problem with passing doubles back into the "TeleOp Execute" loop

[windell747]

We are currently having problems with passing doubles back into the "TeleOp Execute" loop. We have traction control calculating an error based on the slip ratio as the process variable and the set point of 0 slip ratio.

We are able to read the PID values from within the traction control loops, however when these values are passed into the "TeleOp Execute" loop, the robot isnt able to get out of disable mode. When we delete the PID values being passed into the "TeleOp Execute" loop, the code runs fine, however we can't add the PID values to the drivers joystick command to do the traction control.

We have tried the highlight execution feature and the interesting thing is that no bubbles follow along the path from the traction control loop to the TeleOp Execute loop.

Any suggestions? I attached a pdf of the main code for our bot to show the problem.

[Green2]

The code is currently set to run in parallel loops. Because they are set to never "stop" executing, the loop never really ends and thus will not pass values outside of the loop.

To get around this, either move the traction control code to inside the teleop loop or set up global variables. Write to the globals in the traction control loop and read it in the teleop loop.