Quote:
Originally Posted by Aventek
When our robot is enabled, one of our victor sp's constantly swaps from neutral to forward.
we have tried: - swapping the victor with a new one
- swapping and reimaging the roboRIO
- changing the cables to and from victor(power and motor output)
- swapping PWM location on the roboRIO
This is dumbfounding our team and we have no idea whats up with the ghost motor. The only possibility we have thought of is the code, but we cannot find anything. If anyone could take a look at the code or has any idea what else could be the problem, please comment. This is our repository on GitHub: https://github.com/Aventek/ExarchCode |
My best guess, as it seems like a really common issue that I debug, is that you are setting the motor speed in two different places.
What motor is giving you trouble in the code? I have found these:
Code:
public static final int leftRearDrivePWM = 3;//3
public static final int leftFrontDrivePWM = 2;//0
public static final int rightRearDrivePWM = 1;//1
public static final int rightFrontDrivePWM = 0;//2
public static final int leftLaunchPWM = 4;
public static final int rightLaunchPWM = 5;
public static final int liftAnglerPWM = 6;
public static final int liftAngler2PWM =7;
public static final int launchAnglerPWM = 8;
public static final int intakeArmsPMW = 9;
Looking through your code, I'm placing my bets on the launch motor.
In commands/Launch.java, you're calling Robot.launcher.launch(shootSpeed) and Robot.launcher.intakeControl(0):
Code:
protected void execute() {
// spinning launcher motors
if (Robot.oi.buttonLaunch.get()) {
// when lBump is held down run motors for launching
Robot.launcher.launch(shootSpeed);
Robot.launcherState = LauncherState.LAUNCH;
} else if (Robot.oi.buttonIntake.get()) {
// when rBump is held down run motors for intake
Robot.launcherState = LauncherState.INTAKE;
Robot.launcher.launch(loadSpeed);
Robot.launcher.intakeControl(barSpeed);
Robot.launcherState = LauncherState.INTAKE;
} else if (auto){
Robot.launcher.launch(shootSpeed);
Robot.launcher.intakeControl(0);
Robot.launcherState = LauncherState.AUTO;
} else {
// when neither are held down dont run motors
Robot.launcher.intakeControl(0);
Robot.launcher.launch(0);
Robot.launcherState = LauncherState.STILL;
}
if(Robot.anglerState != AnglerState.PID){
// activate angler
if (Robot.oi.buttonShooterDown.get()) {
// when B is held down angle launcher down
Robot.launcher.angleLauncher(motorDownSpeed);
Robot.anglerState = AnglerState.ANGLING_DOWN;
} else if (Robot.oi.buttonShooterUp.get()) {
// when X is held down, angle launcher up
Robot.launcher.angleLauncher(motorUpSpeed);
Robot.anglerState = AnglerState.ANGLING_UP;
} else {
// stop angling
Robot.launcher.angleLauncher(0);
Robot.anglerState = AnglerState.STILL;
}
}
//control servo based on state
if(Robot.servoState == ServoState.RETRACTED){
// Robot.launcher.servoControl(extendedPosition);
} else if(Robot.servoState == ServoState.EXTENDED){
// Robot.launcher.servoControl(retractedPosition);
}
}
Take a look at the subsystem code for those two commands in subsystem/Launcher.java:
Code:
public void intakeControl(double speed){
leftLaunch.set(-.4);
rightLaunch.set(-.4);
intakeBar.set(speed);
}
// sets launch motors to spin and then set servo to firing position
public void launch(double speed) {
// setting launch motors
leftLaunch.set(speed);
rightLaunch.set(speed);
}
You're setting the speed in two different places. That will cause issues.