[Jceggbert5]

This is our first year using C++. We've used LabView for the last several years, but our programming team finally made the switch for this season.

We're having an extremely weird issue with our code. We are using a mecanum drive system, and have not had issues until we attempted to add a fifth controller for our manipulator. We are using the RobotDrive class to initialize our first four controllers (using myRobot(1, 2, 3, 4) for init).

I attempted to add a fifth controller using this:

Talon shooter;

shooter = new Talon(6);

Once I deploy the code and reboot, every time I enable the robot (in either Teleop or in Autonomous), all the motors spin in reverse for about a quarter of a second and then disable.

For sake of troubleshooting, I tried removing all drive code and then reinitialize all the controllers manually as Talons. Once I did this, I cannot get the motors to spin at all. When I click Enable, the controllers enable for a split second and then disable. During that split second, I cannot give any value to the controllers, either directly in the code or by joystick input.

Anyone have any ideas?

Here's my full code:

#include "WPILib.h"
#include <math.h>

/**
 * This is a demo program showing the use of the RobotBase class.
 * The IterativeRobot class is the base of a robot application that will automatically call your
 * Periodic methods for each packet based on the mode.
 */ 
class RobotDemo : public IterativeRobot
{
	double joyX, joyY, joyZ;
	//RobotDrive myRobot; // robot drive system
	Jaguar  LF, LR, RF, RR, talonFive, shooter;
	Joystick stick; // only joystick
	Gyro fieldOrientation;

public:
	RobotDemo():
		//myRobot(1, 2, 3, 4),	// these must be initialized in the same order
		LF(1),
		LR(2),
		RF(3),
		RR(4),
		talonFive(5),
		shooter(6),
		stick(1),		// as they are declared above.
		fieldOrientation(1)
	{
		//myRobot.SetExpiration(0.1);
		//shooter.SetSafetyEnabled(false);
		//shooter.SetExpiration(0.1);
		this->SetPeriod(0); 	//Set update period to sync with robot control packets (20ms nominal)
	}
	
/**
 * Robot-wide initialization code should go here.
 * 
 * Use this method for default Robot-wide initialization which will
 * be called when the robot is first powered on.  It will be called exactly 1 time.
 */
void RobotDemo::RobotInit() {
}

/**
 * Initialization code for disabled mode should go here.
 * 
 * Use this method for initialization code which will be called each time
 * the robot enters disabled mode. 
 */
void RobotDemo::DisabledInit() {
}

/**
 * Periodic code for disabled mode should go here.
 * 
 * Use this method for code which will be called periodically at a regular
 * rate while the robot is in disabled mode.
 */
void RobotDemo::DisabledPeriodic() {
}

/**
 * Initialization code for autonomous mode should go here.
 * 
 * Use this method for initialization code which will be called each time
 * the robot enters autonomous mode.
 */
void RobotDemo::AutonomousInit() {
}

/**
 * Periodic code for autonomous mode should go here.
 *
 * Use this method for code which will be called periodically at a regular
 * rate while the robot is in autonomous mode.
 */
void RobotDemo::AutonomousPeriodic() {
}

/**
 * Initialization code for teleop mode should go here.
 * 
 * Use this method for initialization code which will be called each time
 * the robot enters teleop mode.
 */
void RobotDemo::TeleopInit() {
	fieldOrientation.Reset();
}

/**
 * Periodic code for teleop mode should go here.
 *
 * Use this method for code which will be called periodically at a regular
 * rate while the robot is in teleop mode.
 */
void RobotDemo::TeleopPeriodic() {
	//myRobot.ArcadeDr1ive(stick); // drive with arcade style
	joyX = pow(stick.GetX(), 3);
	joyY = pow(stick.GetY(), 3);
	joyZ = pow(stick.GetRawAxis(3), 3);
	//myRobot.MecanumDrive_Cartesian(-joyX, -joyY, joyZ, fieldOrientation.GetAngle());
	
	//shooter.SetLeftRightMotorOutputs(pow(stick.GetRawAxis(4), 3), pow(stick.GetRawAxis(5), 3));
	LF.SetSpeed(pow(stick.GetRawAxis(5), 3));
	LR.SetSpeed(pow(stick.GetRawAxis(5), 3));
	RF.SetSpeed(pow(stick.GetRawAxis(5), 3));
	RR.SetSpeed(pow(stick.GetRawAxis(5), 3));
	talonFive.SetSpeed(pow(stick.GetRawAxis(5), 3));
	shooter.SetSpeed(pow(stick.GetRawAxis(5), 3));
}

/**
 * Initialization code for test mode should go here.
 * 
 * Use this method for initialization code which will be called each time
 * the robot enters test mode.
 */
void RobotDemo::TestInit() {
}

/**
 * Periodic code for test mode should go here.
 *
 * Use this method for code which will be called periodically at a regular
 * rate while the robot is in test mode.
 */
void RobotDemo::TestPeriodic() {
}

};

START_ROBOT_CLASS(RobotDemo);