PWMs not outputting in Autonomous

[937Programmers]

Hello! I don't know if this question has been answered yet, but I didn't seem to find an answer anywhere.

When we are trying to run autonomous code, PWMs 1-12 aren't doing anything, and the speed controllers that are hooked up into those PWMs are blinking yellow. We think that the PWMs aren't being enabled, but we're not quite sure how to do that in the autonomous code. We have the drivetrain motors in PWMs 13-16, and those are working fine. Nothing else, however, will work.

// If it might be part of the problem, we're using Kevin's streamlined code as a base.

Please help as soon as possible! Thanks!

[meatmanek]

Perhaps you deleted this line:

Putdata(&txdata); /* DO NOT DELETE, or you will get no PWM outputs! */

which goes after Generate_Pwms

[937Programmers]

Originally Posted by meatmanek

Perhaps you deleted this line:

Putdata(&txdata); /* DO NOT DELETE, or you will get no PWM outputs! */

which goes after Generate_Pwms

No, that's not the issue. I made sure that I didn't delete any lines when I wrote the code. I just double checked, and that line is definitely where it's supposed to be.

Anything else that might be the problem?

[meatmanek]

Mind posting your User_Autonomous_Code?

[EHaskins]

If you leave the robot in autonomous mode do you get a code error light?

[937Programmers]

Originally Posted by EHaskins

If you leave the robot in autonomous mode do you get a code error light?

Surprisingly, no. It runs like it's supposed to as I watched the terminal window, but nothing from 1-12 actually runs.

As for posting my code, I'll get to that ASAP. I should be able to get it up tomorrow.

[Jared Russell]

Blinking yellow speed controllers usually indicate a connectivity problem with the signal...I'm assuming they work under human operation?

Are you calling something that might modify the PWM values before you call PutData()? Try printing out the values RIGHT before you PutData().

[Inverted]

I had the same problem with my motor output during autonomous. I changed the "Generate Pwms" function to his "PWM" function and everything worked. Hope the problem is as simple as that.

[Aaron_H]

Make sure that your PWM outputs are not 127 by default. At the top of the autonomous loop, all the PWMs are set to 127 by default, this may have something to do with it.

[937Programmers]

Well, all the motors work under human operation, and I haven't gotten around to messing with it yet today (I just got here )

Anyways, here's my autonomous function before modification today:

void User_Autonomous_Code(void)
{
  /* Initialize all PWMs and Relays when entering Autonomous mode, or else it
     will be stuck with the last values mapped from the joysticks.  Remember, 
     even when Disabled it is reading inputs from the Operator Interface. 
  */
  pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
  pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
  relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
  relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
  relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
  relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;

  while (autonomous_mode)   /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);   /* DO NOT DELETE, or you will be stuck here forever! */

        /* Add your own autonomous code here. */
		// STEP 1 - Initialize the Camera
		Tracking_Info_Terminal();
		Camera_Handler();
		Servo_Track();

		if(Get_Tracking_State() >= TARGET_IN_VIEW)
		{
			// STEP 2 - Make Robot Face the Light
			if((((int)PAN_SERVO-124)*65)/124 < 0)
			{
				pwm13 = pwm14 = 62;
				pwm15 = pwm16 = 192;
				centered = 0;
			}
			else if((((int)PAN_SERVO-124)*65)/124 > 0) 
			{
				pwm13 = pwm14 = 192;
				pwm15 = pwm16 = 62;
				centered = 0;
			}
			else
			{
				pwm13 = pwm14 = pwm15 = pwm16 = 127;
				centered = 1;
			}
		
			// STEP 3 - Drive Robot forward until 4 feet in front of Rack

			if((((int)TILT_SERVO-144)*25)/50 < 67 && centered == 1)
			{
				pwm13 = pwm14 = pwm15 = pwm16 = 192;
			}
			
			if(centered == 1 && (((int)TILT_SERVO-144)*25)/50 >= 67)
			{
				pwm13 = pwm14 = pwm15 = pwm16 = 127;
				
				// STEP 4 - Move the arm to the center position
				if(counter < 624 && arminpos == 0)
				{
					pwm08 = 254;
					counter++;
					if(counter == 624)
					{
						arminpos = 1;
					}
				}	
			}
			counter = 0;

			// STEP 5 - Place the tube on the leg
			if(arminpos == 1)
			{
				pwm13 = pwm14 = pwm15 = pwm16 = 192;
				counter++;
				if(counter == 26) 
				{
					overdisk = 1;
					pwm13 = pwm14 = pwm15 = pwm16 = 127;
				}		
			
				if(counter < 208 && clawopen == 0)
				{
					pwm05 = 192;
					if(overdisk == 1)
					{
						counter++;
					}
				}

				if(counter == 208)
				{
					clawopen = 1;  counter = 0;  pwm05 = 127;
				}
			}

			if(clawopen == 1)
			{
				pwm13 = pwm14 = pwm15 = pwm16 = 62;
			}
			// END AUTONOMOUS CODE
		}

	    PWM(pwm13,pwm14,pwm15,pwm16);

        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}

Thanks for the help. Hopefully this gets fixed today.

[wingnut1705]

[quote=937Programmers;574561]

PWM(pwm13,pwm14,pwm15,pwm16);

In the line when you generate the pwm's, make sure that any pwm that you are using is included in that list. That should solve your problem