Quote:
Originally Posted by notmattlythgoe
I think I found the problem.
In robotInit(), delete the Encoder part of your encoder instantiaton. It should look like this:
Code:
encoder = new Encoder(0, 1, false, EncodingType.k4X);
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Yeah I think that could do it lol heres what I got.
Code:
package org.usfirst.frc.team5033.robot;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Gyro;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
RobotDrive robot;
Joystick stick;
Encoder encoder;
Gyro gyro1;
static final double Kp = 0.05;
public void robotInit() {
robot = new RobotDrive(0, 1);
stick = new Joystick(0);
gyro1 = new Gyro(0);
gyro1.reset();
gyro1.initGyro();
encoder = new Encoder(0, 1, false, EncodingType.k4X);
encoder.setDistancePerPulse(1);
encoder.getDistance();
}
public void autonomousPeriodic() {
gyro1.reset();
while(isAutonomous() && isEnabled()) {
double angle = gyro1.getAngle();
double distance = encoder.get();
SmartDashboard.putNumber("Angle", angle);
SmartDashboard.putNumber("Distance", distance);
robot.drive(-0.25, 1);
if(angle > 150) {
robot.drive(0,0);
gyro1.reset();
encoder.reset();
Timer.delay(0.5);
break;
}
Timer.delay(0.1);
}
while (isAutonomous() && isEnabled()) {
double angle2 = gyro1.getAngle();
double distance2 = encoder.get();
SmartDashboard.putNumber("Distance", distance2);
robot.drive(-0.20, -angle2 * Kp);
if(encoder.getDistance() < 10) {
robot.drive(0,0);
break;
}
Timer.delay(0.1);
}
}