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Bethie42 22-02-2011 20:21
Limit switches in autonomous
 
Our limit switches [to regulate Jaguar-implemented 'elevator' for arm] are working fine in teleop but not in autonomous. I've tried putting a print to driver station in the limit-switch statement in autonomous, and it never prints:

Code:
// test if limit switch works: it doesn't.
         
          if (topElevatorLimitSwitch->Get() == false){
          elevatorJaguar->Set(0.0);
        driverStationLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Elevator stopped");
        driverStationLCD->UpdateLCD();
}
        else {
            elevatorJaguar->Set(1.0); // Run elevator up
            driverStationLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Elevator up");
            driverStationLCD->UpdateLCD();
                                        }
I tried running just that bit during autonomous, and it never runs: the motor does nothing, the lights indicate it's not running, and the driver station never displays either printf.

Here's the full autonomous code:


Code:
LencVal = lEncoder->Get();
                RencVal = rEncoder->Get();
               
                //it turns out, the input must be less than ~21 characters.  Anything longer won't be displayed
                driverStationLCD->Printf(DriverStationLCD::kUser_Line4, 1, "Lenc cnt:%d        ", LencVal);
                driverStationLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Renc cnt:%d        ", RencVal);
                driverStationLCD->UpdateLCD();
                               

                //compressor control
                int compressorValue = pneumaticLimitSwitch->Get();
                if (compressorValue == 1) {
                        compressorRelay->Set(Relay::kOff);  // If relay is true (120 PSI) turn off compressor
                }
                else {
                        compressorRelay->Set(Relay::kOn);
                }
               
                leftValue = lLineTracker->Get();        // read the line tracking sensors
                middleValue = mLineTracker->Get();
                rightValue = rLineTracker->Get();

if ( (LencVal < 7300 )){  // overshoots: goal encoder count is 7390
                       
                        robotDrive->TankDrive(-0.25, 0.25);
                        driverStationLCD->Printf(DriverStationLCD::kUser_Line2, 1, "Still driving");
                        driverStationLCD->UpdateLCD();
                        if (topElevatorLimitSwitch->Get() == false){
                                elevatorJaguar->Set(0.0);
                                driverStationLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Elevator stopped");
                                driverStationLCD->UpdateLCD();
                        }
                        else {
                                elevatorJaguar->Set(1.0); // Run elevator up
                                driverStationLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Elevator up");
                                driverStationLCD->UpdateLCD();
                        }
                                               

               
               
                       
                }
               
                else {
                        robotDrive->TankDrive(0.0, 0.0);
                        elevatorJaguar->Set(0.0);
                        gripperSol->Set(true); // If we're at the T, let's score
                        driverStationLCD->Printf(DriverStationLCD::kUser_Line2, 1, "At T");
                        driverStationLCD->UpdateLCD();
                       
                }
The Jaguar happily obeys the commands to stop when the encoder value is reached.

Teleop limit switch stuff works perfectly.

Code:
//compressor control
                int compressorValue = pneumaticLimitSwitch->Get();
                if (compressorValue == 1) {
                        compressorRelay->Set(Relay::kOff);  // If relay is true (120 PSI) turn off compressor
                }
                else {
                        compressorRelay->Set(Relay::kOn);
                }
                       
               
               
                // move the elevator up, as long as the limit switch hasn't been pressed
                if ((elevatorJS->GetY() < 0.0) && (topElevatorLimitSwitch->Get() == true)) { // false means pressed...
                        elevatorJaguar->Set(elevatorJS->GetY());
                }
               
                // move the elevator down, as long as the limit switch hasn't been pressed
                else if (elevatorJS->GetY() > 0.0 && bottomElevatorLimitSwitch->Get() == true){
                        elevatorJaguar->Set(elevatorJS->GetY());
                }
               
                // in all other cases, turn motor off
                else {
                        elevatorJaguar->Set(0.0);
                }
               
       
                // y = x linear relationship
                //robotDrive->TankDrive(rJS->GetY(),-lJS->GetY()); // inverted with - to circumvent non-con wiring
               

                // Joystick sensitivity adjustment: y = .6x^3 + .4x, leftJS negative (see above)
                //driverStationLCD->Printf(DriverStationLCD::kUser_Line2, 1, "L:%f        ", lJS->GetY());
                //driverStationLCD->Printf(DriverStationLCD::kUser_Line3, 1, "R:%f        ", rJS->GetY());
                //driverStationLCD->UpdateLCD();
                               
                robotDrive->TankDrive(((.6*(rJS->GetY())*(rJS->GetY())*(rJS->GetY())) + (.4*(rJS->GetY()))), -((.6*(lJS->GetY())*(lJS->GetY())*(lJS->GetY())) + (.4*(lJS->GetY()))));
                       
                //motor for elevator : this works, after the the Great Jaguar Fiasco of 02-18
                //elevatorJaguar->Set(elevatorJS->GetY());  // Assigns elevatorJS to control Jag
                               
               
               
                //solenoid control
               
               
            //Raise and lower arm
                if(driverStation->GetDigitalIn(2) == true) {
                        elbowSol->Set(true);    // raise and lower 'elbow'
                        //driverStationLCD->Printf(DriverStationLCD::kUser_Line4, 1, "Elbow sol raised");
                        //driverStationLCD->UpdateLCD();
                }
                else {
                        elbowSol->Set(false);
                }
               
                // Open and close gripper
                if(driverStation->GetDigitalIn(3) == true) {
                        gripperSol->Set(true);   
                        //driverStationLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Gripper sol closed");
                        //driverStationLCD->UpdateLCD();
                }
                else {
                        gripperSol->Set(false);
                } 
               
                // Release pneumatic latch to deploy minibot
                if (driverStation->GetDigitalIn(4) == true){
                        deploymentSol->Set(true);
                        //driverStationLCD->Printf(DriverStationLCD::kUser_Line6, 1, "Deployment latch triggered");
                        //driverStationLCD->UpdateLCD();
                }
                else {
                        deploymentSol->Set(false);
                }
       
     
         
                             
                            // appears to work [02-19 jaguar problem] copied from 02-17 code                     
                      if (elevatorJS->GetRawButton(3)== true && outDeploymentLimitSwitch->Get() == true){
                                      deploymentJaguar->Set(1.0);  // Run motor out/forward
                                                }
                                                                             
                      else if (elevatorJS->GetRawButton(2)== true && inDeploymentLimitSwitch->Get() == true){
                              deploymentJaguar->Set(-1.0); //Run motor in/backwards
                              }
                                                                             
                      else{
                              deploymentJaguar->Set(0.0); // Don't run motor
                              }

Any thoughts? Thanks!

virtuald 23-02-2011 10:53
Re: Limit switches in autonomous
 
Nothing looks wrong in your code, so it might be some problem with your initialization -- or possibly your autonomous function isn't being called for some reason -- use the normal printf and check NetConsole's output to see if it ever actually happens.

As another suggestion, you can wire limit switches directly to the Jaguar, and it will automatically turn itself off when the switch is pressed. Refer to the Jaguar user's guide for more information.

Bethie42 14-03-2011 01:55
Re: Limit switches in autonomous
 
Quote:
Originally Posted by virtuald (Post 1029928)
Nothing looks wrong in your code, so it might be some problem with your initialization -- or possibly your autonomous function isn't being called for some reason -- use the normal printf and check NetConsole's output to see if it ever actually happens.

As another suggestion, you can wire limit switches directly to the Jaguar, and it will automatically turn itself off when the switch is pressed. Refer to the Jaguar user's guide for more information.
Thanks for your response.
The rest of our autonomous code is definitely running, so do you think the limit-switch if-statement itself is not getting called? Here is our initialization:

We understand that it's not legal to control a Jag [actually, now we are using Victors] directly using a limit switch unless you are using CAN [which looked to be a bigger headache than it's worth] as per <R55> J.

When we originally encountered this problem, we planned to workaround it by just running the elevator motor up in autonomous until we reach the scoring grid: we figured that we would reach the scoring grid about the same time the elevator reached the top and started to stall. This would have worked very nicely, except that we recently replaced our wimpy little window-motor with a Fischer-Price motor that cleanly sheared our elevator belt the other day when we ran it just a bit too far! Now I am very wary of running autonomous that way unless I scale the motor back to about 20% rather than 100%. I eagerly await our Week 4 regional....

Thanks again for any help you can give.

Code:
#include "WPILib.h"
//#include "Vision/AxisCamera.h"
//#include "Vision/HSLImage.h"
#include "DriverStationLCD.h"
#include <math.h>

// mapping of solenoids to ports
#define GRIPPER_SOL 1
#define ELBOW_SOL 2
#define DEPLOYMENT_SOL 3

class Team956 : public IterativeRobot
{
       
        RobotDrive *robotDrive;                // robot will use PWM 1-4 for drive motors
       
        // Declare a variable for the driver station object
        DriverStation *driverStation;        // driver station object
        DriverStationLCD *driverStationLCD; // Driver station LCD for printouts
        UINT32 priorPacketNumber;            // keep track of the most recent packet number from the DS
        UINT8 dsPacketsReceivedInCurrentSecond;        // keep track of the ds packets received in the current second
       
       
        Joystick *rJS;        // joystick 1
        Joystick *lJS;        // joystick 2
        Joystick *elevatorJS;  //controls elevator for gripper
       
        //PWM *rMotor1;    //interferes with RobotDrive object
        //PWM *rMotor2;
        //PWM *lMotor1;
        //PWM *lMotor2; 
       
        Victor *elevatorVictor; //elevator delivery system for gripper, y-axis, controlled by joystick
        Victor *deploymentVictor; // Motor for deployment of minibot
       
       
        Solenoid *gripperSol; //opens and closes  gripper
        Solenoid *elbowSol; //raises and lowers 'elbow'
        Solenoid *deploymentSol; // Opens and closes 'latch' for surgical tubing
       
        Relay *compressorRelay; //relay for compressor
               
        DigitalInput *pneumaticLimitSwitch; // shuts off compressor when PSI = 120
        DigitalInput *lLineTracker;                        // line tracking sensors
        DigitalInput *mLineTracker;
        DigitalInput *rLineTracker;
        DigitalInput *outDeploymentLimitSwitch; // Shuts off deployment victor if max extension
        DigitalInput *inDeploymentLimitSwitch; // Min extension reached
        DigitalInput *topElevatorLimitSwitch;
        DigitalInput *bottomElevatorLimitSwitch;
       
       
       
        DigitalInput *rEnCA; //Right encoder channel A
        DigitalInput *rEnCB; //Right encoder channel B
        DigitalInput *lEnCA; //Left  encoder channel A
        DigitalInput *lEnCB; //Left  encoder channel B 
        DigitalInput *elevatorEncoderCA;
        DigitalInput *elevatorEncoderCB;
       
        Encoder *rEncoder; //Right encoder
        Encoder *lEncoder; //Left encoder
       
       
//        AxisCamera &camera; //Camera now wired directly to radio
       
       
       
        // Local variables to count the number of periodic loops performed
        UINT32 autoPeriodicLoops;
        UINT32 disabledPeriodicLoops;
        UINT32 telePeriodicLoops;
       
        enum state {DRIVE=0, STOP=1,SCORE=2, BACKUP=3};
        state autoState;
        int leftValue;       
        int middleValue;
        int rightValue;
       
        int autoFlag;
        int aState;
       
        int LencVal;
        int RencVal;
       
        float speed;
       
        bool atCross;
               
public:

 // Constructor for the "Team956" Class.

        Team956(void) /* :        camera(AxisCamera::GetInstance())*/
        {
                printf("Team956 Constructor Started\n");

                // Create a robot using standard right/left robot drive on PWMS 1, 2, 3, and #4
                robotDrive = new RobotDrive(1,2,3,4); //used to be(1, 3, 2, 4);  changed for Left on PWM's 3,4 and Right on 1,2
                robotDrive->SetSafetyEnabled(false); //disables MotorSafety watchdog
               
                // Acquire the Driver Station object
                driverStation = DriverStation::GetInstance();
                driverStationLCD = DriverStationLCD::GetInstance();
                priorPacketNumber = 0;
                dsPacketsReceivedInCurrentSecond = 0;
               
        // joysticks
                rJS = new Joystick(1);
                lJS = new Joystick(2);
                elevatorJS = new Joystick(3); //controls elevator for gripper
               
       
        // PWM's
                //rMotor1 = new PWM(1);  // commented out becuase 'RobotDrive initializes motors
                //rMotor2 = new PWM(2);
                //lMotor1 = new PWM(3);
                //lMotor2 = new PWM(4);
                       
                elevatorVictor = new Victor(5);
                elevatorVictor->SetSafetyEnabled(false); //disable the Victor MotorSafety watchdog
                deploymentVictor = new Victor(6);
                deploymentVictor->SetSafetyEnabled(false);
               
        // solonoids
                gripperSol = new Solenoid(GRIPPER_SOL);
               
                elbowSol = new Solenoid(ELBOW_SOL);
                deploymentSol= new Solenoid(DEPLOYMENT_SOL);
                       
               
        // digital i/o
                pneumaticLimitSwitch = new DigitalInput(1);
                rLineTracker = new DigitalInput(2);
                mLineTracker = new DigitalInput(3);
                lLineTracker = new DigitalInput(4);
               
            rEnCA = new DigitalInput(5);
                rEnCB = new DigitalInput(6);
                lEnCA = new DigitalInput(7);
                lEnCB = new DigitalInput(8); 
               
                outDeploymentLimitSwitch = new DigitalInput(9);
                inDeploymentLimitSwitch = new DigitalInput(10);
                topElevatorLimitSwitch = new DigitalInput(11);
                bottomElevatorLimitSwitch = new DigitalInput(12);
       
               
               
                //aChannel, bChannel, reverse direction if encoders are oriented backwards (usually false), type of encoding (1x, 2x, 4x)
                rEncoder = new Encoder(rEnCA->GetChannel(),rEnCB->GetChannel(),false,Encoder::k4X);
                lEncoder = new Encoder(lEnCA->GetChannel(),lEnCB->GetChannel(),false,Encoder::k4X);
               
/*                camera.WriteResolution(AxisCamera::kResolution_320x240);
                camera.WriteCompression(20); // }from 2010ImageDemo
                camera.WriteBrightness(0);   
*/               
                GetWatchdog().SetEnabled(false); // User watchdog should be disabled even without this...
                //GetWatchdog().SetExpiration(10);        //sets watchdog expiration to 1 second
                compressorRelay = new Relay(1, Relay::kForwardOnly);

       

                // Initialize counters to record the number of loops completed in autonomous and teleop modes
                autoPeriodicLoops = 0;
                disabledPeriodicLoops = 0;
                telePeriodicLoops = 0;
               
                // autonomous stuff
            autoState = DRIVE;
           
                           
        atCross = false;
        autoFlag = false;  // Lisa, can we comment these out?

                printf("BuiltinDefaultCode Constructor Completed\n");
        }
       

       
        /// Init Routines
        void RobotInit(void) {
               
                printf("RobotInit() completed.\n");
        }
       
        void DisabledInit(void) {
                disabledPeriodicLoops = 0;                        // Reset the loop counter for disabled mode
        }

        void AutonomousInit(void) {
                autoPeriodicLoops = 0;                                // Reset the loop counter for autonomous mode
                rEncoder->Reset();
                lEncoder->Reset();
                rEncoder->Start(); // Start getting values from the encoders
                lEncoder->Start();
                driverStationLCD->Clear();
               
        }

        void TeleopInit(void) {
                telePeriodicLoops = 0;                                // Reset the loop counter for teleop mode
                dsPacketsReceivedInCurrentSecond = 0;        // Reset the number of dsPackets in current second
                rEncoder->Reset();
                lEncoder->Reset();
                rEncoder->Start(); // Start getting values from the encoders
                lEncoder->Start();
                driverStationLCD->Clear();
               
        }

nighterfighter 14-03-2011 12:07
Re: Limit switches in autonomous
 
Have you tried running JUST that else statement, (running the motor) in autonomous?

That will help you rule out if you just initialized things improperly.

Bethie42 14-03-2011 12:52
Re: Limit switches in autonomous
 
Quote:
Originally Posted by nighterfighter (Post 1039292)
Have you tried running JUST that else statement, (running the motor) in autonomous?

That will help you rule out if you just initialized things improperly.
Yes, I am pretty sure we have. [Everything is 'pretty sure' at this point because I haven't had access to the robot for three weeks...]
I know we tried running just the if-statement, with no line-following code or anything like that. There may have been a print-to-driver-station or something like that as well, but nothing that should affect it, I believe.

Arthur3103 22-03-2011 20:33
Re: Limit switches in autonomous
 
We normally test

if (topLimit.Get())
{
do something
}

or

if (!topLimit.get())
{
do something else
}

The code that works is testing == true while the code that does not work is testing == false.

I can't see anything wrong with the code; I just have the observation that your test is different between the code that is working and the code that is not working. You might want to rewrite the auto code to use a == true test.


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