Help! Robot Not Moving Even With Connection and Code!
 

Hi everyone. I'm a newbie programmer for Team 2496 and so far I have this driving code for our mecanum drive robot. However, even though I connected to the robot and enabled it, moving the joystick does nothing....Is there anything wrong with the code I have made for the 2015 roboRIO? I know for a fact it should be working because it worked on our team's older practice bot with the older cRIO.

package org.usfirst.frc.team2496.robot;

import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.IterativeRobot;

public class Robot extends IterativeRobot {
RobotDrive wholeDrive = new RobotDrive(0, 1, 2, 3);
Joystick stick = new Joystick(1);

public void robotInit() {
wholeDrive.setInvertedMotor(RobotDrive.MotorType.k FrontRight, true);
wholeDrive.setInvertedMotor(RobotDrive.MotorType.k RearRight, true);
}

public void autonomousPeriodic() {

}

public void teleopPeriodic() {
wholeDrive.mecanumDrive_Polar(stick.getMagnitude() * .50, -stick.getDirectionDegrees(), stick.getTwist() * .75);

if(stick.getRawButton(3)) {
System.out.println("Button pressed!");
}
if(stick.getRawButton(4)) {
System.out.println("Regular Direction: " + stick.getDirectionDegrees());
}

if(stick.getRawButton(1)) {
this.driveStraight(1);
System.out.println("Drive Straight Activated!");
}
}

public void driveStraight(int joystickButton) {
double stickDegrees = 0;

while (stick.getRawButton(joystickButton)) {
if(stick.getDirectionDegrees() < 0)
stickDegrees = -90.0;
else
stickDegrees = 90.0;

wholeDrive.mecanumDrive_Polar(stick.getMagnitude() * .60, -stickDegrees, stick.getTwist());
}

System.out.println("Stick Direction: " + stick.getDirectionDegrees());
}

public void testPeriodic() {

}
}

Re: Help! Robot Not Moving Even With Connection and Code!
 

Joysticks are now zero-indexed. They probably should have made that clearer in the documentation.

Re: Help! Robot Not Moving Even With Connection and Code!
 

What kind of speed controllers are you using? RobotDrive defaults to Talon speed controllers.

I would also recommend removing the while loop from driveStraight. Put that code inside the if statement instead of driveStraight as teleopPeriodic is already being called periodically.

Also using [code] tags lets you share your code in a more reader-friendly style.