[popnbrown]

Well the title of the thread actually isnt exactly my problem. Autonomous works however one of my functions doesn't work. We are trying to get our robot to rotate (a 0 degree turn). I'm using WPILib so we have to write totally new code.

Well anways here is the function Rotate():

 
void Rotate(char direction, int degrees, char speed)
{
	int time = (1000 * (degrees/ 300));
	char RightMotor = NEUTRAL + (speed * direction * (SPEED_TO_PWM));
	char LeftMotor = NEUTRAL + (speed * direction * (SPEED_TO_PWM));
        //the SPEED_TO_PWM = 127/10 which converts the speed to PWM value

	printf("Rotate()\r");

	SetPWM(LEFT_WHEEL, LeftMotor);
	SetPWM(LEFT_FRONT_WHEEL, LeftMotor);
	SetPWM(RIGHT_WHEEL, RightMotor);
	SetPWM(RIGHT_FRONT_WHEEL, RightMotor);
	
	printf("time: %d\r", time);
	
	Wait(time);
	
	SetPWM(LEFT_WHEEL, NEUTRAL);
	SetPWM(LEFT_FRONT_WHEEL, NEUTRAL);
	SetPWM(RIGHT_WHEEL, NEUTRAL);
	SetPWM(RIGHT_FRONT_WHEEL, NEUTRAL);
       //NEUTRAL = 127

}

now the main problem is the time. When I pass for example:

Rotate(-1, 30, 10)

the time displays as 0. I find it really odd. However I ran time as a constant:

time = 300;

and the function worked perfectly. So the real problem here is one of the variables involved in the time equation and I dont know which one or what is wrong.

Any help would be appreciated