[Greg McKaskle]

There are a number of things you may want to change. First off, unless you have disabled the safety for the motors, you cannot set the speed of a motor and simply leave it on for 1 or two seconds. If you don't tell it to stay on, it will turn off after 100ms.

I've attached a VI that I really wish we'd put into the palettes. It works the same as last year's Delay and Feed VI, but instead of feeding the watchdog it updates the given motor. You can use it like the delay block, but wire in seconds, and also wire in the error I/O for sequencing and the motor refnum for updating. Don't worry too much about the nap time input.

The snapshot shows what the equivalent diagram looks like with this. I've also attached a subVI, Autonomous Clipboard.vi, with the code --in case you want to copy/paste instead of rebuilding it.

Be sure to put the WPIMotor...DelayAndFeed VI into Program Files\National Instruments\LabVIEW 8.6\vi.lib\Rock Robotics\WPI\Motor Control folder before you use it.

Other considerations? -1 seems really fast to be reversing the robot for three seconds while moving the arm. I suspect that you'll need to dial that down. I also wouldn't be surprised if you need to lower the arm and then start backing up. But that dead-reckoning adjustment is something you should work out at or during the scrimmage.

Good luck.
Greg McKaskle