Thread: Autonomous Help
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Unread 23-01-2015, 12:47
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Re: Autonomous Help

Quote:
Originally Posted by curtis0gj View Post
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);	
				}
				
    			}
Looks good. I'm still trying to figure out why you weren't getting NullPointerExceptions with the other code...
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