Quote:
Originally Posted by tanguma26
in teleop:
1. Button #3 is pressed - back cylinder is cocked back and turns on relay 1
2. After relay 1 shows that the back cylinder is cocked back, the front cylinder goes forward and grabs the kicker
3. relay 3 on the front cylinder than shows that the kicker is ready to shoot
4. Button #1 is pressed - back cylinder shoots out and turns on relay 2
5. After relay 2 is on, front cylinder pulls back, releasing the kicker
(however we have not actually tested it but what we have on the computer, logically should work (we think))
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Can you post the part of your Teleop code that deals with items 1 to 5 above and I will look at it and advise from there.
To code your kicker you need to break down the steps even farther.
When you are ready to arm the kicker (the start of Autonomous mode or the end of your driving code)
1. There is no Button #3 to press
2. Solenoid #Back is set True (or False, I don't know which)
3. Back cylinder starts to move.
4. Loop Reading DIO IN #1 (Relay 1) until it True (Back cylinder is cocked).
5. Solenoid #Front is set True (or False, I don't know which)
6. Font cylinder starts to move.
7. Loop Reading DIO IN #3 (relay 3) until it goes True (Front cylinder is extended)
The kicker is armed and ready to kick
If the driving part is done (the robot is at a ball) AND the kicker is ready
THEN in place of pressing Button #1
8. Set Solenoid #Back to False. Back cylinder starts to move
9. Loop Reading DIO In #2 (relay 2) until it goes True
10. Set Solenoid #Front to False. Front cylinder starts to move back kicking the ball
Repeat for next ball