any Ideas?

Re: Relay/Spike Problems?

Please post your SpikeOn and SpikeOff commands.

Re: Relay/Spike Problems?

Quote:

Any Ideas?

What happens when you press and hold both buttons?

What happens if you swap the SpikeOn() and SpikeOff() lines?

Re: Relay/Spike Problems?

SpikeOn:

Code:

/*

 * To change this template, choose Tools | Templates

 * and open the template in the editor.

 */

package edu.wpi.first.wpilibj.templates.commands;



import edu.wpi.first.wpilibj.Relay;

import edu.wpi.first.wpilibj.templates.subsystems.Spike;

import edu.wpi.first.wpilibj.templates.commands.CommandBase;



/**

 *

 * @author Bennett

 */

public class SpikeOn extends CommandBase {

    Spike spike = new Spike();

    public SpikeOn() {

        

        

        // Use requires() here to declare subsystem dependencies

        // eg. requires(chassis);

    }



    // Called just before this Command runs the first time

    protected void initialize() {

    }



    // Called repeatedly when this Command is scheduled to run

    protected void execute() {

        spike.spikeon();

        //setTimeout(10.0);

    }



    // Make this return true when this Command no longer needs to run execute()

    protected boolean isFinished() {

       return false;

        // return isTimedOut();

    }



    // Called once after isFinished returns true

    protected void end() {

    }



    // Called when another command which requires one or more of the same

    // subsystems is scheduled to run

    protected void interrupted() {

    }

}

SpikeOff:

Code:

/*

 * To change this template, choose Tools | Templates

 * and open the template in the editor.

 */

package edu.wpi.first.wpilibj.templates.commands;



import edu.wpi.first.wpilibj.templates.subsystems.Spike;

import edu.wpi.first.wpilibj.templates.commands.SpikeOff;



/**

 *

 * @author Bennett

 */

public class SpikeOff extends CommandBase {

    Spike spike = new Spike();

    

    

    public SpikeOff() {

        // Use requires() here to declare subsystem dependencies

        // eg. requires(chassis);

    }



    // Called just before this Command runs the first time

    protected void initialize() {

    }



    // Called repeatedly when this Command is scheduled to run

    protected void execute() {

        spike.spikestop();

    }



    // Make this return true when this Command no longer needs to run execute()

    protected boolean isFinished() {

        return false;

    }



    // Called once after isFinished returns true

    protected void end() {

    }



    // Called when another command which requires one or more of the same

    // subsystems is scheduled to run

    protected void interrupted() {

    }

}

Here is my spike class:

Code:

/*

 * To change this template, choose Tools | Templates

 * and open the template in the editor.

 */

package edu.wpi.first.wpilibj.templates.subsystems;



import edu.wpi.first.wpilibj.command.Subsystem;

import edu.wpi.first.wpilibj.Relay;

/**

 *

 * @author Bennett

 */

public class Spike extends Subsystem {

    Relay spike = new Relay(8);

    

  public void spikeon(){

    spike.set(Relay.Value.kForward);

  }

  

  public void spikestop(){

      spike.set(Relay.Value.kOff);

  }

    // Put methods for controlling this subsystem

    // here. Call these from Commands.



    public void initDefaultCommand() {

        // Set the default command for a subsystem here.

        //setDefaultCommand(new MySpecialCommand());

    }

}

Re: Relay/Spike Problems?

Ether, When I press both buttons nothing happens, but I can't test swapping the code right now...

Re: Relay/Spike Problems?

You're creating your Spike Subsystem in both of your commands. This is creating a relay object twice, both referencing the same hardware relay port. The second instance is throwing an exception. I suspect if you scroll up in the output window you will see a stack trace.

You should create a static instance of your subsystem in commandbase, and then reference the subsystem in your commands (without creating new objects).

Re: Relay/Spike Problems?

Using Robot Builder makes it easier to avoid these types of errors, because it will will create all the objects for you in the correct places.

http://wpilib.screenstepslive.com/s/3120/m/7882