Help with simple program

[Rob Stehlik]

Hello, I'm definitely not a programmer, but as a mentor to the team, I'm trying to get some simple C++ code working. I started with the sample code, and added a few things to get our robot running. The tank drive code works well, but I wanted to use the joystick triggers to operate the intake rollers on the robot. The idea is to run the bottom two rollers to pick balls up, then run all of the rollers to spew the balls out. Pressing the trigger on the right joystick runns all of the rollers as expected. But for some reason the left joystick trigger won't run the bottom two rollers. I know the joystick is okay, because I tested the code to run all of the rollers with the left trigger, and it worked fine. For some reason it won't run just the bottom two rollers. I have stared at my code for a while, and I don't see what is wrong. Any comments or tips would be much appreciated. See the code below:

#include "WPILib.h"

/**
* This is a demo program showing the use of the RobotBase class.
* The SimpleRobot class is the base of a robot application that will automatically call your
* Autonomous and OperatorControl methods at the right time as controlled by the switches on
* the driver station or the field controls.
*/
class MainRobot : public SimpleRobot
{
RobotDrive myRobot; // robot drive system
Joystick leftstick; // left joystick
Joystick rightstick; // right joystick
Relay intakeroller;
Relay feedroller1; // relay for first feed roller
Relay feedroller2; // relay for second feed roller
Relay feedroller3; // relay for top feed roller
Victor topshooter;
Victor bottomshooter;
Gyro gyro;

public:
MainRobot(void): // these must be initialized in the same order as above
myRobot(1, 2), //left motor on PWM port 1, right motor on port 2
leftstick(2), //USB port 2
rightstick(1), //USB port 1
intakeroller(4, 6, intakeroller.kBothDirections), //relay port 6
feedroller1(4, 8, feedroller1.kBothDirections), //relay port 8
feedroller2(4, 3, feedroller2.kBothDirections), //relay port 3
feedroller3(4, 1, feedroller3.kBothDirections), //relay port 1
topshooter(4), //PWM port 4
bottomshooter(3), //PWM port 3
gyro(1,1) //analog port 1
{
myRobot.SetInvertedMotor(myRobot.kRearRightMotor, true);
GetWatchdog().SetExpiration(0.1);
}
/**
* Drive left & right motors for 1 second then stop
*/
void Autonomous(void)
{
GetWatchdog().SetEnabled(false);
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
Wait(1.0); // for 1 second
myRobot.Drive(0.0, 0.0); // stop robot
}

/**
* Runs the motors with tank steering.
*/
void OperatorControl(void)
{
GetWatchdog().SetEnabled(true);
while (IsOperatorControl())
{
GetWatchdog().Feed();
myRobot.TankDrive(leftstick,rightstick); // drive with tank style


if (leftstick.GetTrigger()) {
intakeroller.Set(intakeroller.kForward); // pressing button 1L runs pickup rollers
feedroller1.Set(feedroller1.kForward);
}
else {
intakeroller.Set(intakeroller.kOff); // releasing button stops rollers
feedroller1.Set(feedroller1.kOff);
}
if (rightstick.GetTrigger()) {
intakeroller.Set(intakeroller.kForward); // pressing button 1R runs all rollers
feedroller1.Set(feedroller1.kForward);
feedroller2.Set(feedroller2.kForward);
feedroller3.Set(feedroller3.kForward);
bottomshooter.Set(0.75);
topshooter.Set(0.75);
}
else {
intakeroller.Set(intakeroller.kOff); // releasing button stops rollers
feedroller1.Set(feedroller1.kOff);
feedroller2.Set(feedroller2.kOff);
feedroller3.Set(feedroller3.kOff);
bottomshooter.Set(0.0);
topshooter.Set(0.0);
}

Wait(0.005); // wait for a motor update time
}
}
};

START_ROBOT_CLASS(MainRobot);

[Mark McLeod]

Your logic has a problem

The right joystick, because it comes second, overrides all your left joystick logic.

You need to turn off the bottom rollers only if both left AND right joysticks are off.

Along the line of:

if (rightjoystick) {
 //turn everything on
}
else if (leftjoystick) {
 //turn botton rollers on
 //turn top rollers off
} else
  //turn everything off

[Rob Stehlik]

Brilliant, Mark. Thanks so much for your help. It works as expected now!