So we recently got our new CRio in, and after getting it set up, we started testing our code. We have just got the code uploaded to the CRio, but when we run it, none of our Victors do anything, and our code doesnt seem to be making any changes to anything. We built our code without errors. Here is our code, and here is the messages we get in the driver station diagnostics menu
Code:
#include "WPILib.h"
class RobotDemo : public SimpleRobot
{
Victor laquanda; //front left motor:V1
Victor anabel; //back left motor:V2
Victor rotciv; //front right motor:V3
Victor shanaynay; //back right motor:V4
RobotDrive rDrive; //declare robot drive
Victor shooterVictor; //declare victor for shooter
Victor shooterVictor2;
Servo loaderArm; //declare servo for loader arm
Joystick driverStick; //declares all 3 joysticks
Joystick driverStick2;
Joystick shooterStick;
Victor climbingArm1; //declare victors for climbing arms
Victor climbingArm2;
Solenoid SC1; //declares solenoids for climbing arm
Solenoid SC2;
DigitalInput Disk1; //declares limit switches for hopper
DigitalInput Disk2;
DigitalInput Disk3;
DigitalInput Disk4;
public:
RobotDemo(void):
laquanda(1), //assign drive motors PWM ports
anabel(2),
rotciv(3),
shanaynay(4),
rDrive(laquanda, anabel, rotciv, shanaynay), //assigns robot drive talons theiw PWM ports
shooterVictor(6), //assigns victor its PWM port
shooterVictor2(7),
loaderArm(5), //assign servo its PWM port
driverStick(1), //assign joysticks their USB ports
driverStick2(2),
shooterStick(3),
climbingArm1(8), //assigns climbing victors PWM ports
climbingArm2(9),
SC1(1), //assigns climbing pneumatics digital output ports
SC2(2),
Disk1(3), //assigns limit switches digital input ports
Disk2(4),
Disk3(5),
Disk4(6)
{
Watchdog().SetEnabled(false);
rDrive.SetExpiration(0.1);
rDrive.SetSafetyEnabled(true); //sets motor saftey on for all motors
shooterVictor.SetExpiration(0.1);
shooterVictor.SetSafetyEnabled(true);
shooterVictor2.SetExpiration(0.1);
shooterVictor2.SetSafetyEnabled(true);
loaderArm.SetExpiration(0.1);
loaderArm.SetSafetyEnabled(true);
climbingArm1.SetExpiration(0.1);
climbingArm1.SetSafetyEnabled(false);
climbingArm2.SetExpiration(0.1);
climbingArm2.SetSafetyEnabled(false);
}
void Autonomous(void)
{
DriverStationLCD *ds = DriverStationLCD::GetInstance();
double AutoTime = 0; //used to measure time during autonomous
rDrive.SetSafetyEnabled(false); //turn of motor saftey timers during autonomous for convience
shooterVictor.SetSafetyEnabled(false);
shooterVictor2.SetSafetyEnabled(false);
loaderArm.SetSafetyEnabled(false);
ds->PrintfLine(DriverStationLCD::kUser_Line1, "Program Started Successfully!");
ds->PrintfLine(DriverStationLCD::kUser_Line2, "Robot Is in Autonomous");
ds->UpdateLCD();
while(IsAutonomous()){
/**
//start at center autonomous
if(AutoTime>=0.0 && AutoTime<0.5){
shooterVictor.Set(1.0);
shooterVictor2.Set(1.0);
rDrive.MecanumDrive_Cartesian( 0.0 , 0.0 , -0.5 );
}
if(AutoTime>=0.5 && AutoTime<1.0){
loaderArm.SetAngle(180);
}
if(AutoTime>=1.0 && AutoTime<1.5){
loaderArm.SetAngle(0);
}
if(AutoTime>=1.5 && AutoTime<2.0){
loaderArm.SetAngle(180);
}
if(AutoTime>=2.0 && AutoTime<2.5){
loaderArm.SetAngle(0);
}
if(AutoTime>=2.5 && AutoTime<3.0){
loaderArm.SetAngle(180);
}
if(AutoTime>=3.0 && AutoTime<3.5){
loaderArm.SetAngle(0);
shooterVictor.Set(0.0);
shooterVictor2.Set(0.0);
}
if(AutoTime>=3.5 && AutoTime<4.0){
rDrive.MecanumDrive_Cartesian( 0.0, 0.0 , 0.5 );
}
if(AutoTime>=4.0 && AutoTime<7.0){
rDrive.MecanumDrive_Cartesian( 1.0 , 0.0 , 0.0 );
}
if(AutoTime>=7.0 && AutoTime<9.0){
rDrive.MecanumDrive_Cartesian( 0.0 , 1.0 , 0.0 );
}
if(AutoTime>=9.0 && AutoTime<10.0){
rDrive.MecanumDrive_Cartesian( 0.0 , 0.0 , 0.5 );
}
if(AutoTime>=10.0 && AutoTime<10.5){
rDrive.MecanumDrive_Cartesian( 0.7 , 0.0 , 0.0 );
}
*/
//start at left or right autonomous
if(AutoTime>=0.0 && AutoTime<0.5){
shooterVictor.Set(1.0);
shooterVictor2.Set(1.0);
loaderArm.SetAngle(180);
}
if(AutoTime>=0.5 && AutoTime<1.0){
loaderArm.SetAngle(0);
}
if(AutoTime>=1.0 && AutoTime<1.5){
loaderArm.SetAngle(180);
}
if(AutoTime>=1.5 && AutoTime<2.0){
loaderArm.SetAngle(0);
}
if(AutoTime>=2.0 && AutoTime<2.5){
loaderArm.SetAngle(180);
}
if(AutoTime>=2.5 && AutoTime<3.0){
loaderArm.SetAngle(0);
shooterVictor.Set(0.0);
shooterVictor2.Set(0.0);
}
if(AutoTime>=3.0 && AutoTime<6.0){
rDrive.MecanumDrive_Cartesian(1.0, 0.0 , 0.0 );
}
if(AutoTime>=6.0 && AutoTime<7.0){
rDrive.MecanumDrive_Cartesian( 0.0 , 0.0 , -0.5 ); //left autonomous = -0.5 turn right autonomous = 0.5 turn
}
if(AutoTime>=7.0 && AutoTime<9.0){
rDrive.MecanumDrive_Cartesian( 0.7 , 0.0 , 0.0 );
}
AutoTime=AutoTime+0.02;
Wait(0.02);
}
}
void operatorControl(){
rDrive.SetSafetyEnabled(true); //turn motor saftey timers back on
shooterVictor.SetSafetyEnabled(true);
shooterVictor2.SetSafetyEnabled(true);
loaderArm.SetSafetyEnabled(true);
DriverStationLCD *ds = DriverStationLCD::GetInstance();
ds->PrintfLine(DriverStationLCD::kUser_Line6, "Pinkie Pie Is Best Pony");
while (IsOperatorControl()){
ds->PrintfLine(DriverStationLCD::kUser_Line2, "Robot Is In TeleOp");
rDrive.MecanumDrive_Cartesian(driverStick.GetX(), driverStick.GetY(), driverStick2.GetX()); //gets input for robot drive
//from joysticks 1/2
ShooterControl(); //runs shooter control function
LoaderControl(); //runs servo control function
//Climbing(); //runs pryamid climbing function
//DiskCount(); //runs diskcount function
ds->UpdateLCD();
Wait(0.02); //waits 0.02 seconds
}
}
void ShooterControl(){ //shooter control function
DriverStationLCD *ds = DriverStationLCD::GetInstance();
if(shooterStick.GetRawButton(1)){
shooterVictor.Set(1.0); //if trigger is pressed, turn on shooter
shooterVictor2.Set(1.0);
ds->PrintfLine(DriverStationLCD::kUser_Line3, "Shooter Is On");
}
else{
shooterVictor.Set(0.0); //if trigger isnt pressed, turn off shooter
shooterVictor2.Set(0.0);
ds->PrintfLine(DriverStationLCD::kUser_Line3, "Shooter Is Off");
}
}
void LoaderControl(){ //servo control function
DriverStationLCD *ds = DriverStationLCD::GetInstance();
if(shooterStick.GetRawButton(3)){
loaderArm.SetAngle(180); //if middle button is pressed, extend servo
ds->PrintfLine(DriverStationLCD::kUser_Line4, "Loader Servo Is Extended");
}
else{
loaderArm.SetAngle(0); //if middle button isnt pressed, retract servo
ds->PrintfLine(DriverStationLCD::kUser_Line4, "Loader Servo Is Retracted");
}
}
void Climbing(){ //pyramid climbing function, happens automatically
DriverStationLCD *ds = DriverStationLCD::GetInstance();
if(shooterStick.GetRawButton(6) && driverStick.GetRawButton(6)){ //if button 6 pressed on both sticks, starts climb
ds->PrintfLine(DriverStationLCD::kUser_Line2, "Robot Is Climbing");
ds->UpdateLCD();
rDrive.SetSafetyEnabled(false); //turn of motor saftey timers during climbing for convience
shooterVictor.SetSafetyEnabled(false);
shooterVictor2.SetSafetyEnabled(false);
loaderArm.SetSafetyEnabled(false);
bool climbingRunning=true; //checks if robot continues to climb
double CTime = 0;
double VCTime=0;
while(climbingRunning=true){
if(CTime>=0.0 && CTime<1.0){
climbingArm1.Set(0.4); //raise climbing arms
climbingArm2.Set(0.4);
VCTime=VCTime+0.05;
}
if(CTime>=1.0 && CTime<1.5){
climbingArm1.Set(0.0); //extend climbing arms
climbingArm2.Set(0.0);
SC1.Set(true);
SC2.Set(true);
}
if(CTime>=1.5 && CTime<2.0){
rDrive.MecanumDrive_Cartesian( 0.2 , 0.0 , 0.0 ); //move towards bar
}
if(CTime>=2.0 && CTime<2.5){
SC1.Set(false); //retract climbing arms
SC2.Set(false);
}
if(shooterStick.GetRawButton(7)){
climbingRunning=false; //if button 7 pressed, stops climbing
climbingArm1.Set(-0.4);
climbingArm2.Set(-0.4);
Wait(VCTime);
SC1.Set(false);
SC2.Set(false);
rDrive.SetSafetyEnabled(true); //turn motor saftey timers back on
shooterVictor.SetSafetyEnabled(true);
shooterVictor2.SetSafetyEnabled(true);
loaderArm.SetSafetyEnabled(true);
}
Wait (0.05);
CTime=CTime+0.05;
}
}
}
void DiskCount(){ //function that counts disk in the hopper and displays it
DriverStationLCD *ds = DriverStationLCD::GetInstance();
int disknum = 0; //variable that counts disks in hopper
if(Disk1.Get()){
disknum=disknum+1; //disk has activated a limit switch, add 1 to # of disks
}
if(Disk2.Get()){
disknum=disknum+1;
}
if(Disk3.Get()){
disknum=disknum+1;
}
if(Disk4.Get()){
disknum=disknum+1;
}
ds->PrintfLine(DriverStationLCD::kUser_Line5, "Disk's in Hopper: %d", disknum); //print out the number of disks in hopper
}
};
START_ROBOT_CLASS(RobotDemo); //starts the class running
Warning <Code> 44002 occurred at Ping Results: link-GOOD, DS radio(.4)-bad, robot radio(.1)-bad, cRIO(.2)-GOOD, FMS-bad Driver Station
<time>2/6/2013 5:28:08 AM<unique#>104
FRC: Driver Station ping status has changed.
ERROR: A timeout has been exceeded: PWM 5 on module 1... Output not updated often enough. ...in Check() in C:/WindRiver/workspace/WPILib/MotorSafetyHelper.cpp at line 117
ERROR: A timeout has been exceeded: PWM 7 on module 1... Output not updated often enough. ...in Check() in C:/WindRiver/workspace/WPILib/MotorSafetyHelper.cpp at line 117
ERROR: A timeout has been exceeded: PWM 6 on module 1... Output not updated often enough. ...in Check() in C:/WindRiver/workspace/WPILib/MotorSafetyHelper.cpp at line 117
ERROR: A timeout has been exceeded: RobotDrive... Output not updated often enough. ...in Check() in C:/WindRiver/workspace/WPILib/MotorSafetyHelper.cpp at line 117
ERROR: A timeout has been exceeded: PWM 5 on module 1... Output not updated often enough. ...in Check() in C:/WindRiver/workspace/WPILib/MotorSafetyHelper.cpp at line 117
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