Chief Delphi - Using Victors with RobotDrive

The students put together a robot and used Victors because they were smaller and there were plenty of them lying around. I had them change the code from the SimpleRobot template to use victors but the victors didn't run. They just blink like there is no communication.

I found this in the programming guide:
By default the RobotDrive class assumes that Jaguar speed controllers are used. To use Victor speed controllers, create the Victor objects then call the RobotDrive constructor passing it pointers or references to the Victor objects rather than port numbers.

The code looks like this. Shouldn't this have worked? If code is OK, I am going to have them check the power to the digital sidecar. Note: the relay does work.

Code:

/**

 * This is a demo program showing the use of the RobotBase class.

 * The SimpleRobot class is the base of a robot application that will automatically call your

 * Autonomous and OperatorControl methods at the right time as controlled by the switches on

 * the driver station or the field controls.

 */ 

class RobotDemo : public SimpleRobot

{

    // use victors

        Victor victor1;

        Victor victor2;

        RobotDrive myRobot; // robot drive system

        Joystick stick1; // only joystick

        Joystick stick2;

        Relay dumpertilt;



public:

        RobotDemo(void):

                victor1(1),

                victor2(2), 

                //myRobot(1, 2),        //Jaguar

                myRobot(victor1,victor2),        // Victor 

                stick1(1),                // as they are declared above.

                stick2(2),

                dumpertilt(1)

        {

                myRobot.SetExpiration(0.1);

        }



        /**

         * Drive left & right motors for 2 seconds then stop

         */

        void Autonomous(void)

        {

                myRobot.SetSafetyEnabled(false);

                myRobot.Drive(-0.5, 0.0);         // drive forwards half speed

                Wait(2.0);                                 //    for 2 seconds

                myRobot.Drive(0.0, 0.0);         // stop robot

        }



        /**

         * Runs the motors with arcade steering. 

         */

        void OperatorControl(void)

        {

                myRobot.SetSafetyEnabled(true);

                printf("In Operator Control \n");

                while (IsOperatorControl())

                {

                        myRobot.TankDrive(stick1, stick2); // drive with arcade style (use right stick)

                        Wait(0.005);                                // wait for a motor update time

                

                        if (stick1.GetRawButton(8))

                                dumpertilt.Set(Relay::kForward);

                        else if (stick1.GetRawButton(9))

                                dumpertilt.Set(Relay::kReverse);

                        else

                                dumpertilt.Set(Relay::kOff);

                }

        }

        

        /**

         * Runs during test mode

         */

        void Test() {



        }

};



START_ROBOT_CLASS(RobotDemo);