Chief Delphi - PID & One Second Delay Between Auto and TeleOp

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- - PID & One Second Delay Between Auto and TeleOp (http://www.chiefdelphi.com/forums/showthread.php?t=136187)

Re: PID & One Second Delay Between Auto and TeleOp

Quote:

Originally Posted by WillNess (Post 1463599)

Questions: Do I need the .stop() and .reset() or just one? does the .reset() start the timer again?

The documentation isn't clear. Going back to the source code, it appears that the timer carries the "accumulated time" from a stop to a start, so if you want to zero the result of later get()s, you must do a reset(). (I'm presuming that the C++ and Java versions behave equivalently.)

Re: PID & One Second Delay Between Auto and TeleOp

Quote:

Originally Posted by GeeTwo (Post 1463632)

Ok so if we implement something equivalent to this code, right before I start it I will do a timer.reset();

Re: PID & One Second Delay Between Auto and TeleOp

I think this is closer to what you want. The logic is simpler if you move the timer check into disabledPeriodic(). The result of timer.getFPGATimestamp() is probably not what you want.

Code:



bool teleopAfterAutonomous = false;



autonomousInit() {

  teleopAfterAutonomous = true;

}



disabledInit(){

  disabledTimer.Reset();

  disabledTimer.Start();

}



disabledPeriodic(){

  if (disabledTimer.Get() > 1) {

    // If we're disabled for more than one second, assume that we are not in a match

    // Might be necessary to bump 1 above to a somewhat higher value.    

    teleopAfterAutonomous = false;

  }

}



teleopInit(){

   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){

      shoulder.set(shoulderDocked);

      elbow.set(elbowDocked);

   }

}

Re: PID & One Second Delay Between Auto and TeleOp

Thank you, I think this should work!

Quote:

Originally Posted by MrRoboSteve (Post 1463723)

I think this is closer to what you want. The logic is simpler if you move the timer check into disabledPeriodic(). The result of timer.getFPGATimestamp() is probably not what you want.

Code:



bool teleopAfterAutonomous = false;



autonomousInit() {

  teleopAfterAutonomous = true;

}



disabledInit(){

  disabledTimer.Reset();

  disabledTimer.Start();

}



disabledPeriodic(){

  if (disabledTimer.Get() > 1) {

    // If we're disabled for more than one second, assume that we are not in a match

    // Might be necessary to bump 1 above to a somewhat higher value.    

    teleopAfterAutonomous = false;

  }

}



teleopInit(){

   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){

      shoulder.set(shoulderDocked);

      elbow.set(elbowDocked);

   }

}

Re: PID & One Second Delay Between Auto and TeleOp

Quote:

Originally Posted by MrRoboSteve (Post 1463723)

I think this is closer to what you want. The logic is simpler if you move the timer check into disabledPeriodic(). The result of timer.getFPGATimestamp() is probably not what you want.

Code:



bool teleopAfterAutonomous = false;



autonomousInit() {

  teleopAfterAutonomous = true;

}



disabledInit(){

  disabledTimer.Reset();

  disabledTimer.Start();

}



disabledPeriodic(){

  if (disabledTimer.Get() > 1) {

    // If we're disabled for more than one second, assume that we are not in a match

    // Might be necessary to bump 1 above to a somewhat higher value.    

    teleopAfterAutonomous = false;

  }

}



teleopInit(){

   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){

      shoulder.set(shoulderDocked);

      elbow.set(elbowDocked);

   }

}

Except during teleopInit() I think I'd have to set the teleopAfterAutonomous = false. Because if I do the practice mode and then I start teleop the teleopAfterAutonomous would be true and then would go to the docked positions so it would look like this: (Correct me if I'm wrong)

Code:

teleopInit(){

   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){

      shoulder.set(shoulderDocked);

      elbow.set(elbowDocked);

      teleopAfterAutonomous = false;

   }

}

Re: PID & One Second Delay Between Auto and TeleOp

Quote:

Originally Posted by WillNess (Post 1463767)

Code:

teleopInit(){

   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){

      shoulder.set(shoulderDocked);

      elbow.set(elbowDocked);

      teleopAfterAutonomous = false;

   }

}

Only if there's somewhere later in the code (e.g. in teleopPeriodic()) that uses teleopAfterAutonomous. As for what I see here, the variable is not going to be referenced again. That also means that it won't hurt anything...

Re: PID & One Second Delay Between Auto and TeleOp

WillNess, I think your change is a good one.

In my code, I assumed that you'd have at least a second of disabled between your practice runs. That delay causes teleopAfterAutonomous to become false. Your change resets things immediately.

Re: PID & One Second Delay Between Auto and TeleOp

Yes I don't think I'll ever be starting the robot within 1 second of code uploading or rebooting.