Chief Delphi - Limit Swtich Help

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- - Limit Swtich Help (http://www.chiefdelphi.com/forums/showthread.php?t=133983)

mmaunu

05-02-2015 18:17

Re: Limit Swtich Help

Quote:

Originally Posted by curtis0gj (Post 1438933)

The issue is when I press button 1 one relay goes in reverse and the other goes to kOn (LED BLANK) and when I press button 4 it goes in kForward(GREEN). Also the spike is stuck in kForward because it's always green unlike the other which is yellow.

I'm trying to figure out exactly what the behavior is that you are describing. I think it would help to use the two variable names like spike1 and spike2.

When you press button 1, spike1 goes in reverse and spike2 goes to kOn?

When you press button 4, which spike goes to kForward: spike1 or spike2? What does the other do?

Whichever goes to kForward, are you saying that it is now stuck in the kForward state no matter which buttons you push?

When you say yellow, is that possibly orange? The manual says that the possible colors are red, green, and orange. Do you see all three of those colors and a yellow?

In addition to checking the orientation of the PWM cable, check the power leads (both into the spikes and then out of the spikes) so that you are correctly getting power to power and ground to ground.

curtis0gj

05-02-2015 21:35

Re: Limit Swtich Help

Quote:

Originally Posted by mmaunu (Post 1438961)

Sorry for the confusion, basically when I press button 1 spike1 goes in kReverse and this is good, however, spike2 sets it self to kOn(No LED). When I release button 1 spike1 goes to the orange color but spike2 goes in kForward. When I press button 4 spike1 goes in kForward and this intended but spike2 also is in kForward but it was not activated by the button because it is always in kForward unless I press button 1 then it enters kOn until I release the button.

Jon Stratis

05-02-2015 22:07

Re: Limit Swtich Help

This is really sounding like a wiring issue, it's definitely not something in the code you posted. Can you post a pic of your wiring?

curtis0gj

05-02-2015 22:21

Re: Limit Swtich Help

Quote:

Originally Posted by Jon Stratis (Post 1439048)

This is really sounding like a wiring issue, it's definitely not something in the code you posted. Can you post a pic of your wiring?

Tomorrow afternoon I will post one.

mmaunu

06-02-2015 00:42

Re: Limit Swtich Help

I agree 100% with Jon...you construct the two objects in the same way (so they should default to the same settings) and you call the same methods on the objects under the same conditions. When you look at the wires, check all power inputs and outputs as well as the PWM wires. I hate to be a software guy that blames the hardware, but...

curtis0gj

06-02-2015 14:52

Re: Limit Swtich Help

Quote:

Originally Posted by mmaunu (Post 1439102)

I just pulled a spike out of last years bot and it works.

mmaunu

06-02-2015 15:00

Re: Limit Swtich Help

Quote:

Originally Posted by curtis0gj (Post 1439366)

I just pulled a spike out of last years bot and it works.

Sweet! Congrats on successfully troubleshooting the problem. I hope that you haven't torn too much hair out :)

curtis0gj

06-02-2015 17:58

Re: Limit Swtich Help

Quote:

Originally Posted by mmaunu (Post 1439374)

Sweet! Congrats on successfully troubleshooting the problem. I hope that you haven't torn too much hair out :)

lol yeah It's just a part of the process I guess... anyway thanks for all of the help.

curtis0gj

06-02-2015 21:36

Re: Limit Swtich Help

I have one final question, I noticed that when my victors are set in reverse and I press the limit switch the victors don't stop very well. Is there anyway to fix this or is it fine the way it is. Here's the code

Code:

public void operatorControl() {

            

            while (isOperatorControl() && isEnabled()) {

                double leftaxis = xbox.getRawAxis(1);

            robot.arcadeDrive(stick.getY() * 0.5, stick.getX() * 0.5); //Change the 0.5 for sensitivity, I removed get throttle I may need it again.

            limitPressed = limit.get(); 

            limitPressed2 = limit2.get();

            limitPressed3 = limit3.get();

            limitPressed4 = limit4.get();

            

            /*limitPressed will be the bottom of the lead screw.

             * limitPressed2 will be the top of the lead screw.

             * limitPressed3 will the for the left minimum arm distance.

             * limitPressed4 will be for the max arm distance.

             * The print lines are helpful for testing boolean states.

            //System.out.println("limitPressed=" + limitPressed); //Read the RoboRIO log for some values.

            //System.out.println("limitPressed2=" + limitPressed2);

            //System.out.println("limitPressed3=" + limitPressed3);

            //System.out.println("limitPressd4=" + limitPressed4);

            */



            if(limitPressed || limitPressed2 == false || limitPressed3 == false || limitPressed4 == false) {

                    victor1.set(0);

                    victor2.set(0);

            } else if (-leftaxis > 0.5) {

                    victor1.set(1);

                    victor2.set(1);

            } else {

                    victor1.set(0);

                    victor2.set(0);

            }

            if(leftaxis > 0.5) {

                    victor1.set(-1);

                    victor2.set(-1);

            } else {

                    victor1.set(0);

                    victor2.set(0);

            }

            if(xbox.getRawButton(4)) {

                    spike1.set(Relay.Value.kForward);

                    spike2.set(Relay.Value.kForward);

            } else if(xbox.getRawButton(1)) {

                    spike1.set(Relay.Value.kReverse);

                    spike2.set(Relay.Value.kReverse);     

            } else {

                    spike1.set(Relay.Value.kOff);

                    spike2.set(Relay.Value.kOff);                    

            }

            }

    }

Ether

06-02-2015 21:37

Re: Limit Swtich Help

Quote:

Originally Posted by curtis0gj (Post 1439536)

I have one final question, I noticed that when my victors are set in reverse and I press the limit switch the victors don't stop very well.

Is the jumper set for coast or brake? If coast, try changing it to brake.

curtis0gj

06-02-2015 21:46

Re: Limit Swtich Help

Quote:

Originally Posted by Ether (Post 1439538)

Is the jumper set for coast or brake? If coast, try changing it to brake.

Sorry, I hate to sound like a complete rookie but how can I change the jumpers setting?

Ether

06-02-2015 21:56

Re: Limit Swtich Help

Quote:

Originally Posted by curtis0gj (Post 1439544)

Sorry, I hate to sound like a complete rookie but how can I change the jumpers setting?

Go to the VEX web site.

Type "Victor" into the search box.

Click on the link for Victor888 (or SP).

Find the link for the user manual and click on it.

Search for "brake".

Follow the instructions you find there.

curtis0gj

06-02-2015 22:52

Re: Limit Swtich Help

Quote:

Originally Posted by Ether (Post 1439549)

Thank's I will try the break setting on Monday.

Ether

06-02-2015 23:27

Re: Limit Swtich Help

Quote:

Originally Posted by curtis0gj (Post 1439571)

Thank's I will try the break setting on Monday.

Stay away from the break setting. Try the brake setting instead.

Jon Stratis

06-02-2015 23:40

Re: Limit Swtich Help

While the brake setting will help, it may not be your issue. It depends on what, exactly, the behavior is.

Take a look at this portion of the code:

Code:

            if(limitPressed || limitPressed2 == false || limitPressed3 == false || limitPressed4 == false) {

                    victor1.set(0);

                    victor2.set(0);

            } else if (-leftaxis > 0.5) {

                    victor1.set(1);

                    victor2.set(1);

            } else {

                    victor1.set(0);

                    victor2.set(0);

            }

            if(leftaxis > 0.5) {

                    victor1.set(-1);

                    victor2.set(-1);

            } else {

                    victor1.set(0);

                    victor2.set(0);

            }

There are two if/else blocks here. The first one controls going up, the second going down, I assume. However, your limit switch at the bottom of the lead screw is being checked in the first if statement. What this may be doing is telling your motors to stop in the first if statement, then in the second telling them to go down. So you end up with a fast oscillation between stop and down.

When I'm working with a motor, I try to combine all control of the motor into a single if/else block, or in a single set command, just to make sure I don't get into a situation where I'm telling it two different things every loop through.

For this situation, I might do something like:

Code:

if (operator says to go up AND I haven't hit the top limit switch yet)

{

  go up

}

else if (operator says to go down AND I haven't hit the bottom limit switch yet)

{

  go down

}

else

{

  stop

}

Obviously, that's pseudocode... its up to you to figure out how to translate that to real code :)

Also, check the third and fourth limit switches... your comments say they are for controlling left to right motion of the gripper, but in your code they're set up to work with the up/down motion of the elevator. Are you controlling the left/right motion with the relays? If so, you'll want to work those into the if/else block that deals with the relays!

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