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This is true, a relay can either be 1 or 0, but you have 2 directions. relayX_fwd and relayX_rev (or something like that in the default code) So, you actually have 4 states. 00,01,10,11. Assuming you are connected to a double solenoid you are going to have to wire up like is shown in section 3.2.3 of the robot manual, p11. Therefore the relay in forward
will trip one of the double solenoids and
the relay in reverse will trip the other. Alternately, you can connect the black wires from the double solenoids directly to ground on the terminal block. And connect the two red wires to the spike directly, one to M+, the other to M-, which avoids the use of diodes. The code is the same in either case. Just don't turn both forward and reverse on.
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"Put your hand on a hot stove for a minute, and it seems like an hour.
Sit with a pretty girl for an hour,
and it seems like a minute. THAT'S relativity." -Einstein
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First Resume: (If I can remember)
2001 NJ Regional
2001 Championship
2002 NYC Regional
2003 OH Regional
2003 Championship
2004 OH Regional
2005 Finger Lakes Regional
2006 Finger Lakes Regional (yes!)
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