Autonomous

[Hebrew]

So before I was using a while loop but now decided to switch it up to make it easier...now all our robot does is have the wheels move for a split second and then it shoots the piston. What am I doing wrong?

[Greg McKaskle]

You don't explain what the robot does or doesn't do. I'll transcribe what I'd expect that to do.

It sets the RobotDrive to 0.5, which is normally backwards pretty fast. It leaves it set that way for ten seconds. Then it kills power to the RobotDrive and lets it coast/brake for four seconds. Then it sets the relay to forward.

Issues/Questions:
Unless your normal teleop negates the joystick values that it sends to the RobotDrive, this looks like it will drive backwards.

Unless your turn off the Safety Mechanism for RobotDrive, after 100ms, the motors will be disabled. If you develop carefully and want to disable it, you can do so from the Advanced palette of RobotDrive.

Greg McKaskle

[Hebrew]

Driving backwards is the goal for how the robot drive is currently set up. I entered random numbers for the time each task is done just to make sure it follows it, I know that I have the values up VERY high currently.

Thanks for the info on why it is stopping though! I am not with the robot right now so I cannot experiment for myself so I am wondering: What .vi do I place instead of the current drive vi? I am confused as to what I am exactly doing for it to not shut off in 100ms. Another issue: It does not usually wait 4 seconds like I have it set to before the piston is fired, do I have to do something there or was the immediate stopping of the motors causing it to speed up or something?

[MAldridge]

you don't need to replace it, but you need to disable the safety threads on those motors. To do that, go to robot drive and then hit the advanced functions button, there you will find the safety config VI.

You just need to connect it in front of the actual drive VI that sets the output. Make sure you have the robot on blocks until you know EXACTLY what you are doing with the autonomous. Once you disable the safety, the robot will move until you tell it to stop.

Good Luck.

[Greg McKaskle]

Please do start with it on blocks, but to be clear, eStop still works and cannot be disabled. Safety Config disabling is specific to the update heartbeat.

Greg McKaskle