Autonomous problem
 

I have written this for atonomous code but the the robot does not stop when the counter reaches 2000. Anyone know why?

/* Add your own autonomous code here. */
switch (Step)
{
case 1:
{
stop = 2000;
crawl = (stop - 200);
slow = (stop - 100);

Left_Count = Get_Left_Encoder_Count();
Right_Count = Get_Right_Encoder_Count();
if (Left_Count < slow)
pwm03 = 220;
if (Left_Count > slow && Left_Count < crawl)
pwm03 =200;
if (Left_Count > crawl && Left_Count < stop)
pwm03 =150;
if (Left_Count >= stop)
pwm03 =127;
printf("Left Counter %ld\r", Left_Count);

if (Right_Count < slow)
pwm04 =220;
if (Right_Count > slow && Right_Count < crawl)
pwm04 =200;
if (Left_Count > crawl && Right_Count < stop)
pwm04 =150;
if (Right_Count >= stop)
pwm04 =127;
printf("Right Counter %ld\r", Right_Count);

Re: Autonomous problem
 

Make sure that your encoders are counting the direction that you expect them to.

Are you changing the values of pwm03 or pwm04 anywhere else?

Re: Autonomous problem
 

I am not changing the pwm's anywhere else and the encoders are counting in the correct direction. Actually i am using hall effect sensors with encoder code.

Re: Autonomous problem
 

Where did the "step" variable come from? I don't see it being used anywhere in that code block.

EDIT: It would help if you posted the rest of that part of the code so we could tell more about the problem (don't worry, we aren't going to steal your code for our own use)

Re: Autonomous problem
 

Step needs to be set to 1 somewhere, but I don't see it being done in the code fragment you posted.

Re: Autonomous problem
 

Will that work?

I dont know, I'm just asking...if the count isnt updating due to code not interfacing properly with your sensors, that could be the issue.

Re: Autonomous problem
 

Let's look at your algorithm first. I have changed your mode variables to hard coded numbers which makes the code more obvious.
Notice that this shows problems with initialization of the crawl and slow values. Some lines are unreachable and some condition statements are executed twice. A simpler and more manageable way to use multiple if statements on the same variables is this form:
There is nothing in your algorithm preventing a pwm of 127 being set if the count is actually incrementing. If your printf statements are being reached and show the counts go over 2000 then the next thing to check is if setting those pwm's to 127 really does stop the motors.

Re: Autonomous problem
 

thanks for your help and step is defined at the top of user routines fast.