[miw14]

Originally Posted by lineskier

Ideally you wouldn't disable the safety enable. Now, given that you're at comp, i'm not going to suggest enabling it at this point. However, we can rearrange your code to ensure that the drive is updated enough.

Time is in milliseconds. Unlike other programming platforms, the crio really does not like long delays. Thus it's better for you to manage time, and adjust your motor outputs based on time.

public void autonomous() { 
        myDrive.setSafetyEnabled(false); 
        
        long startTime = System.currentTimeMillis();
        
        while(isAutonomous() && isEnabled()){
            long timePassed = System.currentTimeMillis() - startTime;
            if(timePassed < 3500){
                myDrive.drive(-.5, 0.0);
            }else if (timePassed < 5000){
                myDrive.stopMotor();
            }else if (timePassed < 8500){
                startRaisingLauncher();
            }else{
                stopMovingLauncher();
                //stopAll();
            }
            Timer.delay(0.01); 
        }
        
        stopAll();
    }

Thank you! I am a little bit confused though. You said time is in miliseconds, but it seemed like the Timer.delay worked fine with seconds with the mydrive.

Another question about the code. For the time conditions in the else statements, are the last two statements supposed to be greater than signs instead of less than signs? *Nevermind, I believe I understand this now.

Lastly, what do you think was the problem with the original code?