Programming Autonomous

[Team 1824]

I have never really worked in autonomous but I was able to look up some of the basics online. I am using a simple flat sequence structure with timers in between the motor functions. for example I want the robot to drive forward for 5 seconds so I set the (Wait for) for 5000 milliseconds. When I deploy this to the cRio and run it the robot just jerks forward for about .6 seconds. I might be doing something wrong but if anyone can help that would be great.

Thanks,
Team 1824

[Greg McKaskle]

The Safety Config sounds like it is enabled, so after 100ms the motors are disabled. The options are to disable the Config go to the RobotDrive palette and then the Advanced palette.

The other option is to change the autonomous VI to loop setting the speed every 50ms or so to the same value and exiting to move to the next sequence frame.

Greg McKaskle

[Team 1824]

I will try that when I get back to the robot.

Thanks for your quick reply,
Team 1824

[Team 1824]

Do you disable the safety config in begin.vi or autonomous.vi?

[Mark McLeod]

Since you just need this in Autonomous, keep it in there.

Disable the Safety Config before entering the sequence and re-enable it at the end of the sequence when you turn your drive motors off.

[Team 1824]

Alright, I will try that. Thank you.